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First version of autonomous map making strategy
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Sebastian Theophil
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Sep 30, 2015
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,37 @@ | ||
| // | ||
| // edge_following_strategy.cpp | ||
| // robotcontrol2 | ||
| // | ||
| // Created by Sebastian Theophil on 29.09.15. | ||
| // Copyright © 2015 Sebastian Theophil. All rights reserved. | ||
| // | ||
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| #include "edge_following_strategy.h" | ||
| #include <opencv2/imgproc.hpp> | ||
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| namespace rbt { | ||
| void CEdgeFollowingStrategy::update(point<double> const& ptf, double fYaw, COccupancyGrid const& occgrid) { | ||
| // Threshold first, converting image to black & white. Decision to drive to a position is essentially binary. | ||
| // Either we can drive someplace or we can't. | ||
| cv::threshold(occgrid.ErodedMap(), m_matnMapEdges, /* pixels >= */ 255*0.4, /* are set to */ 255, cv::THRESH_BINARY); | ||
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| // Recognize edges in eroded map. | ||
| // Threshold factors determined empirically to work well with greyscale image. | ||
| // They don't matter with thresholded binary image | ||
| cv::Canny(m_matnMapEdges, m_matnMapEdges, 100, 300); | ||
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| // Turn edges into lines. The robot must follow these lines to scan the walls. | ||
| std::vector<cv::Vec4i> vecline; | ||
| cv::HoughLinesP(m_matnMapEdges, | ||
| vecline, | ||
| 1, // resolution of r in px | ||
| CV_PI/180, // resolution of rho in rad | ||
| 15); // min number of votes for a line, 15-20 seems to work ok | ||
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| // Draw recognized features for debugging | ||
| cvtColor(occgrid.GreyscaleMap(), m_matrgbMapFeatures, CV_GRAY2RGB); | ||
| boost::for_each(vecline, [&](cv::Vec4i const& line) { | ||
| cv::line(m_matrgbMapFeatures, cv::Point(line[0], line[1]), cv::Point(line[2], line[3]), cv::Scalar(0,0,255), /*thickness*/ 1); | ||
| }); | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,29 @@ | ||
| // | ||
| // edge_following_strategy.hpp | ||
| // robotcontrol2 | ||
| // | ||
| // Created by Sebastian Theophil on 29.09.15. | ||
| // Copyright © 2015 Sebastian Theophil. All rights reserved. | ||
| // | ||
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| #ifndef edge_following_strategy_hpp | ||
| #define edge_following_strategy_hpp | ||
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| #include "occupancy_grid.h" | ||
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| namespace rbt { | ||
| struct CEdgeFollowingStrategy { | ||
| CEdgeFollowingStrategy() {} | ||
| void update(point<double> const& ptf, double fYaw, COccupancyGrid const& occgrid); | ||
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| cv::Mat const& EdgeMap() const { return m_matnMapEdges; } | ||
| cv::Mat const& FeatureRGBMap() const { return m_matrgbMapFeatures; } | ||
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| private: | ||
| cv::Mat m_matnMapEdges; | ||
| #ifndef NDEBUG | ||
| cv::Mat m_matrgbMapFeatures; | ||
| #endif | ||
| }; | ||
| } | ||
| #endif /* edge_following_strategy_hpp */ |
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