diff options
Diffstat (limited to 'horizon_steerer.cpp')
| -rw-r--r-- | horizon_steerer.cpp | 51 |
1 files changed, 51 insertions, 0 deletions
diff --git a/horizon_steerer.cpp b/horizon_steerer.cpp index a553410..ea1e79d 100644 --- a/horizon_steerer.cpp +++ b/horizon_steerer.cpp @@ -1,9 +1,30 @@ +/* + * 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; @@ -17,8 +38,38 @@ HorizonSteerer::HorizonSteerer(int xlen_, int ylen_) contour_map=new int*[xlen]; for (int i=0;i<xlen;i++) 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]; +} + + +void HorizonSteerer::process_image(const Mat& img_) +{ + Mat img; + img_.copyTo(img); + + int area_abs; + double area_ratio = only_retain_largest_region(img, &area_abs); + + Mat tmp; + dilate(img, tmp, erode_kernel); + erode(tmp, img, erode_kernel); + + + Mat drawing; + double confidence; + find_steering_point(img, Point(img.cols/2, img.rows-2*img.rows/5), contour_map, drawing, &confidence); + } +double HorizonSteerer::get_steer_data() { return 0.0; } +double HorizonSteerer::get_confidence() { return 1.0; } + + static void set_pixel(Mat m, Point p, Scalar color) { |