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整理代码，添加部分注释

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xinyang
2019-07-08 21:53:12 +08:00
parent ab0ddede0c
commit 49cc1e242e
16 changed files with 109 additions and 102 deletions
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84
armor/include/armor_finder/armor_finder.h
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@@ -6,63 +6,61 @@
#define _ARMOR_FINDER_H_
#include <map>
#include <constants.h>
#include <opencv2/core.hpp>
#include <opencv2/tracking.hpp>
#include <serial/serial.h>
#include <armor_finder/classifier/classifier.h>
#include "additions/additions.h"
extern std::map<int, string> id2name;
extern std::map<string, int> name2id;
class ArmorFinder{
public:
ArmorFinder(uint8_t &color, Serial &u, string paras_folder, const uint8_t &use);
~ArmorFinder() = default;
private:
typedef cv::TrackerKCF TrackerToUse;
typedef enum{
SEARCHING_STATE, TRACKING_STATE, STANDBY_STATE
} State;
const uint8_t &enemy_color;
State state;
cv::Rect2d armor_box;
int boxid;
cv::Ptr<cv::Tracker> tracker;
Classifier classifier;
int contour_area;
Serial &serial;
const uint8_t &use_classifier;
bool stateSearchingTarget(cv::Mat &src);
bool stateTrackingTarget(cv::Mat &src);
bool stateStandBy();
public:
void run(cv::Mat &src);
bool sendBoxPosition();
};
#include <additions/additions.h>
#define BLOB_RED ENEMY_RED
#define BLOB_BLUE ENEMY_BLUE
extern std::map<int, string> id2name; //装甲板id到名称的map
extern std::map<string, int> name2id; //装甲板名称到id的map
/********************* 自瞄类定义 **********************/
class ArmorFinder{
public:
ArmorFinder(uint8_t &color, Serial &u, const string &paras_folder, const uint8_t &use);
~ArmorFinder() = default;
private:
typedef cv::TrackerKCF TrackerToUse; // Tracker类型定义
typedef enum{
SEARCHING_STATE, TRACKING_STATE, STANDBY_STATE
} State; // 自瞄状态枚举定义
const uint8_t &enemy_color; // 敌方颜色，引用外部变量，自动变化
State state; // 自瞄状态对象实例
cv::Rect2d armor_box; // 当前目标位置
int boxid; // 当前目标id
cv::Ptr<cv::Tracker> tracker; // tracker对象实例
Classifier classifier; // CNN分类器对象实例，用于数字识别
int contour_area; // 装甲区域亮点个数，用于数字识别未启用时判断是否跟丢（已弃用）
Serial &serial; // 串口对象，引用外部变量，用于和能量机关共享同一个变量
const uint8_t &use_classifier; // 标记是否启用CNN分类器，引用外部变量，自动变化
bool stateSearchingTarget(cv::Mat &src); // searching state主函数
bool stateTrackingTarget(cv::Mat &src); // tracking state主函数
bool stateStandBy(); // stand by state主函数（已弃用）
public:
void run(cv::Mat &src); // 自瞄主函数
bool sendBoxPosition(); // 和主控板通讯
};
/******************* 灯条类定义 ***********************/
class LightBlob {
public:
cv::RotatedRect rect;
double length;
uint8_t BlobColor;
cv::RotatedRect rect; //灯条位置
double length; //灯条长度
uint8_t BlobColor; //灯条颜色
LightBlob(cv::RotatedRect &r) : rect(r) {
length = max(rect.size.height, rect.size.width);
};
bool operator<(LightBlob &l2) { return this->rect.center.x < l2.rect.center.x; }
bool operator<=(LightBlob &l2) { return this->rect.center.x <= l2.rect.center.x; }
bool operator>(LightBlob &l2) { return this->rect.center.x > l2.rect.center.x; }
bool operator>=(LightBlob &l2) { return this->rect.center.x >= l2.rect.center.x; }
};
#endif /* _ARMOR_FINDER_H_ */

3
armor/include/show_images/show_images.h
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@@ -6,10 +6,9 @@
#define _SHOW_IMAGES_H_
#include <opencv2/core.hpp>
#include <opencv2/highgui.hpp>
#include <opencv2/imgproc.hpp>
#include <armor_finder/armor_finder.h>
//
void showArmorBoxVector(std::string windows_name, const cv::Mat &src, const std::vector<cv::Rect2d> &armor_box);
void showArmorBox(std::string windows_name, const cv::Mat &src, cv::Rect2d armor_box, int boxid);
void showContours(std::string windows_name, const cv::Mat &src, const std::vector<LightBlob> &light_blobs);