#include "lfr.h"
#include <opencv2/core/utils/logger.hpp>
 
int main(void)
{
    //Disable opencv logging messages
    cv::utils::logging::setLogLevel(cv::utils::logging::LOG_LEVEL_WARNING);

    const int thresholdBinary = 140;
    const int videoHeight = 720;
    const int videoWidth = 1280;
    const int gaussKernelSize = 21;
    const int thresholdCanny1 = 50;
    const int thresholdCanny2 = 100;
    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;
    std::cin >> a; 
    lfr.endLoop();
}