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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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39
armor/src/show_images/show_images.cpp
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@@ -95,14 +95,41 @@ void showArmorBox(std::string windows_name, const cv::Mat &src, const ArmorBox &
// if(box.light_blobs.size() == 2)
// fprintf(fp, "%lf %lf %lf\n", box.light_blobs[0].length, box.light_blobs[1].length, box.blobsDistance())
// cout << box.lengthDistanceRatio() << endl;
if(box.lengthDistanceRatio() < 0.4 && box.lengthRatio() > 0.9){
rectangle(image2show, box.rect, Scalar(0, 255, 0), 3);
}else{
rectangle(image2show, box.rect, Scalar(0, 255, 0), 1);
};
switch (box.id) {
case R1:
case R7:
case B1:
case B7:
if(box.lengthDistanceRatio() < 0.3){
rectangle(image2show, box.rect, Scalar(0, 255, 0), 3);
}else{
rectangle(image2show, box.rect, Scalar(0, 255, 0), 1);
}
case R2:
case R3:
case R4:
case R5:
case B2:
case B3:
case B4:
case B5:
if (box.lengthDistanceRatio() < 0.42) {
rectangle(image2show, box.rect, Scalar(0, 255, 0), 3);
}else{
rectangle(image2show, box.rect, Scalar(0, 255, 0), 1);
}
break;
default:
rectangle(image2show, box.rect, Scalar(0, 255, 0), 1);
}
// if((id2name.at(box.id)=="B1"||id2name.at(box.id)=="B7") && box.lengthDistanceRatio() < 0.3/* && box.lengthRatio() > 0.9*/){
// rectangle(image2show, box.rect, Scalar(0, 255, 0), 3);
// }else{
// rectangle(image2show, box.rect, Scalar(0, 255, 0), 1);
// };
char dist[5];
// sprintf(dist, "%.1f", distance);
sprintf(dist, "%.1f", box.getDistance());
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));