From f208cda1ed2c86b4f851e906924dd44f72b1c94d Mon Sep 17 00:00:00 2001
From: Tim <zeunerti74726@th-nuernberg.de>
Date: Tue, 29 Nov 2022 18:10:16 +0100
Subject: [PATCH] Resolve mixing of std::string and cv::String, more work on
 new img processing approach.

---
 AutonomousMode/Input/input.cpp           |  4 +--
 AutonomousMode/Spielwiese/spielwiese.cpp | 45 +++++++++++++++++++-----
 2 files changed, 38 insertions(+), 11 deletions(-)

diff --git a/AutonomousMode/Input/input.cpp b/AutonomousMode/Input/input.cpp
index 7ae1321..96b392a 100644
--- a/AutonomousMode/Input/input.cpp
+++ b/AutonomousMode/Input/input.cpp
@@ -15,8 +15,8 @@ Mat Input::readFile(String filePath)
 {
     std::srand(std::time(0));
     // Read all .jpg files from the specified folder
-    std::string folder = filePath;
-    std::vector<std::string> filenames;
+    cv::String folder = filePath;
+    std::vector<cv::String> filenames;
     cv::glob(folder, filenames);
 
     // Random shuffle
diff --git a/AutonomousMode/Spielwiese/spielwiese.cpp b/AutonomousMode/Spielwiese/spielwiese.cpp
index a699702..bd44bf1 100644
--- a/AutonomousMode/Spielwiese/spielwiese.cpp
+++ b/AutonomousMode/Spielwiese/spielwiese.cpp
@@ -1,4 +1,4 @@
-#include <opencv2/core/utils/logger.hpp>
+//#include <opencv2/core/utils/logger.hpp>
 #include <opencv2/opencv.hpp>
 
 #include <iostream>
@@ -37,15 +37,15 @@ void in_depth_processing_chain(int thresholdBinary, int videoHeight, int videoWi
 {
     Input input(videoHeight, videoWidth);
 
-    std::string outputFolder = "C:\\Users\\User\\Desktop\\temp";
-    std::string inputFolder = "C:\\Users\\User\\Desktop\\Studium\\02_Master_MSY\\2. Semester  Winter 22 23\\Projekt\\Line-Following-Robot\\AutonomousMode\\Test_data";
+    cv::String outputFolder = "C:\\Users\\tim-z\\Desktop\\temp";
+    cv::String inputFolder = "C:\\Users\\tim-z\\Desktop\\Studium\\02_Master MSY\\2. Semester Winter 2022 2023\\Projekt\\Repo\\Line-Following-Robot\\AutonomousMode\\Test_data";
 
-    std::vector<std::string> filenames;
+    std::vector<cv::String> filenames;
     cv::glob(inputFolder, filenames);
 
     //filenames.begin(), filenames.end()
     int i = 0;
-    for(std::vector<std::string>::iterator it = filenames.begin(); it != filenames.end(); it++)
+    for(std::vector<cv::String>::iterator it = filenames.begin(); it != filenames.end(); it++)
     {
         std::string current_output = outputFolder + "\\" + to_string(i);
         std::cout << current_output << std::endl;
@@ -56,7 +56,8 @@ void in_depth_processing_chain(int thresholdBinary, int videoHeight, int videoWi
         Mat original_image = input.readFile(inputFile);
         imwrite(current_output + "\\00_input.jpg", original_image);
 
-        Rect roi = Rect(0, original_image.rows*(7.5/12.0), original_image.cols, original_image.rows/12);
+        Point roiOrigin(0, original_image.rows*(7.5/12.0));
+        Rect roi = Rect(roiOrigin.x, roiOrigin.y, original_image.cols, original_image.rows/12);
 
         Mat image = original_image(roi);
 
@@ -78,15 +79,41 @@ void in_depth_processing_chain(int thresholdBinary, int videoHeight, int videoWi
 
         vector<vector<Point> > contours;
         vector<Vec4i> hierarchy;
+        vector<Rect> vectorOfRects;
+        vector<Point> vectorOfLeftEdges;
 
         findContours(image,contours, hierarchy, RETR_LIST, CHAIN_APPROX_SIMPLE);
-
+        int amountOfValidRects = 0;
         for( int i = 0; i< contours.size(); i++ ) // iterate through each contour. 
         {
                 double a = contourArea( contours[i],false);  //  Find the area of contour
                 if(a > 3500)
                 {
-                    drawContours(original_image, contours, i, Scalar(0,255,255), 1, 8, hierarchy, 0, Point(0,original_image.rows*(7.5/12.0)));
+                    drawContours(original_image, contours, i, Scalar(0,255,255), 1, 8, hierarchy, 0, roiOrigin);
+                    
+                    Rect currentBoundingRect = boundingRect(contours[i]);
+                    //Handle roi offset:
+                    currentBoundingRect.x += roiOrigin.x;
+                    currentBoundingRect.y += roiOrigin.y;
+                    vectorOfRects.push_back(currentBoundingRect);
+
+                    rectangle(original_image, currentBoundingRect, Scalar(0,255,0));
+                 
+                    // get mid-point of rect
+                    Point midRect = Point(currentBoundingRect.x+currentBoundingRect.width/2, currentBoundingRect.y+currentBoundingRect.height/2);
+
+                    // Draw middle as small rect instead of circle because for whatever reasons drawing a circle doesnt work.
+                    Rect testRect(Point(midRect.x-2, midRect.y-2), Point(midRect.x+2, midRect.y+2));
+                    rectangle(original_image, testRect, Scalar(0,0,255));
+                    // get the left edge of rect
+                    // used as offset as raspicam is not
+                    // mounted on mid of regbot
+                    Point leftEdge(currentBoundingRect.x, currentBoundingRect.y+currentBoundingRect.height/2);
+                    vectorOfLeftEdges.push_back(leftEdge);
+
+                    testRect = Rect(Point(leftEdge.x-2, leftEdge.y-2), Point(leftEdge.x+2, leftEdge.y+2));
+                    rectangle(original_image, testRect, Scalar(0,0,255));
+                    amountOfValidRects++;
                 }
         }
         imwrite(current_output + "\\06_contours.jpg", original_image);
@@ -98,7 +125,7 @@ void in_depth_processing_chain(int thresholdBinary, int videoHeight, int videoWi
 int main(void)
 {
     //Disable opencv logging messages
-    cv::utils::logging::setLogLevel(cv::utils::logging::LOG_LEVEL_WARNING);
+    //cv::utils::logging::setLogLevel(cv::utils::logging::LOG_LEVEL_WARNING);
 
     const int thresholdBinary = 140;
     const int videoHeight = 720;