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反小陀螺前置代码已完成。

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This commit is contained in:
xinyang
2019-07-16 16:31:58 +08:00
parent 298c4c9114
commit 73230d91f1
24 changed files with 18873 additions and 18675 deletions
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98
armor/src/show_images/show_images.cpp
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@@ -1,13 +1,30 @@
#include <show_images/show_images.h>
#include <opencv2/highgui.hpp>
#include <options/options.h>
#include <log.h>
using namespace cv;
void drawLightBlobs(cv::Mat &src, const LightBlobs &blobs){
for (const auto &blob:blobs) {
Scalar color(0,255,0);
if (blob.blob_color == BLOB_RED)
color = Scalar(0, 0, 255);
else if (blob.blob_color == BLOB_BLUE)
color = Scalar(255, 0, 0);
cv::Point2f vertices[4];
blob.rect.points(vertices);
for (int j = 0; j < 4; j++) {
cv::line(src, vertices[j], vertices[(j + 1) % 4], color, 2);
}
}
}
/**************************
* 显示多个装甲板区域 *
**************************/
void showArmorBoxVector(std::string windows_name, const cv::Mat &src, const std::vector<cv::Rect2d> &armor_box) {
void showArmorBoxes(std::string windows_name, const cv::Mat &src, const ArmorBoxes &armor_boxes) {
static Mat image2show;
if (src.type() == CV_8UC1) {// 黑白图像
cvtColor(src, image2show, COLOR_GRAY2RGB);
@@ -15,8 +32,15 @@ void showArmorBoxVector(std::string windows_name, const cv::Mat &src, const std:
image2show = src.clone();
}
for (auto &box:armor_box) {
rectangle(image2show, box, Scalar(0, 255, 0), 1);
for (auto &box:armor_boxes) {
if(box.box_color == BOX_BLUE) {
rectangle(image2show, box.rect, Scalar(0, 255, 0), 1);
drawLightBlobs(image2show, box.light_blobs);
}else if(box.box_color == BOX_RED){
rectangle(image2show, box.rect, Scalar(0, 255, 0), 1);
drawLightBlobs(image2show, box.light_blobs);
}
}
imshow(windows_name, image2show);
}
@@ -24,25 +48,26 @@ void showArmorBoxVector(std::string windows_name, const cv::Mat &src, const std:
/**************************
* 显示多个装甲板区域及其类别 *
**************************/
void showArmorBoxClass(std::string window_names, const cv::Mat &src, vector<cv::Rect2d> boxes[10]) {
void showArmorBoxesClass(std::string window_names, const cv::Mat &src, const ArmorBoxes boxes[15]) {
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 = 0; i < 14; i++) {
for (int i = 1; i < 15; i++) {
if (!boxes[i].empty()) {
for (auto box : boxes[i]) {
rectangle(image2show, box, Scalar(0, 255, 0), 1);
rectangle(image2show, box.rect, Scalar(0, 255, 0), 1);
drawLightBlobs(image2show, box.light_blobs);
if (i == -1)
putText(image2show, id2name[i], Point(box.x + 2, box.y + 2), cv::FONT_HERSHEY_TRIPLEX, 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.x + 2, box.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1,
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.x + 2, box.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1,
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);
@@ -55,34 +80,47 @@ void showArmorBoxClass(std::string window_names, const cv::Mat &src, vector<cv::
/**************************
* 显示单个装甲板区域及其类别 *
**************************/
void showArmorBox(std::string windows_name, const cv::Mat &src, cv::Rect2d armor_box, int boxid) {
void showArmorBox(std::string windows_name, const cv::Mat &src, const ArmorBox &box) {
static Mat image2show;
if(box.rect == cv::Rect2d()){
imshow(windows_name, src);
}
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();
}
rectangle(image2show, armor_box, Scalar(0, 255, 0), 1);
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())
cout << box.rect.width/box.rect.height << endl;
if(box.rect.width/box.rect.height > 1.6){
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);
if (boxid == -1)
putText(image2show, id2name[boxid]+" "+dist, Point(armor_box.x + 2, armor_box.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1,
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));
else if (1 <= boxid && boxid < 8)
putText(image2show, id2name[boxid]+" "+dist, Point(armor_box.x + 2, armor_box.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1,
else if (1 <= box.id && box.id < 8)
putText(image2show, id2name[box.id]+" "+dist, Point(box.rect.x + 2, box.rect.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1,
Scalar(255, 0, 0));
else if (8 <= boxid && boxid < 15)
putText(image2show, id2name[boxid]+" "+dist, Point(armor_box.x + 2, armor_box.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1,
else if (8 <= box.id && box.id < 15)
putText(image2show, id2name[box.id]+" "+dist, Point(box.rect.x + 2, box.rect.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1,
Scalar(0, 0, 255));
else if (boxid != 0)
LOGE_INFO("Invalid box id:%d!", boxid);
else if (box.id != 0)
LOGE_INFO("Invalid box id:%d!", box.id);
imshow(windows_name, image2show);
}
/**************************
* 显示多个灯条区域 *
**************************/
void showContours(std::string windows_name, const cv::Mat &src, const std::vector<LightBlob> &light_blobs) {
void showLightBlobs(std::string windows_name, const cv::Mat &src, const LightBlobs &light_blobs) {
static Mat image2show;
if (src.type() == CV_8UC1) { // 黑白图像
@@ -92,13 +130,11 @@ void showContours(std::string windows_name, const cv::Mat &src, const std::vecto
}
for (const auto &light_blob:light_blobs) {
Scalar color;
if (light_blob.BlobColor == BLOB_RED)
Scalar color(0, 255, 0);
if (light_blob.blob_color == BLOB_RED)
color = Scalar(0, 0, 255);
else if (light_blob.BlobColor == BLOB_BLUE)
else if (light_blob.blob_color == BLOB_BLUE)
color = Scalar(255, 0, 0);
else
color = Scalar(0, 255, 0);
cv::Point2f vertices[4];
light_blob.rect.points(vertices);
for (int j = 0; j < 4; j++) {
@@ -107,3 +143,15 @@ void showContours(std::string windows_name, const cv::Mat &src, const std::vecto
}
imshow(windows_name, image2show);
}
void showTrackSearchingPos(std::string window_names, const cv::Mat &src, const cv::Rect2d pos){
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();
}
rectangle(image2show, pos, Scalar(0, 255, 0), 1);
imshow(window_names, image2show);
}