Added the Communication Module to the repo.

AutonomousMode/Spielwiese/CMakeLists.txt

@@ -0,0 +1,37 @@
+set(THREADS_PREFER_PTHREAD_FLAG ON)
+
+find_package( OpenCV REQUIRED )
+find_package(Threads REQUIRED)
+
+include_directories( ${OpenCV_INCLUDE_DIRS}
+    ${Input_SOURCE_DIRS}
+    ${Processing_SOURCE_DIRS}
+    ${ControlModule_SOURCE_DIRS}
+    ${Interpreter_SOURCE_DIRS}
+    ${IntersectionHandler_SOURCE_DIRS}
+    ${Utils_SOURCE_DIRS}
+)
+
+link_directories( ${Input_SOURCE_DIRS} 
+    ${Processing_SOURCE_DIRS}
+    ${ControlModule_SOURCE_DIRS}
+    ${Interpreter_SOURCE_DIRS}
+    ${IntersectionHandler_SOURCE_DIRS}
+    ${Utils_SOURCE_DIRS}
+)
+
+
+target_include_directories(Input PRIVATE .)
+target_include_directories(Processing PRIVATE .)
+target_include_directories(ControlModule PRIVATE .)
+target_include_directories(Interpreter PRIVATE .)
+target_include_directories(IntersectionHandler PRIVATE .)
+target_include_directories(Utils PRIVATE .)
+
+add_executable(spielwiese spielwiese.cpp)
+
+target_link_libraries( spielwiese ${OpenCV_LIBS} Input Processing ControlModule Interpreter IntersectionHandler Utils Threads::Threads)
+
+set(CPACK_PROJECT_NAME ${PROJECT_NAME})
+set(CPACK_PROJECT_VERSION ${PROJECT_VERSION})
+include(CPack)

AutonomousMode/Spielwiese/spielwiese.cpp

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+#include <opencv2/core/utils/logger.hpp>
+#include <opencv2/opencv.hpp>
+
+#include <iostream>
+
+#include <input.h>
+#include <processing.h>
+#include <control_module.h>
+#include <interpreter.h>
+#include <intersection_handler.h>
+
+void sweep_em_all(int thresholdBinary, int videoHeight, int videoWidth, int gaussKernelSize, int thresholdCanny1, int thresholdCanny2, int apertureSizeCanny)
+{
+    Input input(videoHeight, videoWidth);
+    Processing processing;
+
+	namedWindow("Display window");
+    while(true)
+    {
+        Mat image = input.readFile("C:\\Users\\User\\Desktop\\Studium\\02_Master_MSY\\2. Semester  Winter 22 23\\Projekt\\Line-Following-Robot\\Test_data");
+        Mat processedImage = image;
+        processing.processImage(processedImage, thresholdBinary, gaussKernelSize, thresholdCanny1, thresholdCanny2 ,apertureSizeCanny);
+        std::vector<Vec4i> lines = processing.calculateLineSegments(processedImage);
+        for( size_t i = 0; i < lines.size(); i++ )
+        {
+            line( image, Point(lines[i][0], lines[i][1]),
+            Point( lines[i][2], lines[i][3]), (0,0,255), 1, 8 );
+        }  
+        imshow("Display window", image);
+        char c = (char)waitKey(1);
+    }
+    destroyWindow("Display window");
+}
+
+void in_depth_processing_chain(int thresholdBinary, int videoHeight, int videoWidth, int gaussKernelSize, int thresholdCanny1, int thresholdCanny2, int apertureSizeCanny)
+{
+    std::string outputFolder = "C:\\Users\\User\\Desktop\\temp";
+    Input input(videoHeight, videoWidth);
+
+    Mat image = input.readFile("C:\\Users\\User\\Desktop\\Studium\\02_Master_MSY\\2. Semester  Winter 22 23\\Projekt\\Line-Following-Robot\\Test_data");
+    imwrite(outputFolder + "\\01_input.jpg", image);
+    cvtColor(image, image, COLOR_BGR2GRAY);
+    imwrite(outputFolder + "\\02_color_convert.jpg", image);
+    GaussianBlur(image, image, Size(gaussKernelSize, gaussKernelSize), 0); 
+    imwrite(outputFolder + "\\03_gauss.jpg", image);
+    threshold(image, image, thresholdBinary, 255, THRESH_BINARY);
+    imwrite(outputFolder + "\\04_threshold.jpg", image);
+    Canny(image, image, thresholdCanny1, thresholdCanny2, apertureSizeCanny);
+    imwrite(outputFolder + "\\05_canny.jpg", image);
+
+}
+
+
+int main(void)
+{
+    //Disable opencv logging messages
+    cv::utils::logging::setLogLevel(cv::utils::logging::LOG_LEVEL_WARNING);
+
+    const int thresholdBinary = 140;
+    const int videoHeight = 720;
+    const int videoWidth = 960;
+    const int gaussKernelSize = 11;
+    const int thresholdCanny1 = 50;
+    const int thresholdCanny2 = 100;
+    const int apertureSizeCanny = 3;
+
+    //sweep_em_all(thresholdBinary, videoHeight, videoWidth, gaussKernelSize, thresholdCanny1, thresholdCanny2, apertureSizeCanny);
+    in_depth_processing_chain(thresholdBinary, videoHeight, videoWidth, gaussKernelSize, thresholdCanny1, thresholdCanny2, apertureSizeCanny);
+}