video_robot_wifi_car

function:

• get video from IP camera or webcam
• control wifi car to move
• find direction when move under vehicles by edge detection
• stitch images to generate a big picture of vehicle bottom(not achieved yet)

based on:

• opencv3 and qt5

class mythread, myobject, TCPclient:

• run a TCPsocket in a thread to communicate with remote control IP(format IP:port)

class imageformat:

• convert image format of opencv to Qimage

class settingdialog:

• set IP address of IP camera or webcam and control address

class testParamset:

• set some param for test

class findLines:

• find direction by edge of the vehicle at two sides.
  • mainly depend on two features: large gradient and high brightness around the wanted edges
  • steps:
    • find gradient threshold using otsu method
    • find edge by canny using the gradient threshold
    • find brightness threshold around edge using otsu method
    • find edge by binary image using the threshold of brightness
    • combine both edge
    • remove unwanted edge
      • gradient angle greater than 30 degree(because we believe direction will not change more than 30)
      • gradient direction greater than 0 in the Top half, smaller than 0 in the bottom half(because we know background is white and vehicle bottom is black)
    • repeat above steps for one time, just change first step a little bit: find gradient threshold using otsu method around edge(this step will enhance the detected edge because we use more accurate edges)
    • find lines, using hough method
    • find two clusters of lines, one is the top half, the other is the bottom half.
    • predict lines by one line in top half and one line in bottom half.

see camera_measure branch for gap recognization.