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Check for valid lane

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This commit is contained in:
Tim Zeuner 2023-01-05 10:39:48 +01:00
parent 7175b68abe
commit ff7634e0b0
5 changed files with 31 additions and 8 deletions
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10
AutonomousMode/IntersectionHandler/intersection_handler.cpp
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@ -6,4 +6,14 @@ IntersectionHandler::IntersectionHandler(/* args */)
IntersectionHandler::~IntersectionHandler() 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;
} }

5
AutonomousMode/IntersectionHandler/intersection_handler.h
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@ -1,11 +1,14 @@
#pragma once #pragma once
#include <utils.h>
class IntersectionHandler class IntersectionHandler
{ {
private: private:
/* data */
public: public:
IntersectionHandler(/* args */); IntersectionHandler(/* args */);
~IntersectionHandler(); ~IntersectionHandler();
const bool foundLane(const FrameData& data);
const bool foundIntersection(const FrameData& data);
}; };

13
AutonomousMode/autonomous_mode_main.cpp
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@ -40,9 +40,16 @@ int main(void)
double delta = static_cast<double>(deltaMs) / 1000.0; double delta = static_cast<double>(deltaMs) / 1000.0;
double frameRate = 1.0 / static_cast<double>(delta); double frameRate = 1.0 / static_cast<double>(delta);
std::cout << "Frame rate: " << frameRate << " angle: " << result.data.angle if (result.validLane)
<< " motor 1: " << result.motorSignals[0] << " motor 2: " << result.motorSignals[1] {
<< " motor 3: " << result.motorSignals[2] << " motor 4: " << result.motorSignals[3] <<std::endl; 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; last = now;
} }
}, &mutex); }, &mutex);

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

1
AutonomousMode/lfr.h
View File

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