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反陀螺v1.0完成。

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xinyang
2019-07-18 11:54:36 +08:00
parent d9bfdbb2eb
commit 6a0020ce81
11 changed files with 164 additions and 65 deletions
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11
armor/src/armor_finder/find/find_armor_box.cpp
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@@ -72,20 +72,11 @@ static bool boxAngleJudge(const LightBlob &light_blob_i, const LightBlob &light_
}
static bool isCoupleLight(const LightBlob &light_blob_i, const LightBlob &light_blob_j, uint8_t enemy_color) {
// cout << (light_blob_i.blob_color==BLOB_RED) << endl;
// cout << (light_blob_j.blob_color==BLOB_RED) << endl;
// cout << lengthRatioJudge(light_blob_i, light_blob_j) << endl;
// cout << lengthJudge(light_blob_i, light_blob_j) << endl;
//// cout << heightJudge(light_blob_i, light_blob_j) << endl;
// cout << angelJudge(light_blob_i, light_blob_j) << endl;
// cout << boxAngleJudge(light_blob_i, light_blob_j) << endl;
// cout << CuoWeiDuJudge(light_blob_i, light_blob_j) << endl;
// cout << "=============" << endl;
return light_blob_i.blob_color == enemy_color &&
light_blob_j.blob_color == enemy_color &&
lengthRatioJudge(light_blob_i, light_blob_j) &&
lengthJudge(light_blob_i, light_blob_j) &&
// heightJudge(light_blob_i, light_blob_j) &&
// heightJudge(light_blob_i, light_blob_j) &&
angelJudge(light_blob_i, light_blob_j) &&
boxAngleJudge(light_blob_i, light_blob_j) &&
CuoWeiDuJudge(light_blob_i, light_blob_j);

2
armor/src/armor_finder/find/find_light_blobs.cpp
View File

@@ -121,7 +121,7 @@ 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, 160, 255, CV_THRESH_BINARY); // 二值化对应通道
cv::threshold(color_channel, src_bin, 170, 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))