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反陀螺v1.1。

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xinyang
2019-07-20 11:10:25 +08:00
parent ccb87882f3
commit 206026b5d9
13 changed files with 26844 additions and 26828 deletions
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4
armor/src/armor_finder/find/find_light_blobs.cpp
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@@ -122,7 +122,7 @@ bool ArmorFinder::findLightBlobs(const cv::Mat &src, LightBlobs &light_blobs) {
color_channel = channels[0]; /* 根据目标颜色进行通道提取 */
else if (enemy_color == ENEMY_RED) /* */
color_channel = channels[2]; /************************/
cv::threshold(color_channel, src_bin, 170, 255, CV_THRESH_BINARY); // 二值化对应通道
cv::threshold(color_channel, src_bin, 140, 255, CV_THRESH_BINARY); // 二值化对应通道
imagePreProcess(src_bin); // 开闭运算
if(src_bin.size() == cv::Size(640, 480) && show_light_blobs)
@@ -137,4 +137,4 @@ bool ArmorFinder::findLightBlobs(const cv::Mat &src, LightBlobs &light_blobs) {
}
}
return light_blobs.size() >= 2;
}
}