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dector.h
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#ifndef DECTOR_H
#define DECTOR_H
#define M_PI 3.14159265358979323846
#include <opencv2/opencv.hpp>
#include "opencv2/core/core.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include <iostream>
#include <algorithm>
#include <time.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <arpa/inet.h>
#include <sys/socket.h>
using namespace cv;
using namespace std;
class Dector {
private:
bool debug = false;
const static int RATIO = 2;//1代表640x480,2代表1280x720
int CAR_CENTRE_COL = 0;
int CAR_CENTRE_ROW = 0;
int LINE_WIDTH_MAX = 0;
uchar LINE_WIDTH_MIN = 0;
uchar TWOTIMES_WHITE_LINE_WIDTH_MAX = 0;
uchar ONE_TIME_THRESHOLD = 0;
uchar MEAN_CENTRE_GAP = 0;
uchar EDGE_CENTRE_ROW_GAP_1 = 0;
uchar EDGE_CENTRE_COL_GAP_1 = 0;
uchar EDGE_CENTRE_ROW_GAP_2 = 0;
uchar EDGE_CENTRE_COL_GAP_2 = 0;
uchar EDGE_CENTRE_ROW_GAP_3 = 0;
uchar EDGE_CENTRE_COL_GAP_3 = 0;
uchar KERNELS_COUNT = 0;
uchar MARKS_GAP = 0;
uchar SAME_LINE_ANGLE = 0;
uchar SAME_LINE_GAP_1 = 0;
uchar SAME_LINE_GAP_2 = 0;
uchar AREA_1 = 0;
uchar AREA_2 = 0;
uchar AREA_3 = 0;
enum Direction {BOTTOM_LEFT, BOTTOM_RIGHT, TOP_RIGHT, TOP_LEFT,NO};
struct Line{
int row;
int startCol;
int endCol;
int width;
bool isBlack;
};
struct Kernel {
int row;
int col;
int type;//1：定位标识；２：导航标识
};
int clnt_sock;
public:
volatile double position_err = 0;
volatile double angle_err = 0;
volatile int decode_value = 0;
int last_decode_value = 0;
volatile int centre_y = 0;
volatile int centre_x = 320;
volatile bool turned = false;
volatile int routeNodes[30];
volatile int command[30];
volatile int nodeIndex = 0;
volatile int stopNum = 0;
volatile bool readyToTurn = false;
volatile bool stopDecode = false;
volatile bool commandStop = false;
int last_roi_x = 320;
int imageCols = 0;
int imageRows = 0;
int roiCols = 640;
int roiRows = 640;
Dector();
void cameraTest(int clnt);
void videoTest(string, int clnt);
void mediaStream(VideoCapture capture, int delay);
void imageTest(string);
void imageProcess(Mat &frame, Mat &thresholded);
vector<Point> scanImageEfficiet(Mat&);
void analyseLines(vector<Line>&lines, vector<Kernel>&, uchar*);
vector<Point> analyseKernels(vector<Kernel> &);
void analyseLocationKernels(vector<Kernel>&, vector<Kernel>&, vector<Kernel>&, vector<Point>&);
void analyseNavigationKernels(vector<Kernel>&, vector<Point>&);
Point denoiseAndCentralization(vector<Kernel>&);
void findKernelsCentre(int*, int*, vector<Kernel> &);
Point calculateMeanPointAndPush(uchar&, int&, int&, vector<Point> &kernelPoints);
bool isValidPoint(Point &);
vector<int> calculateEdges(vector<Point>&);
int decodeImage(Mat&, vector<Point> &, vector<Point>&);
Direction calculDirection(int, int, int, int , vector<int> edges);
void errorMeasure(vector<Point>&, Mat&);
void removeRepeat(vector<Point> &, int, int);
void myPutText(string text, Mat src, int x, int y);
int decode(vector<Point> &pt_local,vector<Point> &pt_encode);
CvPoint transformPoint(const CvPoint pointToTransform, const Mat matrix);
};
#endif // DECTOR_H