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2 changed files with 50 additions and 61 deletions
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100
AutonomousMode/Processing/processing.cpp
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@ -82,68 +82,58 @@ void Processing::calcAngles(FrameData &data, int imageColums, int imageRows, boo
if(data.contours.size() > 0) if(data.contours.size() > 0)
{ {
int index; int angle = 0;
// get the most left/right contour int index;
if(turnLeft){
int leftmostEdge = imageColums; // get the most left/right contour
int rightmostEdge = 0; int leftmostEdge = imageColums;
for (int i = 0; i < data.leftEdges.size(); i++) for (int i = 0; i < data.leftEdges.size(); i++)
{ {
int edge = data.leftEdges[i].x; int edge = data.leftEdges[i].x;
if (edge <= leftmostEdge && turnLeft) if (edge <= leftmostEdge)
{
leftmostEdge = edge;
index = i;
}
}
}else
{ {
leftmostEdge = edge; int rightmostEdge = 0;
index = i;
} for (int i = 0; i < data.leftEdges.size(); i++)
else if(edge >= rightmostEdge && !turnLeft) {
{ int edge = data.leftEdges[i].x;
rightmostEdge = edge;
index = i; if (edge >= rightmostEdge)
} {
} rightmostEdge = edge;
index = i;
// Find the Top-Left and Bottom-Left Point of the Contour }
}
}
// Find the Top-Left and Buttom-Left Point of the Contour
std::vector<cv::Point> leftMostContour = data.contours[index]; std::vector<cv::Point> leftMostContour = data.contours[index];
int xleftButtom = imageColums;
/* int xleftTop = imageColums;
Not going to dive into that part to fix it. int yButtom = data.boundingBoxes[index].y;
Trying to use centroid instead. int yTop = data.boundingBoxes[index].height;
int xleftBottom = imageColums;
int xleftTop = imageColums; for (int i = 0; i < leftMostContour.size(); i++){
int yBottom = data.boundingBoxes[index].y; if(leftMostContour[i].y == 0 && leftMostContour[i].x < xleftButtom)
int yTop = data.boundingBoxes[index].height; {
xleftButtom = leftMostContour[i].x;
for (int i = 0; i < leftMostContour.size(); i++) }else if(leftMostContour[i].y > yTop -4 && leftMostContour[i].x < xleftTop){
{ xleftTop = leftMostContour[i].x;
if(leftMostContour[i].y == 0 && leftMostContour[i].x < xleftBottom) }
{
xleftBottom = leftMostContour[i].x;
} }
else if(leftMostContour[i].y > yTop -4 && leftMostContour[i].x < xleftTop)
{
xleftTop = leftMostContour[i].x;
}
}
// calculate angle // calculate angle
int deltaX = abs(xleftBottom - xleftTop); int deltaX = abs(xleftButtom - xleftTop);
int deltaY = yTop; int deltaY = yTop;
angle = Calcs::calcAngle(deltaX, deltaY); angle = Calcs::calcAngle(deltaX, deltaY);
*/
//Get the contours center using moments:
cv::Moments moments=cv::moments(leftMostContour);
LFRPoint contourCenter(moments.m10/moments.m00, moments.m01/moments.m00);
LFRPoint imageCenter(double(imageColums)/2.0, double(imageRows)/2.0);
LFRPoint focusPoint(imageCenter.x, imageCenter.y+1000.0);
LFRVector a(imageCenter-focusPoint);
LFRVector b(contourCenter-focusPoint);
double angle = a.angle(b);
//Write to Data //Write to Data
data.angle = angle; data.angle = angle;

11
AutonomousMode/lfr.cpp
View File

@ -139,13 +139,12 @@ cv::Mat LFR::provideOutput(Mat originalImage, Mat processedImage, const FrameDat
{ {
//Draw the Arrow for the check of the angle //Draw the Arrow for the check of the angle
int length = 100; int length = 100;
Point P1 = frameData.middlePoints[frameData.index];
Point P2;
Point contourCenter = frameData.middlePoints[frameData.index]; P2.x = (int)round(P1.x + length * cos(frameData.angle * CV_PI / 180.0));
Point imageCenter = Point(originalImage.size().width/2.0, originalImage.size().height/2.0); P2.y = (int)round(P1.y + length * sin(frameData.angle * CV_PI / 180.0));
Point focalPoint = Point(imageCenter.x, imageCenter.y+1000.0); cv::arrowedLine(originalImage, P1, P2, Scalar(0,0,255), 2, 8);
cv::arrowedLine(originalImage, focalPoint, contourCenter, Scalar(0,0,255), 2, 8);
cv::arrowedLine(originalImage, focalPoint, imageCenter, Scalar(0,0,255), 2, 8);
} }
return originalImage; return originalImage;
} }