void RouteFinder::runProcess() {
cv::Mat grayImg, image;
ushort imgCntBendCrossing = 0;
ushort imgCntDone = 0;
ushort setSpeedCnt = 0;
m_Running = true;
m_Controller->printString("Start", me, 1);
while(m_Running) {
image = m_PicCreator->GetImage();
if (!image.empty()) {
cv::cvtColor(image,grayImg,CV_BGR2GRAY);
cv::Mat fltImg = cv::Mat::zeros(grayImg.rows, grayImg.cols, CV_8UC1);
if (m_Rows == 0) {
m_Rows = grayImg.rows;
m_Cols = grayImg.cols;
}
edgeDetection(&grayImg, &fltImg);
m_GrayImg = grayImg.clone();
m_FinalFltImg = fltImg.clone();
outPutNrOfIms(imgCntDone);
setDriveState(setSpeedCnt);
checkLaneLost();
setBendCheck(imgCntBendCrossing);
setCrossingSearchState(imgCntBendCrossing);
checkCrossingPriorityLane();
checkTargetFieldFound();
checkMaxNrOfImgsReached(imgCntDone);
}
}
m_Controller->printString("Stop", me, 1);
}
//wraps it all together
void FindGoal::finalize()
{
loadSrc();
cv::Mat blurred = preProcess(src);
std::vector<cv::Vec4i> houghLines = edgeDetection(blurred, srcCopy);
cv::Vec4i goalCors = shapeValidation(houghLines);
graphics(goalCors, srcCopy);
}
