added line detection module

extensions/src/doodlebot/LineDetection.ts

@@ -0,0 +1,61 @@
+import { createCanvas, loadImage } from 'canvas';
+import { endpoint, port } from "./enums";
+
+export class LineDetector {
+  private lastDetectedLine: number[][] = [];
+  private isProcessing = false;
+  private canvas: any;
+  private ctx: any;
+
+  constructor(private raspberryPiIp: string, private width = 640, private height = 480) {
+    this.canvas = createCanvas(this.width, this.height);
+    this.ctx = this.canvas.getContext('2d');
+  }
+
+  async detectLine(): Promise<number[][]> {
+    if (this.isProcessing) return this.lastDetectedLine;
+    this.isProcessing = true;
+
+    try {
+      const image = await loadImage(`http://${this.raspberryPiIp}:${port.camera}/${endpoint.video}`);
+      this.ctx.drawImage(image, 0, 0, this.width, this.height);
+      const imageData = this.ctx.getImageData(0, 0, this.width, this.height);
+      const lineCoordinates = this.processImageData(imageData);
+
+      if (lineCoordinates.length > 0) {
+        this.lastDetectedLine = lineCoordinates;
+      }
+
+      return this.lastDetectedLine;
+    } catch (error) {
+      console.error('Error detecting line:', error);
+      return this.lastDetectedLine;
+    } finally {
+      this.isProcessing = false;
+    }
+  }
+
+  private processImageData(imageData: ImageData): number[][] {
+    const lineCoordinates: number[][] = [];
+    const threshold = 50; 
+
+    for (let y = 0; y < this.height; y++) {
+      for (let x = 0; x < this.width; x++) {
+        const index = (y * this.width + x) * 4;
+        const r = imageData.data[index];
+        const g = imageData.data[index + 1];
+        const b = imageData.data[index + 2];
+
+        if (r < threshold && g < threshold && b < threshold) {
+          lineCoordinates.push([x, y]);
+        }
+      }
+    }
+    return lineCoordinates.sort((a, b) => a[1] - b[1]);
+  }
+}
+
+export function createLineDetector(raspberryPiIp: string): () => Promise<number[][]> {
+  const detector = new LineDetector(raspberryPiIp);
+  return () => detector.detectLine();
+}

package.json

@@ -33,5 +33,8 @@
     "ts-node": {
       "typescript": "$typescript"
     }
+  },
+  "dependencies": {
+    "canvas": "^2.11.2"
   }
 }