Added live.cpp

.gitignore

@@ -1,4 +1,4 @@
 build/
 **.DS_STORE
 json
-live
+live

live.cpp

@@ -15,6 +15,7 @@
 #include <iostream>
 
 #include "FiducialMap.h"
+#include <cmath>
 
 int main(int argc, char* argv[])
 {
@@ -58,7 +59,7 @@ int main(int argc, char* argv[])
     // at the same position. When tags disappear for more than 5 frames,
     // Chilitags actually removes it.
     // Here, we cancel this to show the raw detection results.
-    chilitags.setFilter(0, 0.0f);
+    //chilitags.setFilter(0, 0.0f);
 
     cv::namedWindow("DisplayChilitags");
     // Main loop, exiting when 'q is pressed'
@@ -84,11 +85,30 @@ int main(int argc, char* argv[])
             cout << rectPoints[1] << endl;
             cout << rectPoints[2] << endl;
             cout << rectPoints[3] << endl;
-
+            float l1 = pow(pow((rectPoints[1].x - rectPoints[0].x),2) + pow((rectPoints[1].y - rectPoints[0].y),2),0.5);
+            float l2 = pow(pow((rectPoints[1].x - rectPoints[2].x),2) + pow((rectPoints[1].y - rectPoints[2].y),2),0.5);
+			float len;
+			if (l1 > l2) {len = l1;}
+			else {len = l2;}
+			len=len/50;
+			cv::Scalar col = cv::Scalar(0,180,0);
+
+
+			float notdeveloped = 20; //cm
+			float illegal = 10;
+
+			if (len<notdeveloped) {
+				col = cv::Scalar(0,165,255);
+			}
+
+			if (len<illegal) {
+				col = cv::Scalar(0,0,255);
+			}
             for (int i = 0 ; i < 4 ; i++) {
-                cv::Scalar color = cv::Scalar(rng.uniform(0, 255), rng.uniform(0,255), rng.uniform(0,255));
-                line(outputImage, rectPoints[i], rectPoints[(i+1) % 4], color , 1, 8);
-            }  
+                line(outputImage, rectPoints[i], rectPoints[(i+1) % 4], col , 2, 8);
+            }
+            cv::putText(outputImage, cv::format("%.01f", len), Point2f(50,50),
+                        cv::FONT_HERSHEY_SIMPLEX, 2.0f, col);
         }  else {
             cout << "Unable to obtained best rectangle!" << endl;
         }