Img_processing: add detect sun flag

Author: TziporaGoldshmidt

img_processing/CMakeLists.txt

@@ -23,6 +23,12 @@ if(LANE_DETECT)
     add_definitions(-DLANE_DETECT)
 endif()
 
+# Check if DETECT_SUN flag is set
+option(DETECT_SUN "detect sun" ON)
+if(DETECT_SUN)
+    add_definitions(-DDETECT_SUN)
+endif()
+
 # make the library with the src files
 file(GLOB SOURCES "src/*.cpp" "../logger/*.cpp" "tests/utils.cpp" "../communication/src/*.cpp" "../communication/sockets/*.cpp")
 add_library(ImageProcessingLib ${SOURCES})

img_processing/src/manager.cpp

@@ -166,7 +166,9 @@ int Manager::processing(const Mat &newFrame, bool isTravel)
     // add distance to detection objects
     distance.findDistance(this->currentOutput);
     velocity.returnVelocities(this->currentOutput);
-    sunDetector.detectSun(this->currentFrame);
+    #ifdef DETECT_SUN
+        sunDetector.detectSun(this->currentFrame);
+    #endif
     // send allerts to main control
     vector<vector<uint8_t>> alerts = alerter.sendAlerts(this->currentOutput);
     sendAlerts(alerts);
@@ -258,8 +260,9 @@ void Manager::drawOutput()
               Point(legendX + 10, legendY + 55), Scalar(255, 0, 0), FILLED);
     putText(*currentFrame, "velocity", Point(legendX + 15, legendY + 50),
             FONT_HERSHEY_SIMPLEX, 0.6, Scalar(255, 255, 255), 1);
-    
-    sunDetector.drowSun(this->currentFrame);
+    #ifdef DETECT_SUN
+        sunDetector.drowSun(this->currentFrame);
+    #endif
 
 #ifdef LANE_DETECT
     laneDetector.drawLanesOnImage(currentFrame);