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This commit is contained in:
wanpiqiu123
2019-07-22 11:53:40 +08:00
parent 68a642e6a6
commit 4075352a70
8 changed files with 95 additions and 102 deletions
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39
armor/src/show_images/show_images.cpp
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@@ -48,33 +48,32 @@ void showArmorBoxes(std::string windows_name, const cv::Mat &src, const ArmorBox
/**************************
* 显示多个装甲板区域及其类别 *
**************************/
void showArmorBoxesClass(std::string window_names, const cv::Mat &src, const ArmorBoxes boxes[15]) {
void showArmorBoxesClass(std::string window_names, const cv::Mat &src, const ArmorBoxes &boxes) {
static Mat image2show;
if (src.type() == CV_8UC1) { // 黑白图像
cvtColor(src, image2show, COLOR_GRAY2RGB);
} else if (src.type() == CV_8UC3) { //RGB 彩色
image2show = src.clone();
}
for (int i = 1; i < 15; i++) {
if (!boxes[i].empty()) {
for (auto box : boxes[i]) {
rectangle(image2show, box.rect, Scalar(0, 255, 0), 1);
drawLightBlobs(image2show, box.light_blobs);
if (i == -1)
putText(image2show, id2name[i], Point(box.rect.x + 2, box.rect.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1,
Scalar(0, 255, 0));
else if (1 <= i && i < 8)
putText(image2show, id2name[i], Point(box.rect.x + 2, box.rect.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1,
Scalar(255, 0, 0));
else if (8 <= i && i < 15)
putText(image2show, id2name[i], Point(box.rect.x + 2, box.rect.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1,
Scalar(0, 0, 255));
else if (i != 0)
LOGE_INFO("Invalid box id:%d!", i);
}
for (const auto &box : boxes) {
if(box.id != 0) {
rectangle(image2show, box.rect, Scalar(0, 255, 0), 1);
drawLightBlobs(image2show, box.light_blobs);
if (box.id == -1)
putText(image2show, id2name[box.id], Point(box.rect.x + 2, box.rect.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1,
Scalar(0, 255, 0));
else if (1 <= box.id && box.id < 8)
putText(image2show, id2name[box.id], Point(box.rect.x + 2, box.rect.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1,
Scalar(255, 0, 0));
else if (8 <= box.id && box.id < 15)
putText(image2show, id2name[box.id], Point(box.rect.x + 2, box.rect.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1,
Scalar(0, 0, 255));
else if (box.id != 0)
LOGE_INFO("Invalid box id:%d!", box.id);
}
}
imshow(window_names, image2show);
}
/**************************
@@ -93,7 +92,7 @@ void showArmorBox(std::string windows_name, const cv::Mat &src, const ArmorBox &
drawLightBlobs(image2show, box.light_blobs);
// static FILE *fp = fopen(PROJECT_DIR"/ratio.txt", "w");
// if(box.light_blobs.size() == 2)
// fprintf(fp, "%lf %lf %lf\n", box.light_blobs[0].length, box.light_blobs[1].length, box.blobsDistance())
// fprintf(fp, "%lf %lf %lf\n", box.light_blobs[0].length, box.light_blobs[1].length, box.getBlobsDistance())
// cout << box.lengthDistanceRatio() << endl;
if(box.getOrientation() == ArmorBox::FRONT){
@@ -103,7 +102,7 @@ void showArmorBox(std::string windows_name, const cv::Mat &src, const ArmorBox &
};
char dist[5];
sprintf(dist, "%.1f", box.getDistance());
sprintf(dist, "%.1f", box.getBoxDistance());
if (box.id == -1)
putText(image2show, id2name[box.id]+" "+dist, Point(box.rect.x + 2, box.rect.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1,
Scalar(0, 255, 0));