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This commit is contained in:
xinyang
2019-08-18 11:59:29 +08:00
parent 1163cf4c02
commit 2c64f82c9e
2 changed files with 14 additions and 14 deletions
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12
armor/include/armor_finder/armor_finder.h
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@@ -79,13 +79,13 @@ public:
explicit ArmorBox(const cv::Rect &pos=cv::Rect2d(), const LightBlobs &blobs=LightBlobs(), uint8_t color=0, int i=0); explicit ArmorBox(const cv::Rect &pos=cv::Rect2d(), const LightBlobs &blobs=LightBlobs(), uint8_t color=0, int i=0);
cv::Point2f getCenter() const; cv::Point2f getCenter() const; // 获取装甲板中心
double getBlobsDistance() const; double getBlobsDistance() const; // 获取两个灯条中心间距
double lengthDistanceRatio() const; double lengthDistanceRatio() const; // 获取灯条中心距和灯条长度的比值
double getBoxDistance() const; double getBoxDistance() const; // 获取装甲板到摄像头的距离
BoxOrientation getOrientation() const; BoxOrientation getOrientation() const; // 获取装甲板朝向(误差较大，已弃用)
bool operator<(const ArmorBox &box) const; bool operator<(const ArmorBox &box) const; // 装甲板优先级比较
}; };
typedef std::vector<ArmorBox> ArmorBoxes; typedef std::vector<ArmorBox> ArmorBoxes;

16
others/include/additions.h
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@@ -11,14 +11,14 @@
#include <opencv2/core.hpp> #include <opencv2/core.hpp>
// 单片机端回传数据结构体 // 单片机端回传数据结构体
struct McuData { struct McuData {
float curr_yaw; float curr_yaw; // 当前云台yaw角度
float curr_pitch; float curr_pitch; // 当前云台pitch角
uint8_t state; uint8_t state; // 当前状态，自瞄-大符-小符
uint8_t mark; uint8_t mark; // 云台角度标记位
uint8_t anti_top; uint8_t anti_top; // 是否为反陀螺模式
uint8_t enemy_color; uint8_t enemy_color; // 敌方颜色
int delta_x; int delta_x; // 能量机关x轴补偿量
int delta_y; int delta_y; // 能量机关y轴补偿量
}; };
extern McuData mcu_data; extern McuData mcu_data;