horizon-steerer segfault gefixt, testprogramm dazu

1 files changed, 94 insertions, 0 deletions

diff --git a/detect_road_borders_with_horizon_steerer.cpp b/detect_road_borders_with_horizon_steerer.cpp
new file mode 100644
index 0000000..6f897db
--- /dev/null
+++ b/detect_road_borders_with_horizon_steerer.cpp
@@ -0,0 +1,94 @@
+/*
+ * detect_road_borders_with_horizon_steerer.cpp
+ * 
+ * Copyright 2012 Florian Jung <florian.a.jung@web.de>
+ * 
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License Version 3
+ * as published by the Free Software Foundation.
+ * 
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ * 
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+
+#include <stdlib.h>
+#include <stdio.h>
+#include <iostream>
+#include <math.h>
+#include <opencv2/opencv.hpp>
+#include "horizon_steerer.h"
+#include "util.h"
+
+using namespace std;
+using namespace cv;
+
+
+#define AREA_HISTORY 10
+
+int alertcnt=21;
+int main(int argc, char* argv[])
+{
+	if (argc!=2) {printf("usage: %s videofile\n",argv[0]); exit(1);}
+	VideoCapture capture(argv[1]);
+	
+	if (!capture.isOpened())
+	{
+		cout << "couldn't open file" << endl;
+		exit(1);
+	}
+	
+	Mat erode_kernel=circle_mat(10);
+	
+	
+	Mat frame;
+	capture >> frame;
+	
+	
+
+	
+	
+	Mat thres(frame.rows, frame.cols, CV_8UC1);
+	Mat tmp(frame.rows, frame.cols, CV_8UC1);
+	
+	HorizonSteerer* horizon_steerer = new HorizonSteerer(frame.cols, frame.rows);
+	int frameno=0;
+	
+	while (1)
+	{
+		capture >> frame;
+		
+		if (frameno<190)
+		{
+			frameno++;
+			continue;
+		}
+		
+		cvtColor(frame, tmp, CV_RGB2GRAY);
+		threshold(tmp, thres, 132, 255, THRESH_BINARY);
+		dilate(thres,tmp,Mat());
+		erode(tmp,thres,Mat());
+		erode(thres,tmp,Mat());
+		dilate(tmp,thres,Mat());
+		
+		
+		horizon_steerer->process_image(thres);
+		
+		
+		cout << "frame #"<<frameno<<endl;
+
+		imshow("thres",thres);
+		//imshow("drawing",drawing);
+//		waitKey(100);
+		waitKey();
+		
+		frameno++;
+	}
+  
+}