81 lines
2.6 KiB
C++
81 lines
2.6 KiB
C++
#include "lfr.h"
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LFR::LFR(int videoHeight, int videoWidth, int thresholdBinary, int gaussKernelSize, int thresholdCanny1, int thresholdCanny2, int apertureSizeCanny)
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: iAmLooping(false), input(videoHeight, videoWidth), processing(), controlModule(), interpreter(), intersectionHandler()
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{
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this->iAmLooping = false;
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this->thresholdBinary = thresholdBinary;
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this->gaussKernelSize = gaussKernelSize;
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this->thresholdCanny1 = thresholdCanny1;
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this->thresholdCanny2 = thresholdCanny2;
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this->apertureSizeCanny = apertureSizeCanny;
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this->videoFlag = false;
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this->saveOutputFlag = false;
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this->outputFileName = "";
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}
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LFR::~LFR()
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{
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if(iAmLooping)
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{
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this->endLoop();
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}
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}
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void LFR::loop()
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{
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if(this->videoFlag) {namedWindow("Display window");}
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while(iAmLooping)
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{
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Mat originalImage = input.readWebcam();
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Point roiOrigin(0, int(originalImage.rows*(7.5/12.0)));
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Rect roi(roiOrigin.x, roiOrigin.y, originalImage.cols, originalImage.rows/12);
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Mat processedImage = originalImage(roi);
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processing.processImage(processedImage, this->thresholdBinary, this->gaussKernelSize, this->thresholdCanny1, thresholdCanny2, this->apertureSizeCanny);
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FrameData data = processing.calculateLineSegments(processedImage, roi);
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this->provideOutput(originalImage, data, roi);
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}
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if(this->videoFlag) {destroyWindow("Display window");}
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input.freeWebcam();
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}
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void LFR::startLoop()
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{
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iAmLooping = true;
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this->loopThread=thread(&LFR::loop, this);
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}
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void LFR::endLoop()
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{
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iAmLooping = false;
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this->loopThread.join();
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return;
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}
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void LFR::provideOutput(Mat image, const FrameData& frameData, const Rect& roi)
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{
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for(int i = 0; i < frameData.contours.size(); i++)
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{
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drawContours(image, frameData.contours, i, Scalar(0,255,255), 1, 8, noArray(), 0, Point(roi.x, roi.y));
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rectangle(image, frameData.boundingBoxes[i], Scalar(0,255,0));
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Rect center(Point(frameData.middlePoints[i].x-2, frameData.middlePoints[i].y-2), Point(frameData.middlePoints[i].x+2, frameData.middlePoints[i].y+2));
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rectangle(image, center, Scalar(0,0,255));
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Rect leftRect(Point(frameData.leftEdges[i].x-2, frameData.leftEdges[i].y-2), Point(frameData.leftEdges[i].x+2, frameData.leftEdges[i].y+2));
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rectangle(image, leftRect, Scalar(0,0,255));
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}
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if(this->videoFlag)
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{
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imshow("Display window", image);
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char c = (char)waitKey(25);
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}
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if (this->saveOutputFlag && !(this->outputFileName.empty()))
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{
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imwrite(this->outputFileName, image);
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}
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}
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