Add coordinate class to track the grid that is obstacle free

obstacle_avoidance.cpp

@@ -28,6 +28,40 @@ int num_grid = 3; // (3X3)
 #define UP (MIDDLE - num_grid)
 #define DOWN (MIDDLE + num_grid)
 
+
+class Coordinates{
+ public:
+ int x,y,w,h, pixel_counter;
+ string direction;
+ Coordinates(int x,int y,int w,int h,string direction, int pixel_counter){
+ this->x=x;
+ this->y=y;
+ this->w=w;
+ this->h=h;
+ this->direction=direction;
+ this->pixel_counter=pixel_counter;
+ }
+
+ bool operator<(const Coordinates &a)const {
+ return pixel_counter < a.pixel_counter; // sort accessing order based on pixel counter
+ // higher pixel counter means lesser probability of obstacle
+ // lower pixel counter means higher probability of obstacle
+ }
+
+ void display(){
+ cout<<"-----------------------------------"<<endl;
+ cout<<"Direction-> "<<this->direction<<endl;
+ cout<<"X-> "<<this->x<<endl;
+ cout<<"Y-> "<<this->y<<endl;
+ cout<<"Width-> "<<this->w<<endl;
+ cout<<"Height-> "<<this->h<<endl;
+ cout<<"Pixel counter-> "<<this->pixel_counter<<endl;
+ cout<<"-----------------------------------"<<endl;
+
+ }
+};
+
+
 const char* keyword = "{image i |<none>| input image }";
 
 int main(int argc, char** argv)
@@ -50,10 +84,11 @@ int main(int argc, char** argv)
  int GRID_SIZE_WIDTH = width / num_grid;
  int GRID_SIZE_HEIGHT = height / num_grid;
  vector<Rect> grid;
+ vector<Coordinates>coordinates;
 
  for (int y = 0; y < height - GRID_SIZE_HEIGHT; y += GRID_SIZE_HEIGHT) {
  for (int x = 0; x < width - GRID_SIZE_WIDTH; x += GRID_SIZE_WIDTH) {
- int k = x * y + x;
+ //int k = x * y + x;
  Rect grid_rect(x, y, GRID_SIZE_WIDTH, GRID_SIZE_HEIGHT);
  cout << grid_rect << endl;
  grid.push_back(grid_rect);
@@ -68,42 +103,47 @@ int main(int argc, char** argv)
  int predefined_direction[5] = { MIDDLE, RIGHT, LEFT, UP, DOWN };
  string dir[5] = { "Middle", "Right", "Left", "Up", "Down" };
  Mat org_grey;
- cvtColor(image, org_grey, CV_BGR2GRAY);
+ cvtColor(image, org_grey, CV_BGR2GRAY); //Convert to greyscale
  //org_grey.convertTo(org_grey, CV_8U, 255.0);
  imshow("Original image ", org_grey);
- float THRESHOLD = 100;
- int counter;
+ float THRESHOLD = 100; //0=black/obstacle 255=white/no obstacle
+ int counter; //number of pixel inside the grid that are greater than the threshold
 
  for (int direction = 0; direction < 5; direction++) {
  Mat cropped = image(Rect(grid[predefined_direction[direction]].x, grid[predefined_direction[direction]].y, GRID_SIZE_WIDTH, GRID_SIZE_HEIGHT));
  counter = 0;
- Mat grey2; //=Mat::zeros(cropped.cols,cropped.rows, CV_8U CV_64F);
  cvtColor(cropped, grey, CV_BGR2GRAY, 255.0);
- grey.convertTo(grey2, CV_8UC1);
- imshow("Here", grey2);
- float max = -999999.0;
- float min = 999999.0;
+ grey.convertTo(grey, CV_8UC1); // convert pixel value between 0 and 255
+ imshow("Converted greyscale", grey);
+ float max = -999999.0; //maximum pixel value inside the grid
+ float min = 999999.0; // minimum pixel value inside the grid
  for (int i = 0; i < cropped.rows; i++) {
  for (int j = 0; j < cropped.cols; j++) {
- //cout<<cropped.at<float>(i,j)<<endl;
- if ((grey2.at<uchar>(i, j)) > THRESHOLD) {
- cout << "Pixel " << grey2.at<float>(i, j) << " = " << grey.at<float>(i, j) << endl;
+ if ((grey.at<uchar>(i, j)) > THRESHOLD) {
  counter++;
  }
- if ((grey2.at<uchar>(i, j)) > max) {
- max = grey2.at<uchar>(i, j);
+ if ((grey.at<uchar>(i, j)) > max) {
+ max = grey.at<uchar>(i, j);
  }
- if ((grey2.at<uchar>(i, j)) < min) {
- min = grey2.at<uchar>(i, j);
+ if ((grey.at<uchar>(i, j)) < min) {
+ min = grey.at<uchar>(i, j);
  }
  }
  }
  cout << dir[direction] << " # of pixels greater than threshold " << counter << " Max " << max << " Min " << min << endl;
+ coordinates.push_back(Coordinates(grid[predefined_direction[direction]].x, grid[predefined_direction[direction]].y, GRID_SIZE_WIDTH, GRID_SIZE_HEIGHT, dir[direction], counter));
+ //coordinates[direction].display();
  imshow("Grayscale", grey);
 
  //imshow(dir[direction],cropped);
  waitKey();
  }
+
+ //Test
+ sort(coordinates.begin(),coordinates.end());
+ for(int i=0;i<coordinates.size();i++){
+ coordinates[i].display();
+ }
  }
  else {
  cout << "Wrong command" << endl;