97 lines
3.1 KiB
C++
97 lines
3.1 KiB
C++
#include "lfr.h"
|
|
|
|
#define right false
|
|
#define left true
|
|
|
|
LFR::LFR(int videoHeight, int videoWidth, int thresholdBinary, int gaussKernelSize)
|
|
: iAmLooping(false), input(videoHeight, videoWidth), processing(), controlModule(), interpreter(), intersectionHandler()
|
|
{
|
|
this->iAmLooping = false;
|
|
this->thresholdBinary = thresholdBinary;
|
|
this->gaussKernelSize = gaussKernelSize;
|
|
|
|
this->videoFlag = false;
|
|
this->saveOutputFlag = false;
|
|
this->outputFileName = "";
|
|
}
|
|
|
|
LFR::~LFR()
|
|
{
|
|
if(iAmLooping)
|
|
{
|
|
this->endLoop();
|
|
}
|
|
}
|
|
|
|
void LFR::loop()
|
|
{
|
|
if(this->videoFlag) {namedWindow("Display window");}
|
|
while(iAmLooping)
|
|
{
|
|
Mat originalImage = input.readWebcam();
|
|
|
|
Point roiOrigin(0, int(originalImage.rows*(3.25/6.0)));
|
|
Rect roi(roiOrigin.x, roiOrigin.y, originalImage.cols, originalImage.rows/6);
|
|
//Mat processedImage = originalImage(roi);
|
|
Mat processedImage = originalImage;
|
|
|
|
processing.processImage(processedImage, this->thresholdBinary, this->gaussKernelSize);
|
|
//processedImage = processedImage(roi);
|
|
FrameData data = processing.calculateLineSegments(processedImage, roi);
|
|
processing.filterReflections(data);
|
|
processing.calcAngles(data, originalImage.cols, originalImage.rows, left);
|
|
this->provideOutput(originalImage, processedImage, data, roi);
|
|
}
|
|
if(this->videoFlag) {destroyWindow("Display window");}
|
|
input.freeWebcam();
|
|
}
|
|
|
|
void LFR::startLoop()
|
|
{
|
|
iAmLooping = true;
|
|
this->loopThread=thread(&LFR::loop, this);
|
|
}
|
|
|
|
void LFR::endLoop()
|
|
{
|
|
iAmLooping = false;
|
|
this->loopThread.join();
|
|
return;
|
|
}
|
|
|
|
void LFR::provideOutput(Mat originalImage, Mat processedImage, const FrameData& frameData, const Rect& roi)
|
|
{
|
|
for(int i = 0; i < frameData.contours.size(); i++)
|
|
{
|
|
drawContours(originalImage, frameData.contours, i, Scalar(0,255,255), 1, 8, noArray(), 0, Point(roi.x, roi.y));
|
|
|
|
rectangle(originalImage, frameData.boundingBoxes[i], Scalar(0,255,0));
|
|
Rect center(Point(frameData.middlePoints[i].x-2, frameData.middlePoints[i].y-2), Point(frameData.middlePoints[i].x+2, frameData.middlePoints[i].y+2));
|
|
rectangle(originalImage, center, Scalar(0,0,255));
|
|
Rect leftRect(Point(frameData.leftEdges[i].x-2, frameData.leftEdges[i].y-2), Point(frameData.leftEdges[i].x+2, frameData.leftEdges[i].y+2));
|
|
rectangle(originalImage, leftRect, Scalar(0,0,255));
|
|
}
|
|
|
|
if(frameData.contours.size() > 0)
|
|
{
|
|
//Draw the Arrow for the check of the angle
|
|
int length = 100;
|
|
Point P1 = frameData.middlePoints[frameData.index];
|
|
Point P2;
|
|
|
|
P2.x = (int)round(P1.x + length * cos(frameData.angle * CV_PI / 180.0));
|
|
P2.y = (int)round(P1.y + length * sin(frameData.angle * CV_PI / 180.0));
|
|
cv::arrowedLine(originalImage, P1, P2, Scalar(0,0,255), 2, 8);
|
|
}
|
|
if(this->videoFlag)
|
|
{
|
|
imshow("Display window", originalImage);
|
|
imshow("processed:", processedImage);
|
|
char c = (char)waitKey(25);
|
|
}
|
|
if (this->saveOutputFlag && !(this->outputFileName.empty()))
|
|
{
|
|
imwrite(this->outputFileName, originalImage);
|
|
}
|
|
}
|