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Merge remote-tracking branch 'origin/master'

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This commit is contained in:
xinyang
2019-08-07 02:23:55 +08:00
parent 3bd4b30182 05b7991d57
commit 6b0edffa3b
6 changed files with 16 additions and 17 deletions
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5
armor/src/armor_finder/armor_finder.cpp
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@@ -46,7 +46,7 @@ std::map<string, int> prior_red = {
{"NO", 10},
};
ArmorFinder::ArmorFinder(uint8_t &color, Serial &u, const string &paras_folder, const uint8_t &use) :
ArmorFinder::ArmorFinder(uint8_t &color, Serial &u, const string &paras_folder) :
serial(u),
enemy_color(color),
state(STANDBY_STATE),
@@ -55,7 +55,6 @@ ArmorFinder::ArmorFinder(uint8_t &color, Serial &u, const string &paras_folder,
anti_top_state(NORMAL),
classifier(paras_folder),
contour_area(0),
use_classifier(use),
tracking_cnt(0) {
}
@@ -67,7 +66,7 @@ void ArmorFinder::run(cv::Mat &src) {
case SEARCHING_STATE:
if (stateSearchingTarget(src)) {
if ((target_box.rect & cv::Rect2d(0, 0, 640, 480)) == target_box.rect) { // 判断装甲板区域是否脱离图像区域
if (!classifier || !use_classifier) { /* 如果分类器不可用或者不使用分类器 */
if (!classifier) { /* 如果分类器不可用 */
cv::Mat roi = src(target_box.rect).clone(), roi_gray; /* 就使用装甲区域亮点数判断是否跟丢 */
cv::cvtColor(roi, roi_gray, CV_RGB2GRAY);
cv::threshold(roi_gray, roi_gray, 180, 255, cv::THRESH_BINARY);

2
armor/src/armor_finder/find/find_armor_box.cpp
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@@ -140,7 +140,7 @@ bool ArmorFinder::findArmorBox(const cv::Mat &src, ArmorBox &box) {
cv::waitKey(1);
}
if (classifier && use_classifier) {
if (classifier) {
CNT_TIME("classify: %d", {
for (auto &armor_box : armor_boxes) {
cv::Mat roi = src(armor_box.rect).clone();

4
armor/src/armor_finder/tracking_state/tracking_state.cpp
View File

@@ -25,8 +25,8 @@ bool ArmorFinder::stateTrackingTarget(cv::Mat &src) {
bigger_rect.width = pos.width * 2;
bigger_rect &= cv::Rect2d(0, 0, 640, 480);
if(show_armor_box)
showTrackSearchingPos("track", src, bigger_rect);
// if(show_armor_box)
// showTrackSearchingPos("track", src, bigger_rect);
cv::Mat roi = src(bigger_rect).clone();