Line-Following-Robot/AutonomousMode/lfr.cpp

#include "lfr.h"


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(), roi()
{
    this->iAmLooping = false;
    this->thresholdBinary = thresholdBinary;
    this->gaussKernelSize = gaussKernelSize;
    this->thresholdCanny1 = thresholdCanny1;
    this->thresholdCanny2 = thresholdCanny2;
    this->apertureSizeCanny = apertureSizeCanny;

    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()
{
    if(iAmLooping)
    {
        this->endLoop();
    }
}

void LFR::loop()
{
    if(this->videoFlag) {namedWindow("Display window");}
    while(iAmLooping)
    {
        Mat originalImage = input.readWebcam();
        Mat processedImage = originalImage;
        processing.processImage(processedImage, this->thresholdBinary, this->gaussKernelSize, this->thresholdCanny1, thresholdCanny2, this->apertureSizeCanny);
        FrameData data = processing.calculateLineSegments(processedImage, this->roi);
        this->provideOutput(processedImage);
    }
    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(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);        
        }
}