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/*
* detect_road_borders_with_horizon_steerer.cpp
*
* Copyright 2012 Florian Jung <florian.a.jung@web.de>
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License Version 3
* as published by the Free Software Foundation.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
* MA 02110-1301, USA.
*/
#include <stdlib.h>
#include <stdio.h>
#include <iostream>
#include <math.h>
#include <opencv2/opencv.hpp>
#include "horizon_steerer.h"
#include "util.h"
using namespace std;
using namespace cv;
#define AREA_HISTORY 10
int alertcnt=21;
int main(int argc, char* argv[])
{
if (argc!=2) {printf("usage: %s videofile\n",argv[0]); exit(1);}
VideoCapture capture(argv[1]);
if (!capture.isOpened())
{
cout << "couldn't open file" << endl;
exit(1);
}
Mat erode_kernel=circle_mat(10);
Mat frame;
capture >> frame;
Mat thres(frame.rows, frame.cols, CV_8UC1);
Mat tmp(frame.rows, frame.cols, CV_8UC1);
HorizonSteerer* horizon_steerer = new HorizonSteerer(frame.cols, frame.rows);
int frameno=0;
while (1)
{
capture >> frame;
if (frameno<190)
{
frameno++;
continue;
}
cvtColor(frame, tmp, CV_RGB2GRAY);
threshold(tmp, thres, 132, 255, THRESH_BINARY);
dilate(thres,tmp,Mat());
erode(tmp,thres,Mat());
erode(thres,tmp,Mat());
dilate(tmp,thres,Mat());
horizon_steerer->process_image(thres);
cout << "frame #"<<frameno<<endl;
imshow("thres",thres);
//imshow("drawing",drawing);
// waitKey(100);
waitKey();
frameno++;
}
}
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