AutonomousMode/autonomous_mode_main.cpp

@@ -15,6 +15,8 @@ int main(void)
     const int apertureSizeCanny = 3;
 
     LFR lfr(videoHeight, videoWidth, thresholdBinary, gaussKernelSize, thresholdCanny1, thresholdCanny2, apertureSizeCanny);
+    lfr.saveOutputFlag = true;
+    lfr.outputFileName = "/home/pi/Line-Following-Robot/AutonomousMode/tmp/test.jpg";
     lfr.startLoop();
     //To end the video stream, write any char in the console.
     char a;

AutonomousMode/lfr.cpp

@@ -10,6 +10,10 @@ LFR::LFR(int videoHeight, int videoWidth, int thresholdBinary, int gaussKernelSi
     this->thresholdCanny1 = thresholdCanny1;
     this->thresholdCanny2 = thresholdCanny2;
     this->apertureSizeCanny = apertureSizeCanny;
+
+    this->videoFlag = false;
+    this->saveOutputFlag = false;
+    this->outputFileName = "";
 }
 
 LFR::~LFR()
@@ -22,7 +26,7 @@ LFR::~LFR()
 
 void LFR::loop()
 {
-    namedWindow("Display window");
+    if(this->videoFlag) {namedWindow("Display window");}
     while(iAmLooping)
     {
         Mat image = input.readWebcam();
@@ -32,11 +36,18 @@ void LFR::loop()
         {
             line( image, Point(lines[i][0], lines[i][1]),
             Point( lines[i][2], lines[i][3]), (0,0,255), 1, 8 );
-        }  
-        imshow("Display window", image);
-        char c = (char)waitKey(1);
+        }
+        if(this->videoFlag)
+        {
+            imshow("Display window", image);
+            char c = (char)waitKey(1);
+        }
+        if (this->saveOutputFlag && !(this->outputFileName.empty()))
+        {
+            imwrite(this->outputFileName, image);        
+        }
     }
-    destroyWindow("Display window");
+    if(this->videoFlag) {destroyWindow("Display window");}
     input.freeWebcam();
 }
 
@@ -51,4 +62,4 @@ void LFR::endLoop()
     iAmLooping = false;
     this->loopThread.join();
     return;
-}
+}

AutonomousMode/lfr.h

@@ -39,5 +39,11 @@ public:
 
     void startLoop();
     void endLoop();
+
+    
+    bool videoFlag;
+    bool saveOutputFlag;
+
+    std::string outputFileName;
     
 };