AutonomousMode/Input/input.cpp

@@ -39,19 +39,17 @@ Mat Input::readWebcam()
     Mat image;
 
     if(!cap.isOpened()) {
-        cout << "Video capture not opened" << std::endl;
+        cout << "Fehler";
         return Mat();
     }
 
-    if(!cap.grab()) {
+    cap.grab();
-        cout << "Could not grab frame from camera" << std::endl;
-        return Mat();
-    }   
     cap.retrieve(image);
+    
     return image;  
 }
 
 void Input::freeWebcam()
 {
     this->cap.release();
-}
+}

AutonomousMode/autonomous_mode_main.cpp

@@ -7,8 +7,8 @@ int main(void)
     cv::utils::logging::setLogLevel(cv::utils::logging::LOG_LEVEL_WARNING);
 
     const int thresholdBinary = 140;
-    const int videoHeight = 720;
+    const int videoHeight = 240;
-    const int videoWidth = 1280;
+    const int videoWidth = 320;
     const int gaussKernelSize = 21;
     const int thresholdCanny1 = 50;
     const int thresholdCanny2 = 100;
@@ -20,4 +20,4 @@ int main(void)
     char a;
     std::cin >> a; 
     lfr.endLoop();
-}
+}