From 7a75768ce2f730cbbbcc98c4b204a30ceb0b7e71 Mon Sep 17 00:00:00 2001
From: Florian Jung <florian.a.jung@web.de>
Date: Tue, 4 Dec 2012 15:13:47 +0100
Subject: horizon-steerer segfault gefixt, testprogramm dazu

---
 GNUmakefile                                  |  3 +
 Makefile                                     |  3 +
 detect_road_borders_with_horizon_steerer.cpp | 94 ++++++++++++++++++++++++++++
 horizon_steerer.cpp                          | 13 ++--
 horizon_steerer.h                            |  2 +-
 5 files changed, 105 insertions(+), 10 deletions(-)
 create mode 100644 detect_road_borders_with_horizon_steerer.cpp

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
 
diff --git a/Makefile b/Makefile
index f8ad6c4..a087fbc 100644
--- a/Makefile
+++ b/Makefile
@@ -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
-- 
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