LaneDetector.hpp

#pragma once
 
#include <cstdint>
#include <deque>
#include <vector>
 
#include <opencv2/core/mat.hpp>
#include <opencv2/core/matx.hpp>
 
#include "helpers/Globals.hpp"
#include "helpers/Information.hpp"

namespace LaneAndObjectDetection
{
    class LaneDetector
    {
    public:
        explicit LaneDetector();

        void RunLaneDetector(const cv::Mat& p_frame, const ObjectDetectionInformation& p_objectDetectionInformation, const bool& p_debugMode);

        LaneDetectionInformation GetInformation();
 
    private:
        void AnalyseHoughLines(const std::vector<cv::Vec4i>& p_houghLines, const ObjectDetectionInformation& p_objectDetectionInformation, const bool& p_debugMode);

        static bool IsLineWithinObjectBoundingBoxes(const cv::Vec4i& p_houghLine, const ObjectDetectionInformation& p_objectDetectionInformation);

        void UpdateLineTypes();

        void UpdateDrivingState();

        void ExecuteDrivingState();

        void CalculateLanePosition();

        void CalculateChangingLanesTurningDirection();

        template<typename T>
        class RollingAverage
        {
        public:
            explicit RollingAverage();

            T CalculateRollingAverage(const T& p_nextInput);
 
        private:
            std::deque<T> m_rollingAverageArray;
        };

        LaneDetectionInformation m_laneDetectionInformation;

        RollingAverage<Globals::DrivingState> m_drivingStateRollingAverage;

        Globals::DrivingState m_currentDrivingState;

        std::vector<cv::Vec4i> m_leftLaneLines;
        std::vector<cv::Vec4i> m_middleLaneLines;
        std::vector<cv::Vec4i> m_rightLaneLines;

        double m_changingLanesPreviousDistanceDifference;

        double m_leftLineAverageLength;
        double m_middleLineAverageLength;
        double m_rightLineAverageLength;

        uint32_t m_changingLanesFrameCount;

        bool m_changingLanesFirstFrame;
    };
}