lenk- und strassenerkennungskram in klassen ausgelagert. funzt.

1 files changed, 31 insertions, 0 deletions

diff --git a/road_thresholder.h b/road_thresholder.h
new file mode 100644
index 0000000..3ae2361
--- /dev/null
+++ b/road_thresholder.h
@@ -0,0 +1,31 @@
+#ifndef __ROAD_THRESHOLDER_H__
+#define __ROAD_THRESHOLDER_H__
+
+#include <opencv2/opencv.hpp>
+#include "road_thresholder_iface.h"
+
+using namespace cv;
+
+class RoadThresholder : public RoadThresholderIface
+{
+	public:
+		RoadThresholder();
+		RoadThresholder(int r, int g, int b);
+		virtual void process_image(const Mat& img);
+		virtual Mat& get_road();
+	
+	private:
+		Mat mask_raw;
+		int road_0;
+		int road_1;
+		int road_2;
+		Mat erode_2d_small;
+		
+		Mat create_diff_image_and_fill_histogram(const Mat& img, int* histogram);
+		void calc_road_color(const Mat& img, const Mat& mask_eroded);
+		static void smoothen_histogram(int* hist, int* hist_smooth, int smoothness);
+		
+};
+
+
+#endif