LaneLinux/processingb.cpp at master · apreddyy/LaneLinux · GitHub

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#include "opencv2/opencv.hpp"
#include <iostream>
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/highgui/highgui.hpp"
#include <opencv2/core/core.hpp>
#include "opencv2/objdetect.hpp"
#include <cmath>
#include <stddef.h>
#include <stdlib.h>
#include <string.h>
#include "rt_nonfinite.h"
#include "rtwtypes.h"
#include "processedout.h"
#include "unwrap.h"
#include "processedout_emxAPI.h"
#include "processedout_types.h"
#include "processb.h"

using namespace std;
using namespace cv;


void processingb_frame(Mat& frame, Mat& src, double PointsA[720], double PointsB[720], double AlertSide, double center_data[], Mat& dst)
{
	Mat unwrap_framein, unwrap_frameout, merge_frameout, sobel_frameout;
	int m = 360;
		int n = 2;
		int dataL[720];
		int dataR[720];

		int i, j;
		for (i = 0; i < n; i++)
			for (j = 0; j < m; j++)
			{
				dataL[i + n * j] = (int)PointsA[i*m + j];
				dataR[i + n * j] = (int)PointsB[i*m + j];
			}

		Mat Lpoint = Mat(m, n, CV_32SC1, dataL);
		Mat Rpoint = Mat(m, n, CV_32SC1, dataR);
		Mat maskImage = Mat(frame.size(), CV_8UC3, Scalar(0));
		vector<Point2i>PointLeft;
		vector<Point2i>PointRight;


		for (int r = 0; r < m; r++)
		{
			int c = 359 - r;
			Point2i L = (Point2i(Lpoint.at <int>(r, 0), Lpoint.at <int>(r, 1)));
			PointLeft.push_back(L);
			drawMarker(maskImage, L, Scalar(0, 0, 255), MARKER_SQUARE, 30, 1, 8);
			Point2i R = (Point2i(Rpoint.at <int>(c, 0), Rpoint.at <int>(c, 1)));
			PointRight.push_back(R);
			drawMarker(maskImage, R, Scalar(0, 0, 255), MARKER_SQUARE, 30, 1, 8);
		}

		vector<Point2i>PointLeftRight;
		PointLeft.insert(PointLeft.end(), PointRight.begin(), PointRight.end());
		PointLeftRight = PointLeft;
		const Point *pts = (const cv::Point*)Mat(PointLeftRight).data;
		int npts = Mat(PointLeftRight).rows;
		fillPoly(maskImage, &pts, &npts, 1, Scalar(0, 255, 0), 8);
		unwrap_frame(maskImage, unwrap_frameout);
		addWeighted(src, 1, unwrap_frameout, 0.5, -1, dst);
}