FSPoint FSVision::detectLaserLine( cv::Mat &laserOff, cv::Mat &laserOn, unsigned int threshold )
{
unsigned int cols = laserOff.cols;
unsigned int rows = laserOff.rows;
cv::Mat laserLine = subLaser2(laserOff, laserOn);
std::vector<cv::Vec4i> lines;
double deltaRho = 1;
double deltaTheta = M_PI/2;
int minVote = 20;
double minLength = 50;
double maxGap = 10;
cv::Mat laserLineBW( cols, rows, CV_8U, cv::Scalar(0) );
cv::cvtColor(laserLine, laserLineBW, CV_RGB2GRAY); //convert to grayscale
/*cv::namedWindow("Detected Lines with HoughP");
cv::imshow("Detected Lines with HoughP",laserLineBW);
cv::waitKey(0);*/
//cvDestroyWindow("Detected Lines with HoughP");
cv::HoughLinesP( laserLineBW,
lines,
deltaRho,
deltaTheta,
minVote,
minLength,
maxGap );
//should at least detect the laser line
qDebug() << "detected"<<lines.size()<<"lines";
if(lines.size()==0){
qDebug("Did not detect any laser line, did you select a SerialPort form the menu?");
FSPoint p = FSMakePoint(0.0,0.0,0.0);
return(p);
}
//assert(lines.size()>0);
//for(int i=0;i<lines.size();i++){
cv::Point p1;
cv::Point p2;
for(unsigned int i=0;i<lines.size();i++){
qDebug() << "drawing line "<<lines[i][0]<<lines[i][1]<<lines[i][2]<<lines[i][3];
//int i = 0;
p1.x = lines[i][0];
p1.y = lines[i][1];
p2.x = lines[i][2];
p2.y = lines[i][3];
cv::line(laserLine, p1, p2, CV_RGB( 255,0,0 ),1); //draw laser line
}
/*cv::namedWindow("Detected Lines with HoughP");
cv::imshow("Detected Lines with HoughP",laserLine);
cv::waitKey(0);
cvDestroyWindow("Detected Lines with HoughP");*/
FSPoint p = convertCvPointToFSPoint(p1);
return p;
}
FSPoint FSVision::detectLaserLine( cv::Mat &laserOff, cv::Mat &laserOn, unsigned int threshold, cv::Point *mP )
{
IsFindLine=false;
unsigned int cols = laserOff.cols;
unsigned int rows = laserOff.rows;
cv::Mat laserLine = subLaser2(laserOff, laserOn,1);
std::vector<cv::Vec4i> lines;
double deltaRho = 1;
double deltaTheta = M_PI/2;
int minVote = 20;
double minLength = 50;
double maxGap = 10;
cv::Mat laserLineBW( cols, rows, CV_8U, cv::Scalar(0) );
cv::cvtColor(laserLine, laserLineBW, CV_RGB2GRAY); //convert to grayscale
cv::Mat mask( cols/2, rows/2-100, CV_8U, cv::Scalar(0) );
cv::Rect rect(0, 0,cols/2, rows/2 - 100);
laserLineBW(rect).copyTo(mask);
//cv::imshow("extractedlaserLine3",mask);
//cv::waitKey(100);
// cv::namedWindow("Detected Lines with HoughP");
//cvDestroyWindow("Detected Lines with HoughP");
cv::HoughLinesP( mask,
lines,
deltaRho,
deltaTheta,
minVote,
minLength,
maxGap );
cv::putText(mask,"",cv::Point(10,10),6,6,cv::Scalar(255,0,0),1,8,false);
cv::imshow("extractedlaserLine2",mask);
//cv::waitKey(0);
//should at least detect the laser line
qDebug() << "detected"<<lines.size()<<"lines";
if(lines.size()==0) {
qDebug("Did not detect any laser line, did you select a SerialPort form the menu?");
FSPoint p = FSMakePoint(0.0,0.0,0.0);
mP[0].x =0;
mP[0].y =0;
return(p);
}
//assert(lines.size()>0);
//for(int i=0;i<lines.size();i++){
cv::Point p1;
cv::Point p2;
for(int i=0; i<lines.size(); i++) {
qDebug() << "drawing line "<<lines[i][0]<<lines[i][1]<<lines[i][2]<<lines[i][3];
//int i = 0;
p1.x = lines[i][0];
p1.y = lines[i][1];
p2.x = lines[i][2];
p2.y = lines[i][3];
cv::line(laserLine, p1, p2, CV_RGB( 255,0,0 ),1); //draw laser line
IsFindLine=true;
}
mP[0].x =p1.x;
mP[0].y =p1.y;
/*cv::namedWindow("Detected Lines with HoughP");
cv::imshow("Detected Lines with HoughP",laserLine);
cv::waitKey(100);
cvDestroyWindow("Detected Lines with HoughP");
*/
FSPoint p = convertCvPointToFSPoint(p1);
return p;
}
