Ejemplo n.º 1
0
int main(){
    VideoDevice camera;
    camera.startCapture(0);
    Mat img = camera.getImage();
    TargetDetector detector;
    Target* tar = detector.processImage(img);
    std::cout<<"yay no errors";
}
Ejemplo n.º 2
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";

    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;
}
Ejemplo n.º 3
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;
}