Press enter to stop the infinite while loop

arucoDetector.cpp

@@ -1,5 +1,18 @@
 #include "utils/ArucoDetector.h"
 
+#include <iostream>
+#include <thread>
+#include <atomic>
+
+std::atomic<bool> stopRequested(false);
+
+void userInputThread() {
+    // Wait for the user to press Enter
+    std::cout << "Press Enter to stop the program..." << std::endl;
+    std::cin.ignore();
+    stopRequested = true;
+}
+
 int main(int argc, char *argv[])
 {
     // Settup argument parser
@@ -32,6 +45,8 @@ int main(int argc, char *argv[])
 
     // End argument parser
 
+    std::thread userInput(userInputThread);
+
     const auto robotPose = Type::RobotPose{cv::Point3f(0, 0, 0), CV_PI/2};
 
     ArucoDetector detector(robotPose, calibrationPath, BLUE, cameraId, headless);
@@ -60,7 +75,15 @@ int main(int argc, char *argv[])
                 ArucoDetector::solarPanelDetector(p.first, p.second.first, p.second.first, robotPose);
             }
         }
+
+        if (stopRequested)
+        {
+            break;
+        }
     }
 
+    // Wait for the user input thread to finish
+    userInput.join();
+
     return 0;
 }

utils/ArucoDetector.cpp

@@ -3,9 +3,13 @@
 ArucoDetector::ArucoDetector(const Type::RobotPose& pose, const std::string& calibrationPath, const Team team, const int cameraId, const bool headless) : robotPose(pose), headless(headless), team(team)
 {
     // this->detector = cv::aruco::ArucoDetector(getPredefinedDictionary(cv::aruco::DICT_4X4_50), cv::aruco::DetectorParameters());
-    this->dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_4X4_50);
+    // this->dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_4X4_50);
     // this->parameters = cv::aruco::DetectorParameters();
 
+    // 4.6
+    this->dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_4X4_50);
+
+
     this->transformationMatrix = (cv::Mat_<double>(4, 4) <<
         cos(pose.theta), 0, sin(pose.theta), pose.position.x,
         0, 1, 0, pose.position.y,

utils/ArucoDetector.h

@@ -13,7 +13,11 @@ class ArucoDetector {
 
     cv::VideoCapture cap;
 
+    // 4.6
     cv::Ptr<cv::aruco::Dictionary> dictionary;
+
+    // 4.8
+    // cv::aruco::Dictionary dictionary;
     // cv::aruco::DetectorParameters parameters;
     // cv::aruco::ArucoDetector detector;