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