int main(){
VideoDevice camera;
camera.startCapture(0);
Mat img = camera.getImage();
TargetDetector detector;
Target* tar = detector.processImage(img);
std::cout<<"yay no errors";
}
int main(int argc, char* argv[])
{
// Create all the necessary objects (calls the default constructor for each)
TargetDetector detector;
TargetProcessor processor;
NetworkController networkController;
VideoDevice camera;
CmdLineInterface interface(argc, argv);
AppConfig config = interface.getConfig();
GUIManager gui;
if(config.getIsDevice())
{
camera.startCapture(config.getDeviceID());
if(config.getIsDebug())
std::cout << "Camera ready!\n";
}
//init networking
if(config.getIsNetworking())
networkController.startServer();
if(!config.getIsHeadless())
gui.init();
if(config.getIsDebug())
std::cout << "Im debugging! :D\n";
while(true)
{
networkController.waitForPing();
cv::Mat image = camera.getImage();
Target* target = detector.processImage(image);
bool foundTarget = (target == NULL ? false : true);
if(foundTarget)
{
processor.loadTarget(target);
double distance = processor.calculateDistance();
networkController.sendMessage("true;" +
boost::lexical_cast<std::string> (distance));
std::cout << "Target Found! Distance: " << distance;
}
else
{
networkController.sendMessage("false;");
}
}
return 0;
}
int main(int argc, char* argv[])
{
// Create all the necessary objects (calls the default constructor for each)
TargetDetector detector;
TargetProcessor processor;
NetworkController networkController;
VideoDevice camera;
CmdLineInterface interface(argc, argv);
AppConfig config = interface.getConfig();
//GUIManager gui;
if(config.getIsDevice()){
camera.startCapture(config.getDeviceID());
if(config.getIsDebug())
std::cout << "Camera ready!\n";
}
//init networking
if(config.getIsNetworking())
networkController.startServer();
//if(!config.getIsHeadless())
// gui.init();
if(config.getIsDebug())
std::cout << "Im debugging! :D\n";
cv::Mat image;
//debug
int loop = 1;
cv::namedWindow("Live Video Feed", cv::WINDOW_NORMAL);
cv::namedWindow("General", cv::WINDOW_NORMAL);
while(cv::waitKey(30) != 27)
{
Mat background(Size(1000,1000), CV_8UC1, Scalar(255, 255, 255 ));
if(config.getIsDebug())
std::cout << "While Loop #" << loop << std::endl;
if(config.getIsNetworking())
networkController.waitForPing();
image = camera.getImage();
if(!image.data) // check if image is valid
{
if(config.getIsDebug())
std::cout << "failed to read image" << std::endl;
return -1;
}
if(config.getIsDebug())
std::cout << "Image Read" << std::endl;
Target* target = detector.processImage(image);
if(config.getIsDebug())
std::cout << "Image Processed by Target Detector" << std::endl;
/*
(std::cout << "Target Value:" << target << "End of Target Value\n";
std::cout << "CR A OW: " << target-> crow;
target -> printPoints();
*/
bool foundTarget = false;
if (target != NULL)
{
foundTarget = true;
image = detector.getOutlinedImage();
}
std::cout <<"About to check the value of foundTarget" << std::endl;
if(foundTarget)
{
std::cout <<"Target was found " << std::endl;
if(config.getIsDebug())
std::cout << "Image Being Processed" << std::endl;
processor.loadTarget(target);
if(config.getIsDebug())
std::cout << "Target Loaded" << std::endl;
double distance = processor.calculateDistance();
if(config.getIsDebug())
std::cout << "Distance Calculated" << std::endl;
double azimuth = processor.calculateAzimuth();
if(config.getIsDebug())
std::cout << "Azimuth Calculated" << std::endl;
double altitude = processor.calculateAltitude();
if(config.getIsDebug())
std::cout << "Altitude Calculated" << std::endl;
if(config.getIsDebug())
std::cout << "Image Processed by TargetProcessor" << std::endl;
std::string dis = "distance: " + std::to_string(distance);
std::string alt = "altitude: " + std::to_string(altitude);
std::string azi = "azimuth: " + std::to_string(azimuth);
cv::putText(background, dis, cv::Point(50,100),
cv::FONT_HERSHEY_COMPLEX_SMALL, 2, cv::Scalar(0, 255, 0),
1);
cv::putText(background, alt, cv::Point(50,200),
cv::FONT_HERSHEY_COMPLEX_SMALL, 2, cv::Scalar(0, 255, 0),
1);
cv::putText(background, azi, cv::Point(50,400),
cv::FONT_HERSHEY_COMPLEX_SMALL, 2, cv::Scalar(0, 255, 0),
1);
imshow("General", background);
if (config.getIsNetworking())
{
networkController.sendMessage("true;" +
boost::lexical_cast<std::string> (distance) + ";" +
boost::lexical_cast<std::string> (azimuth) + ";" +
boost::lexical_cast<std::string> (altitude));
}
if(config.getIsDebug()){
std::cout << "Target Found! Distance: " << distance;
std::cout << "Altitude: " << altitude << std::endl;
std::cout << "Azimuth: " << azimuth << std::endl;
}
}
else
{
if (config.getIsNetworking())
networkController.sendMessage("false;");
}
imshow("Live Video Feed", image);
loop++;
delete target;
}
return 0;
}
