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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]; | ||
| // 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(); | ||
| // } | ||
| import { endpoint, port } from "./enums"; | ||
| import cv from '@u4/opencv4nodejs'; | ||
| import axios from 'axios'; | ||
|
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| export class LineDetector { | ||
| private lastDetectedLine: number[][] = []; | ||
| private isProcessing = false; | ||
|
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||
| constructor(private raspberryPiIp: string, private width = 640, private height = 480) {} | ||
|
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| async detectLine(): Promise<number[][]> { | ||
| if (this.isProcessing) return this.lastDetectedLine; | ||
| this.isProcessing = true; | ||
|
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||
| try { | ||
| // Get image from endpoint | ||
| const response = await axios.get( | ||
| `http://${this.raspberryPiIp}:${port.camera}/${endpoint.video}`, | ||
| { responseType: 'arraybuffer' } | ||
| ); | ||
|
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||
| // Convert response to cv Mat | ||
| const buffer = Buffer.from(response.data); | ||
| let mat = cv.imdecode(buffer); | ||
|
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||
| // Resize if needed | ||
| if (mat.cols !== this.width || mat.rows !== this.height) { | ||
| mat = mat.resize(this.height, this.width); | ||
| } | ||
|
|
||
| // Convert to grayscale and apply threshold | ||
| const gray = mat.cvtColor(cv.COLOR_BGR2GRAY); | ||
| const blurred = gray.gaussianBlur(new cv.Size(5, 5), 0); | ||
| const thresh = blurred.threshold(0, 255, cv.THRESH_BINARY + cv.THRESH_OTSU); | ||
|
|
||
| // Find contours | ||
| const contours = thresh.findContours(cv.RETR_EXTERNAL, cv.CHAIN_APPROX_SIMPLE); | ||
| // Get the largest contour (assuming it's the line) | ||
| const sortedContours = contours.sort((c1, c2) => c2.area - c1.area); | ||
| if (sortedContours.length > 0) { | ||
| // Convert contour points to coordinate array | ||
| const coordinates = sortedContours[0].getPoints().map(point => [point.x, point.y]); | ||
| this.lastDetectedLine = coordinates; | ||
| } | ||
|
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||
| return this.lastDetectedLine; | ||
| } catch (error) { | ||
| console.error('Error detecting line:', error); | ||
| return this.lastDetectedLine; | ||
| } finally { | ||
| this.isProcessing = false; | ||
| } | ||
| } | ||
| } | ||
|
|
||
| export function createLineDetector(raspberryPiIp: string): () => Promise<number[][]> { | ||
| const detector = new LineDetector(raspberryPiIp); | ||
| return () => detector.detectLine(); | ||
| } |
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