From ed88caca55e54851dafa2409727a777bf4d7f5a6 Mon Sep 17 00:00:00 2001
From: ozcanovunc <ozcan_ovunc@hotmail.com>
Date: Thu, 21 Apr 2016 14:05:21 +0300
Subject: [PATCH] Fixed typos, implemented main

---
 Makefile                                | 33 +++++++++++++++
 main.cpp                                | 54 +++++++++++++++++++++++++
 modules/lane-detector/lane_detector.cpp | 17 ++++----
 modules/lane-detector/lane_detector.h   |  5 ++-
 4 files changed, 101 insertions(+), 8 deletions(-)
 create mode 100644 Makefile
 create mode 100644 main.cpp

diff --git a/Makefile b/Makefile
new file mode 100644
index 0000000..128439d
--- /dev/null
+++ b/Makefile
@@ -0,0 +1,33 @@
+CC = g++
+CFLAGS = -g -Wall
+
+SRC = main.cpp \
+modules/lane-detector/lane_detector.cpp \
+modules/pedestrian-detector/pedestrian_detector.cpp \
+modules/stopping-distance-calculator/stopping_distance_calculator.cpp
+
+EXE = main.exe
+
+# C:\opencv\build\x86\install\x86\mingw\lib
+LIB = -llibopencv_calib3d310 \
+-llibopencv_core310 \
+-llibopencv_features2d310 \
+-llibopencv_flann310 \
+-llibopencv_highgui310 \
+-llibopencv_imgcodecs310 \
+-llibopencv_imgproc310 \
+-llibopencv_ml310 \
+-llibopencv_objdetect310 \
+-llibopencv_photo310 \
+-llibopencv_shape310 \
+-llibopencv_stitching310 \
+-llibopencv_superres310 \
+-llibopencv_video310 \
+-llibopencv_videoio310 \
+-llibopencv_videostab310
+
+OPENCV = -I"C:\opencv\build\x86\install\include" \
+-L"C:\opencv\build\x86\install\x86\mingw\lib"
+
+$(EXE) : $(SRC)
+	$(CC) $(CFLAGS) -o $(EXE) $(SRC) $(OPENCV) $(LIB)
\ No newline at end of file
diff --git a/main.cpp b/main.cpp
new file mode 100644
index 0000000..9ddb706
--- /dev/null
+++ b/main.cpp
@@ -0,0 +1,54 @@
+#include <opencv2\opencv.hpp>
+#include <iostream>
+
+#include "modules/lane-detector/lane_detector.h"
+#include "modules/pedestrian-detector/pedestrian_detector.h"
+#include "modules/stopping-distance-calculator/stopping_distance_calculator.h"
+
+#define LANE_COLOR Scalar(0, 255, 0)
+
+using namespace std;
+using namespace cv;
+
+int main(int argc, const char** argv)
+{
+	Mat in;
+	vector<Vec4i> lanes;
+	vector<Rect> pedestrians;
+	bool 	is_out_of_lane = false,
+			is_distance_safe = true,
+			contains_pedestrian = false;
+
+	in = imread("1.png");
+
+	LaneDetector* lane_detector = new LaneDetector(in);
+	PedestrianDetector* pedestrian_detector = new PedestrianDetector();
+
+	while (true) {
+
+		in = imread("1.png");
+
+		// Stopping Distance Calculator Module
+		is_distance_safe = StoppingDistanceCalculator::IsSafe(in);
+		if (!is_distance_safe) {
+			cout << "NOT SAFE" << endl;
+		}
+#if 0
+		// Pedestrian Detector Module
+		contains_pedestrian = pedestrian_detector->ContainsPedestrian(in);
+		if (contains_pedestrian) {
+			pedestrians = pedestrian_detector->GetBoundingRectangles(in);
+		}
+#endif
+		// Lane Detector Module
+		lanes = lane_detector->GetLanes(in);
+		is_out_of_lane = lane_detector->IsOutOfLane(in);
+		lane_detector->DrawLanes(in, lanes, LANE_COLOR, 3);
+
+
+		imshow("PROJECT", in);
+		waitKey(10);	
+	}
+
+	return 0;
+}
\ No newline at end of file
diff --git a/modules/lane-detector/lane_detector.cpp b/modules/lane-detector/lane_detector.cpp
index 9767571..69e36f4 100644
--- a/modules/lane-detector/lane_detector.cpp
+++ b/modules/lane-detector/lane_detector.cpp
@@ -32,7 +32,7 @@ LaneDetector::LaneDetector(Mat image) {
 	LaneDetector::mask_for_elim = temp;
 }
 
-Mat LaneDetector::GetWhiteMask(Mat image, bool maskFlag) {
+Mat LaneDetector::GetWhiteMask(Mat image, bool apply_mask) {
 
 	Mat tresh_saturation,
 		tresh_value,
@@ -41,10 +41,13 @@ Mat LaneDetector::GetWhiteMask(Mat image, bool maskFlag) {
 	vector<Mat> channels;
 
 	// Convert image to HSV, split it to channels
-	if (maskFlag)
+	if (apply_mask) {
 		cvtColor(LaneDetector::mask_for_elim & image, hsv, CV_BGR2HSV);
-	else
+	}
+	else {
 		cvtColor(image, hsv, CV_BGR2HSV);
+	}
+
 	split(hsv, channels);
 
 	// http://i.stack.imgur.com/mkq1P.png
@@ -57,13 +60,13 @@ Mat LaneDetector::GetWhiteMask(Mat image, bool maskFlag) {
 
 vector<Vec4i> LaneDetector::GetLanes(Mat image) {
 
-	Mat red_mask = GetWhiteMask(image, true);
+	Mat white_mask = GetWhiteMask(image, true);
 	vector<Vec4i> lanes;
 
-	erode(red_mask, red_mask, Mat(), Point(-1, -1), 1, 1, 1);
-	dilate(red_mask, red_mask, Mat(), Point(-1, -1), 2, 1, 1);
+	erode(white_mask, white_mask, Mat(), Point(-1, -1), 1, 1, 1);
+	dilate(white_mask, white_mask, Mat(), Point(-1, -1), 2, 1, 1);
 
-	HoughLinesP(red_mask, lanes, 1, CV_PI / 360, 50, 50, 1);
+	HoughLinesP(white_mask, lanes, 1, CV_PI / 360, 50, 50, 1);
 
 	return lanes;
 }
diff --git a/modules/lane-detector/lane_detector.h b/modules/lane-detector/lane_detector.h
index 5cd1734..a43daf2 100644
--- a/modules/lane-detector/lane_detector.h
+++ b/modules/lane-detector/lane_detector.h
@@ -18,7 +18,10 @@ class LaneDetector
 private:
 	// Returns a binary image in which 
 	// 1 corresponds to white area, 0 corresponds to other colors
-	static Mat GetWhiteMask(Mat image, bool maskFlag);
+	// apply_mask flag myst be true if we are detecting lanes, false o/w
+	static Mat GetWhiteMask(Mat image, bool apply_mask);
 	static Mat mask_for_elim;
+
+	// Treshold value for checking if the vehice is in the middle of lanes
 	const static double kLaneTresh;
 };
\ No newline at end of file