AutonomousMode/Processing/processing.cpp

@@ -24,19 +24,37 @@ void Processing::processImage(Mat& inputPicture, int thresholdBinary, int gaussK
     // And one (the other one) to segment the lines.
     // No return value here as the input is passed by reference -> directly modified.
     cvtColor(inputPicture, inputPicture, COLOR_BGR2GRAY);
-    threshold(inputPicture, inputPicture, thresholdBinary, 255, THRESH_BINARY);
     GaussianBlur(inputPicture, inputPicture, Size(gaussKernelSize, gaussKernelSize), 0); 
-    Canny(inputPicture, inputPicture, thresholdCanny1, thresholdCanny2, apertureSizeCanny);
+    threshold(inputPicture, inputPicture, thresholdBinary, 255, THRESH_BINARY);
+    
+    //Perform a opening
+    Mat kernel(5,5, CV_8UC1,1);
+    morphologyEx(inputPicture, inputPicture, 2, kernel);
 }
 
-std::vector<Vec4i> Processing::calculateLineSegments(const Mat& inputPicture)
+FrameData Processing::calculateLineSegments(const Mat& inputPicture, const cv::Rect& roi)
 {
-    //See following link
+    FrameData data;
-    //https://stackoverflow.com/questions/45322630/how-to-detect-lines-in-opencv
+    cv::findContours(inputPicture, data.contours, RETR_LIST, CHAIN_APPROX_SIMPLE);
-    vector<Vec4i> lines;
+
-    VectorOfLines linesInVectors;
+    //Delete the areas that are too small
-    HoughLinesP(inputPicture, lines, 1, CV_PI/360, 150, 0, 250);
+    auto iterator = data.contours.begin();
-    //lines = linesInVectors.findMiddleLine(lines);
+    while(iterator != data.contours.end())
-    
+    {
-    return lines;
+        if (contourArea(*iterator) < 3500)
+        {
+            iterator = data.contours.erase(iterator);
+        }
+        else
+        {
+            Rect boundingBox = boundingRect(*iterator);
+            boundingBox.x += roi.x;
+            boundingBox.y += roi.y;
+            data.boundingBoxes.push_back(boundingBox);
+            data.middlePoints.push_back(Point(boundingBox.x+boundingBox.width/2, boundingBox.y+boundingBox.height/2));
+            data.leftEdges.push_back(Point(boundingBox.x, boundingBox.y+boundingBox.height/2));
+            ++iterator;
+        }
+    }
+    return data;
 }

AutonomousMode/Processing/processing.h

@@ -21,5 +21,5 @@ public:
 
     void processImage(Mat& inputPicture, int thresholdBinary, int gaussKernelSize, int thresholdCanny1, int thresholdCanny2, int apertureSizeCanny);
 
-    std::vector<Vec4i> calculateLineSegments(const Mat& inputPicture);
+    FrameData calculateLineSegments(const Mat& inputPicture, const cv::Rect& roi);
 };

AutonomousMode/Utils/utils.h

@@ -60,4 +60,15 @@ class VectorOfLines{
     static double calcDistance(Point p0, Point p1);
     vector<Vec4i> findMiddleLine(vector<Vec4i> &lines);
 
+};
+
+class FrameData
+{
+public:
+    std::vector<std::vector<cv::Point>> contours;
+    std::vector<cv::Rect> boundingBoxes;
+    std::vector<cv::Point> leftEdges;
+    std::vector<cv::Point> middlePoints;
+
+    FrameData(): contours(), boundingBoxes(), leftEdges(), middlePoints() {}
 };

AutonomousMode/lfr.cpp

@@ -2,7 +2,7 @@
 
 
 LFR::LFR(int videoHeight, int videoWidth, int thresholdBinary, int gaussKernelSize, int thresholdCanny1, int thresholdCanny2, int apertureSizeCanny)
-    : iAmLooping(false), input(videoHeight, videoWidth), processing(), controlModule(), interpreter(), intersectionHandler()
+    : iAmLooping(false), input(videoHeight, videoWidth), processing(), controlModule(), interpreter(), intersectionHandler(), roi()
 {
     this->iAmLooping = false;
     this->thresholdBinary = thresholdBinary;
@@ -14,6 +14,10 @@ LFR::LFR(int videoHeight, int videoWidth, int thresholdBinary, int gaussKernelSi
     this->videoFlag = false;
     this->saveOutputFlag = false;
     this->outputFileName = "";
+
+    cv::Point roiOrigin(0, videoHeight*(7.5/12.0));
+    roi = Rect(roiOrigin.x, roiOrigin.y, videoWidth, videoHeight/12);
+
 }
 
 LFR::~LFR()
@@ -29,23 +33,11 @@ void LFR::loop()
     if(this->videoFlag) {namedWindow("Display window");}
     while(iAmLooping)
     {
-        Mat image = input.readWebcam();
+        Mat originalImage = input.readWebcam();
-        processing.processImage(image, this->thresholdBinary, this->gaussKernelSize, this->thresholdCanny1, thresholdCanny2, this->apertureSizeCanny);
+        Mat processedImage = originalImage;
-        std::vector<Vec4i> lines = processing.calculateLineSegments(image);
+        processing.processImage(processedImage, this->thresholdBinary, this->gaussKernelSize, this->thresholdCanny1, thresholdCanny2, this->apertureSizeCanny);
-        for( size_t i = 0; i < lines.size(); i++ )
+        FrameData data = processing.calculateLineSegments(processedImage, this->roi);
-        {
+        this->provideOutput(processedImage);
-            line( image, Point(lines[i][0], lines[i][1]),
-            Point( lines[i][2], lines[i][3]), (0,0,255), 1, 8 );
-        }
-        if(this->videoFlag)
-        {
-            imshow("Display window", image);
-            char c = (char)waitKey(1);
-        }
-        if (this->saveOutputFlag && !(this->outputFileName.empty()))
-        {
-            imwrite(this->outputFileName, image);        
-        }
     }
     if(this->videoFlag) {destroyWindow("Display window");}
     input.freeWebcam();
@@ -63,3 +55,16 @@ void LFR::endLoop()
     this->loopThread.join();
     return;
 }
+
+void LFR::provideOutput(const Mat& image)
+{
+    if(this->videoFlag)
+        {
+            imshow("Display window", image);
+            char c = (char)waitKey(1);
+        }
+        if (this->saveOutputFlag && !(this->outputFileName.empty()))
+        {
+            imwrite(this->outputFileName, image);        
+        }
+}

AutonomousMode/lfr.h

@@ -30,6 +30,9 @@ class LFR
     int thresholdCanny1;
     int thresholdCanny2;
     int apertureSizeCanny;
+    cv::Rect roi;
+
+    void provideOutput(const Mat& image);
 
 public: