69 lines
1.7 KiB
C++
69 lines
1.7 KiB
C++
#pragma once
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#include <iostream>
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#include <future>
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#include <thread>
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#include <functional>
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#include <opencv2/opencv.hpp>
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#include <input.h>
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#include <processing.h>
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#include <control_module.h>
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#include <interpreter.h>
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#include <intersection_handler.h>
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using namespace cv;
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struct LFR_Result
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{
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bool validLane;
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cv::Mat rawImage;
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cv::Mat processedImage;
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FrameData data;
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std::vector<float> motorSignals;
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};
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class LFR
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{
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public:
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using ListenerKey = void const*;
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using ExceptionCallback = std::function<bool(std::exception const &ex)>;
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using ListenerCallback = std::function<void(LFR_Result)>;
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private:
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using ListenerPair = std::pair<ListenerKey, ListenerCallback>;
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using ListenerVector = std::vector<ListenerPair>;
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Input input;
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Processing processing;
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ControlModule controlModule;
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Interpreter interpreter;
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IntersectionHandler intersectionHandler;
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int thresholdBinary;
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int gaussKernelSize;
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ListenerVector listeners;
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ExceptionCallback cb;
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bool stop;
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std::unique_ptr<std::thread> thread;
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mutable std::mutex mutex;
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//void provideOutput(Mat originalImage, Mat processedImage, const FrameData& frameData, const Rect& roi);
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void createThread();
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void setStop(bool val);
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public:
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LFR() = delete;
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LFR(int videoHeight, int videoWidth, int thresholdBinary, int gaussKernelSize, ExceptionCallback cb);
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~LFR();
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void startLoop();
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void endLoop();
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void addListener(ListenerCallback cv, ListenerKey key);
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void removeListener(ListenerKey key);
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void isStopped() const noexcept;
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Mat provideOutput(Mat originalImage, Mat processedImage, const FrameData& frameData, const Rect& roi);
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}; |