diff options
-rw-r--r-- | GNUmakefile | 3 | ||||
-rw-r--r-- | Makefile | 3 | ||||
-rw-r--r-- | detect_road_borders_with_horizon_steerer.cpp | 94 | ||||
-rw-r--r-- | horizon_steerer.cpp | 13 | ||||
-rw-r--r-- | horizon_steerer.h | 2 |
5 files changed, 105 insertions, 10 deletions
diff --git a/GNUmakefile b/GNUmakefile index 1fd265f..56d8b79 100644 --- a/GNUmakefile +++ b/GNUmakefile @@ -11,6 +11,9 @@ clean: detect_road_borders: detect_road_borders.cpp g++ `pkg-config --libs --cflags opencv` -g detect_road_borders.cpp -o detect_road_borders +detect_road_borders_with_horizon_steerer: detect_road_borders_with_horizon_steerer.cpp util.cpp horizon_steerer.cpp + g++ `pkg-config --libs --cflags opencv` -g detect_road_borders_with_horizon_steerer.cpp util.cpp horizon_steerer.cpp -o detect_road_borders_with_horizon_steerer + test_detect: detect_road_borders ./detect_road_borders test.mpg @@ -15,6 +15,9 @@ joystick.o: joystick.cpp os.h detect_road_borders: detect_road_borders.cpp g++ `pkg-config --libs --cflags opencv` -g $> -o $@ +detect_road_borders_with_horizon_steerer: detect_road_borders_with_horizon_steerer.cpp horizon_steerer.o util.o + g++ `pkg-config --libs --cflags opencv` -g $> -o $@ + test_detect: detect_road_borders ./detect_road_borders test.mpg 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++; + } + +} diff --git a/horizon_steerer.cpp b/horizon_steerer.cpp index ea1e79d..f15be84 100644 --- a/horizon_steerer.cpp +++ b/horizon_steerer.cpp @@ -34,16 +34,11 @@ HorizonSteerer::HorizonSteerer(int xlen_, int ylen_) xlen=xlen_; ylen=ylen_; - int** contour_map; - contour_map=new int*[xlen]; + my_contour_map=new int*[xlen]; for (int i=0;i<xlen;i++) - contour_map[i]=new int[ylen]; + my_contour_map[i]=new int[ylen]; erode_kernel = circle_mat(10); - - contour_map=new int*[xlen]; - for (int i=0;i<xlen;i++) - contour_map[i]=new int[ylen]; } @@ -62,8 +57,8 @@ void HorizonSteerer::process_image(const Mat& img_) Mat drawing; double confidence; - find_steering_point(img, Point(img.cols/2, img.rows-2*img.rows/5), contour_map, drawing, &confidence); - + find_steering_point(img, Point(img.cols/2, img.rows-2*img.rows/5), my_contour_map, drawing, &confidence); + imshow("drawing",drawing); } double HorizonSteerer::get_steer_data() { return 0.0; } diff --git a/horizon_steerer.h b/horizon_steerer.h index 6b2765d..03e302c 100644 --- a/horizon_steerer.h +++ b/horizon_steerer.h @@ -59,7 +59,7 @@ private: int xlen; int ylen; Mat erode_kernel; - int** contour_map; + int** my_contour_map; }; #endif |