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[])
{
// get command line interface config options
CmdLineInterface interface(argc, argv);
AppConfig config = interface.getConfig();
GUIManager gui;
VideoDevice camera;
LProcessor processor;
NetworkController networkController;
ArduinoController arduino;
//init camera
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.getHasArduino())
{
//16 is /dev/ttyUSB0, 24 is /dev/ttyACM0
arduino.init(9600, 24); //baud rate, serial port
}
//continuous server loop
do
{
if(config.getIsNetworking())
networkController.waitForPing();
LDetector detector;
cv::Mat image;
if(config.getIsFile());
//image = cv::imread(config.getFileName());
//else
// image = camera.getImage(config.getIsDebug());
//detector.elLoad(image);
//detector.elSplit();
//detector.elThresh();
//detector.elContours(); detector.elFilter();
bool foundL = true;
if (detector.getLs().size() > 0)
detector.largest2();
else
foundL = false;
if (detector.getLs().size() == 0)
foundL = false;
if (foundL)
{
processor.determineL(detector.getLs());
processor.determineAzimuth();
processor.determineDistance();
double azimuth = processor.getAzimuth();
double distance = processor.getDistance();
if(config.getIsDebug())
{
processor.outputData();
std::cout << "Final distance (m): " << processor.getDistance() << std::endl;
}
if(!config.getIsHeadless())
{
int i_dist = (int) (distance * 1000.0);
int dist_left = i_dist / 1000;
int dist_right = i_dist % 1000;
std::string dist_str = boost::lexical_cast<std::string>(dist_left) + "." + boost::lexical_cast<std::string>(dist_right);
gui.setImage(detector.show());
gui.setImageText("Distance: " + dist_str + " m");
gui.show(config.getIsFile());
}
if(config.getIsNetworking())
{
networkController.sendMessage(boost::lexical_cast<std::string> ("true") + std::string(";")
+ boost::lexical_cast<std::string> (distance) + std::string(";")
+ boost::lexical_cast<std::string> (azimuth));
}
}
else
{
if(config.getIsNetworking())
networkController.sendMessage(boost::lexical_cast<std::string> ("false") + std::string(";"));
if(!config.getIsHeadless())
{
gui.setImage(detector.show());
gui.setImageText("No L's Found");
gui.show(config.getIsFile());
}
}
if(config.getHasArduino())
{
char c = std::rand() % 26 + 'A';
arduino.sendMessage(c, cv::Point(5, 5));
cv::waitKey(300);
}
}
while(config.getIsDevice());
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;
}