/***********************************************************
* @fn setparamsCallback(const sensor_msgs::ImageConstPtr& msg)
* @brief callback for the reconfigure gui
* @pre has to have the setup for the reconfigure gui
* @post changes the parameters
***********************************************************/
void setparamsCallback(mst_homography::homography_ParamsConfig &config, uint32_t level)
{
// set params
params = config;
_transform = find_perspective(params.theta_x, params.theta_y, params.theta_z, params.center_x, params.center_y);
}
bool init_processing(cv::Mat* mat)
{
auto found_pespective = find_perspective(mat);
if (found_pespective)
{
perspective = *found_pespective;
birds_eye_transform(mat, perspective);
if (Settings::normalizeLightning)
normalizeLightning(mat, blur_i, intensity / 100.f);
cv::Mat cannied_mat;
cv::Canny(*mat, cannied_mat, thresh1, thresh2, 3);
roadFollower = make_unique<roadfollower>(cannied_mat, mat->size().width / 2.f + centerDiff);
return true;
} else{
cv::putText(*mat, "SEARCHING FOR STRAIGHT LANES...", POINT(50.f, mat->size().height / 3.f), cv::FONT_HERSHEY_PLAIN, 1, cv::Scalar(0, 255, 0), 2);
return false;
}
}
