Check for valid lane

AutonomousMode/IntersectionHandler/intersection_handler.cpp

@@ -6,4 +6,14 @@ IntersectionHandler::IntersectionHandler(/* args */)
 
 IntersectionHandler::~IntersectionHandler()
 {
+}
+
+const bool IntersectionHandler::foundLane(const FrameData& data)
+{
+    return data.boundingBoxes.size();
+}
+
+const bool IntersectionHandler::foundIntersection(const FrameData& data)
+{
+    return data.boundingBoxes.size()>1;
 }

AutonomousMode/IntersectionHandler/intersection_handler.h

@@ -1,11 +1,14 @@
 #pragma once
+#include <utils.h>
 
 class IntersectionHandler
 {
 private:
-    /* data */
 public:
     IntersectionHandler(/* args */);
 
     ~IntersectionHandler();
+
+    const bool foundLane(const FrameData& data);
+    const bool foundIntersection(const FrameData& data);
 };

AutonomousMode/autonomous_mode_main.cpp

@@ -40,9 +40,16 @@ int main(void)
             double delta = static_cast<double>(deltaMs) / 1000.0;
             double frameRate = 1.0 / static_cast<double>(delta);
 
-            std::cout << "Frame rate: " << frameRate << " angle: " << result.data.angle
-                << " motor 1: " << result.motorSignals[0] << " motor 2: " << result.motorSignals[1]
-                << " motor 3: " << result.motorSignals[2] << " motor 4: " << result.motorSignals[3] <<std::endl;
+            if (result.validLane)
+            {
+                std::cout << "Frame rate: " << frameRate << " angle: " << result.data.angle
+                    << " motor 1: " << result.motorSignals[0] << " motor 2: " << result.motorSignals[1]
+                    << " motor 3: " << result.motorSignals[2] << " motor 4: " << result.motorSignals[3] <<std::endl;
+            }
+            else
+            {
+                std::cout << "No lane found." << std::endl;;
+            }
             last = now;
         }
     }, &mutex);

AutonomousMode/lfr.cpp

@@ -68,10 +68,12 @@ void LFR::createThread()
                     processing.filterReflections(data);
                     processing.calcAngles(data, originalImage.cols, originalImage.rows, left);
                     
-                    controlModule.calcSpeeds(1,1, data.angle);
-
-                    processedImage = provideOutput(originalImage, processedImage, data, roi);
-
+                    result.validLane = intersectionHandler.foundLane(data);
+                    if (result.validLane)
+                    {
+                        controlModule.calcSpeeds(1,1, data.angle);
+                        processedImage = provideOutput(originalImage, processedImage, data, roi);
+                    }
                     result.rawImage = originalImage;
                     result.processedImage = processedImage;
                     result.data = data;

AutonomousMode/lfr.h

@@ -18,6 +18,7 @@ using namespace cv;
 
 struct LFR_Result
 {
+    bool validLane;
     cv::Mat rawImage;
     cv::Mat processedImage;
     FrameData data;