整理代码结构。

armor/include/armor_finder/armor_finder.h

@@ -52,22 +52,9 @@ public:
 
     explicit ArmorBox(const cv::Rect &pos=cv::Rect2d(), const LightBlobs &blobs=LightBlobs(), uint8_t color=0, int i=0);
 
-    double blobsDistance() const{
+    double blobsDistance() const;
-        if(light_blobs.size() == 2){
+    double lengthRatio() const;
-            auto &x = light_blobs[0].rect.center;
+    double lengthDistanceRatio() const;
-            auto &y = light_blobs[1].rect.center;
-            return sqrt((x.x-y.x)*(x.x-y.x) + (x.y-y.y)*(x.y-y.y));
-        }
-    }
-
-    double lengthDistanceRatio() const {
-        if(light_blobs.size() == 2){
-            return (light_blobs[0].length+light_blobs[1].length)/2.0
-                   / blobsDistance();
-        }else{
-            return 100;
-        }
-    }
 };
 
 typedef std::vector<ArmorBox> ArmorBoxes;

armor/src/armor_finder/armor_box/armor_box.cpp

@@ -3,210 +3,36 @@
 //
 
 #include <armor_finder/armor_finder.h>
-#include <show_images/show_images.h>
-#include <options/options.h>
-#include <opencv2/highgui.hpp>
 #include <log.h>
 
-
-static string prior_blue[] = {
-        "B8", "B1", "B3", "B4", "B5", "B7", "B2",
-        "R8", "R1", "R3", "R4", "R5", "R7", "R2",
-};
-
-static string prior_red[] = {
-        "R8", "R1", "R3", "R4", "R5", "R7", "R2",
-        "B8", "B1", "B3", "B4", "B5", "B7", "B2",
-};
-
 ArmorBox::ArmorBox(const cv::Rect &pos, const LightBlobs &blobs, uint8_t color, int i) :
 rect(pos), light_blobs(blobs), box_color(color), id(i){};
 
-static bool angelJudge(const LightBlob &light_blob_i, const LightBlob &light_blob_j) {
+double ArmorBox::blobsDistance() const{
-    float angle_i = light_blob_i.rect.size.width > light_blob_i.rect.size.height ? light_blob_i.rect.angle :
+    if(light_blobs.size() == 2){
-                    light_blob_i.rect.angle - 90;
+        auto &x = light_blobs[0].rect.center;
-    float angle_j = light_blob_j.rect.size.width > light_blob_j.rect.size.height ? light_blob_j.rect.angle :
+        auto &y = light_blobs[1].rect.center;
-                    light_blob_j.rect.angle - 90;
+        return sqrt((x.x-y.x)*(x.x-y.x) + (x.y-y.y)*(x.y-y.y));
-    return abs(angle_i - angle_j) < 10;
+    }else{
-}
+        return 0;
-
-static bool heightJudge(const LightBlob &light_blob_i, const LightBlob &light_blob_j) {
-    cv::Point2f centers = light_blob_i.rect.center - light_blob_j.rect.center;
-    return abs(centers.y) < 30;
-}
-
-static bool lengthJudge(const LightBlob &light_blob_i, const LightBlob &light_blob_j) {
-    double side_length;
-    cv::Point2f centers = light_blob_i.rect.center - light_blob_j.rect.center;
-    side_length = sqrt(centers.ddot(centers));
-    return (side_length / light_blob_i.length < 6 && side_length / light_blob_i.length > 0.5);
-}
-
-static bool lengthRatioJudge(const LightBlob &light_blob_i, const LightBlob &light_blob_j) {
-    return (light_blob_i.length / light_blob_j.length < 2
-            && light_blob_i.length / light_blob_j.length > 0.5);
-}
-
-/* 判断两个灯条的错位度，不知道英文是什么！！！ */
-static bool CuoWeiDuJudge(const LightBlob &light_blob_i, const LightBlob &light_blob_j) {
-    float angle_i = light_blob_i.rect.size.width > light_blob_i.rect.size.height ? light_blob_i.rect.angle :
-                    light_blob_i.rect.angle - 90;
-    float angle_j = light_blob_j.rect.size.width > light_blob_j.rect.size.height ? light_blob_j.rect.angle :
-                    light_blob_j.rect.angle - 90;
-    float angle = (angle_i + angle_j) / 2.0 / 180.0 * 3.14159265459;
-    if (abs(angle_i - angle_j) > 90) {
-        angle += 3.14159265459 / 2;
     }
-    Vector2f orientation(cos(angle), sin(angle));
-    Vector2f p2p(light_blob_j.rect.center.x - light_blob_i.rect.center.x,
-                 light_blob_j.rect.center.y - light_blob_i.rect.center.y);
-    return abs(orientation.dot(p2p)) < 20;
 }
 
-static bool boxAngleJudge(const LightBlob &light_blob_i, const LightBlob &light_blob_j) {
+double ArmorBox::lengthRatio() const{
-    float angle_i = light_blob_i.rect.size.width > light_blob_i.rect.size.height ? light_blob_i.rect.angle :
+    if(light_blobs.size() == 2){
-                    light_blob_i.rect.angle - 90;
+        return light_blobs[0].length / light_blobs[1].length < 1 ?
-    float angle_j = light_blob_j.rect.size.width > light_blob_j.rect.size.height ? light_blob_j.rect.angle :
+               (light_blobs[0].length / light_blobs[1].length) :
-                    light_blob_j.rect.angle - 90;
+               (light_blobs[1].length / light_blobs[0].length);
-    float angle = (angle_i + angle_j) / 2.0;
+    }else{
-    if (abs(angle_i - angle_j) > 90) {
+        return 0;
-        angle += 90.0;
     }
-    return (-120.0 < angle && angle < -60.0) || (60.0 < angle && angle < 120.0);
 }
 
-static bool isCoupleLight(const LightBlob &light_blob_i, const LightBlob &light_blob_j, uint8_t enemy_color) {
+double ArmorBox::lengthDistanceRatio() const {
-//    cout << (light_blob_i.blob_color==BLOB_RED) << endl;
+    if(light_blobs.size() == 2){
-//    cout << (light_blob_j.blob_color==BLOB_RED) << endl;
+        return max(light_blobs[0].length, light_blobs[1].length)
-//    cout << lengthRatioJudge(light_blob_i, light_blob_j) << endl;
+               / blobsDistance();
-//    cout << lengthJudge(light_blob_i, light_blob_j) << endl;
+    }else{
-////    cout << heightJudge(light_blob_i, light_blob_j) << endl;
+        return 100;
-//    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) &&
-           angelJudge(light_blob_i, light_blob_j) &&
-           boxAngleJudge(light_blob_i, light_blob_j) &&
-           CuoWeiDuJudge(light_blob_i, light_blob_j);
-
-}
-
-static double centerDistance(const cv::Rect2d &box) {
-    double dx = box.x - box.width / 2 - 320;
-    double dy = box.y - box.height / 2 - 240;
-    return dx * dx + dy * dy;
-}
-
-bool matchArmorBoxes(const cv::Mat &src, const LightBlobs &light_blobs, ArmorBoxes &armor_boxes, uint8_t color) {
-    armor_boxes.clear();
-    for (int i = 0; i < light_blobs.size() - 1; ++i) {
-        for (int j = i + 1; j < light_blobs.size(); ++j) {
-            if (!isCoupleLight(light_blobs.at(i), light_blobs.at(j), color)) {
-//                cout << "match fail" << endl;
-                continue;
-            }
-            cv::Rect2d rect_left = light_blobs.at(static_cast<unsigned long>(i)).rect.boundingRect();
-            cv::Rect2d rect_right = light_blobs.at(static_cast<unsigned long>(j)).rect.boundingRect();
-            double min_x, min_y, max_x, max_y;
-            min_x = fmin(rect_left.x, rect_right.x) - 4;
-            max_x = fmax(rect_left.x + rect_left.width, rect_right.x + rect_right.width) + 4;
-            min_y = fmin(rect_left.y, rect_right.y) - 0.5 * (rect_left.height + rect_right.height) / 2.0;
-            max_y = fmax(rect_left.y + rect_left.height, rect_right.y + rect_right.height) +
-                    0.5 * (rect_left.height + rect_right.height) / 2.0;
-            if (min_x < 0 || max_x > src.cols || min_y < 0 || max_y > src.rows) {
-//                cout << "out of range" << endl;
-                continue;
-            }
-            LightBlobs pair_blobs = {light_blobs.at(i), light_blobs.at(j)};
-            armor_boxes.emplace_back(
-                cv::Rect2d(min_x, min_y, max_x - min_x, max_y - min_y),
-                pair_blobs,
-                color
-            );
-        }
-    }
-    if (armor_boxes.empty()) {
-        return false;
-    }
-    sort(armor_boxes.begin(), armor_boxes.end(), [](ArmorBox box1, ArmorBox box2) -> bool {
-        return centerDistance(box1.rect) < centerDistance(box2.rect);
-    });
-    return true;
-}
-
-bool ArmorFinder::findArmorBox(const cv::Mat &src, ArmorBox &box){
-    LightBlobs light_blobs; // 存储所有可能的灯条
-    ArmorBoxes armor_boxes; // 装甲板候选区
-    ArmorBoxes boxes_number[15]; // 装甲板候选区放置在对应id位置
-
-    box.rect = cv::Rect2d(0,0,0,0);
-    box.id   = -1;
-
-    if (!findLightBlobs(src, light_blobs)) {
-        return false;
-    }
-    if (show_light_blobs && src.size()==cv::Size(640, 480)) {
-        showLightBlobs("light_blobs", src, light_blobs);
-        cv::waitKey(1);
-    }
-
-    if (!matchArmorBoxes(src, light_blobs, armor_boxes, enemy_color)) {
-//        cout << "Box fail!" << endl;
-        return false;
-    }
-    if (show_armor_boxes && src.size()==cv::Size(640, 480)) {
-        showArmorBoxes("boxes", src, armor_boxes);
-        cv::waitKey(1);
-    }
-
-    if (classifier && use_classifier) {
-        for (auto &armor_box : armor_boxes) {
-            cv::Mat roi = src(armor_box.rect).clone();
-            cv::resize(roi, roi, cv::Size(48, 36));
-            int c = classifier(roi);
-            armor_box.id = c;
-            boxes_number[c].emplace_back(armor_box);
-        }
-        if (enemy_color == ENEMY_BLUE) {
-            for (auto &name : prior_blue) {
-                if (!boxes_number[name2id[name]].empty()) {
-                    box = boxes_number[name2id[name]][0];
-                    break;
-                }
-            }
-        } else if (enemy_color == ENEMY_RED) {
-            for (auto &name : prior_red) {
-                if (!boxes_number[name2id[name]].empty()) {
-                    box = boxes_number[name2id[name]][0];
-                    break;
-                }
-            }
-        } else {
-            LOGE_INFO("enemy_color ERROR!");
-        }
-        if (save_labelled_boxes) {
-            for (int i = 0; i < sizeof(boxes_number) / sizeof(boxes_number[0]); i++) {
-                for (auto &armor_box : boxes_number[i]) {
-                    char filename[100];
-                    sprintf(filename, PROJECT_DIR"/armor_box_photo/%s_%d.jpg", id2name[i].data(),
-                            time(nullptr) + clock());
-                    cv::imwrite(filename, src(armor_box.rect));
-                }
-            }
-        }
-        if (box.rect == cv::Rect2d(0, 0, 0, 0)) {
-            return false;
-        }
-        if (show_armor_boxes && src.size()==cv::Size(640, 480)) {
-            showArmorBoxesClass("class", src, boxes_number);
-        }
-    } else {
-        box = armor_boxes[0];
-    }
-    return true;
 }

armor/src/armor_finder/find/find_armor_box.cpp

@@ -0,0 +1,210 @@
+//
+// Created by xinyang on 19-7-18.
+//
+
+#include <armor_finder/armor_finder.h>
+#include <show_images/show_images.h>
+#include <options/options.h>
+#include <opencv2/highgui.hpp>
+#include <log.h>
+
+static string prior_blue[] = {
+        "B8", "B1", "B3", "B4", "B5", "B7", "B2",
+        "R8", "R1", "R3", "R4", "R5", "R7", "R2",
+};
+
+static string prior_red[] = {
+        "R8", "R1", "R3", "R4", "R5", "R7", "R2",
+        "B8", "B1", "B3", "B4", "B5", "B7", "B2",
+};
+
+static bool angelJudge(const LightBlob &light_blob_i, const LightBlob &light_blob_j) {
+    float angle_i = light_blob_i.rect.size.width > light_blob_i.rect.size.height ? light_blob_i.rect.angle :
+                    light_blob_i.rect.angle - 90;
+    float angle_j = light_blob_j.rect.size.width > light_blob_j.rect.size.height ? light_blob_j.rect.angle :
+                    light_blob_j.rect.angle - 90;
+    return abs(angle_i - angle_j) < 10;
+}
+
+static bool heightJudge(const LightBlob &light_blob_i, const LightBlob &light_blob_j) {
+    cv::Point2f centers = light_blob_i.rect.center - light_blob_j.rect.center;
+    return abs(centers.y) < 30;
+}
+
+static bool lengthJudge(const LightBlob &light_blob_i, const LightBlob &light_blob_j) {
+    double side_length;
+    cv::Point2f centers = light_blob_i.rect.center - light_blob_j.rect.center;
+    side_length = sqrt(centers.ddot(centers));
+    return (side_length / light_blob_i.length < 6 && side_length / light_blob_i.length > 0.5);
+}
+
+static bool lengthRatioJudge(const LightBlob &light_blob_i, const LightBlob &light_blob_j) {
+    return (light_blob_i.length / light_blob_j.length < 2
+            && light_blob_i.length / light_blob_j.length > 0.5);
+}
+
+/* 判断两个灯条的错位度，不知道英文是什么！！！ */
+static bool CuoWeiDuJudge(const LightBlob &light_blob_i, const LightBlob &light_blob_j) {
+    float angle_i = light_blob_i.rect.size.width > light_blob_i.rect.size.height ? light_blob_i.rect.angle :
+                    light_blob_i.rect.angle - 90;
+    float angle_j = light_blob_j.rect.size.width > light_blob_j.rect.size.height ? light_blob_j.rect.angle :
+                    light_blob_j.rect.angle - 90;
+    float angle = (angle_i + angle_j) / 2.0 / 180.0 * 3.14159265459;
+    if (abs(angle_i - angle_j) > 90) {
+        angle += 3.14159265459 / 2;
+    }
+    Vector2f orientation(cos(angle), sin(angle));
+    Vector2f p2p(light_blob_j.rect.center.x - light_blob_i.rect.center.x,
+                 light_blob_j.rect.center.y - light_blob_i.rect.center.y);
+    return abs(orientation.dot(p2p)) < 20;
+}
+
+static bool boxAngleJudge(const LightBlob &light_blob_i, const LightBlob &light_blob_j) {
+    float angle_i = light_blob_i.rect.size.width > light_blob_i.rect.size.height ? light_blob_i.rect.angle :
+                    light_blob_i.rect.angle - 90;
+    float angle_j = light_blob_j.rect.size.width > light_blob_j.rect.size.height ? light_blob_j.rect.angle :
+                    light_blob_j.rect.angle - 90;
+    float angle = (angle_i + angle_j) / 2.0;
+    if (abs(angle_i - angle_j) > 90) {
+        angle += 90.0;
+    }
+    return (-120.0 < angle && angle < -60.0) || (60.0 < angle && angle < 120.0);
+}
+
+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) &&
+           angelJudge(light_blob_i, light_blob_j) &&
+           boxAngleJudge(light_blob_i, light_blob_j) &&
+           CuoWeiDuJudge(light_blob_i, light_blob_j);
+
+}
+
+static double centerDistance(const cv::Rect2d &box) {
+    double dx = box.x - box.width / 2 - 320;
+    double dy = box.y - box.height / 2 - 240;
+    return dx * dx + dy * dy;
+}
+
+bool matchArmorBoxes(const cv::Mat &src, const LightBlobs &light_blobs, ArmorBoxes &armor_boxes, uint8_t color) {
+    armor_boxes.clear();
+    for (int i = 0; i < light_blobs.size() - 1; ++i) {
+        for (int j = i + 1; j < light_blobs.size(); ++j) {
+            if (!isCoupleLight(light_blobs.at(i), light_blobs.at(j), color)) {
+//                cout << "match fail" << endl;
+                continue;
+            }
+            cv::Rect2d rect_left = light_blobs.at(static_cast<unsigned long>(i)).rect.boundingRect();
+            cv::Rect2d rect_right = light_blobs.at(static_cast<unsigned long>(j)).rect.boundingRect();
+            double min_x, min_y, max_x, max_y;
+            min_x = fmin(rect_left.x, rect_right.x) - 4;
+            max_x = fmax(rect_left.x + rect_left.width, rect_right.x + rect_right.width) + 4;
+            min_y = fmin(rect_left.y, rect_right.y) - 0.5 * (rect_left.height + rect_right.height) / 2.0;
+            max_y = fmax(rect_left.y + rect_left.height, rect_right.y + rect_right.height) +
+                    0.5 * (rect_left.height + rect_right.height) / 2.0;
+            if (min_x < 0 || max_x > src.cols || min_y < 0 || max_y > src.rows) {
+//                cout << "out of range" << endl;
+                continue;
+            }
+            LightBlobs pair_blobs = {light_blobs.at(i), light_blobs.at(j)};
+            armor_boxes.emplace_back(
+                    cv::Rect2d(min_x, min_y, max_x - min_x, max_y - min_y),
+                    pair_blobs,
+                    color
+            );
+        }
+    }
+    if (armor_boxes.empty()) {
+        return false;
+    }
+    sort(armor_boxes.begin(), armor_boxes.end(), [](ArmorBox box1, ArmorBox box2) -> bool {
+        return centerDistance(box1.rect) < centerDistance(box2.rect);
+    });
+    return true;
+}
+
+bool ArmorFinder::findArmorBox(const cv::Mat &src, ArmorBox &box){
+    LightBlobs light_blobs; // 存储所有可能的灯条
+    ArmorBoxes armor_boxes; // 装甲板候选区
+    ArmorBoxes boxes_number[15]; // 装甲板候选区放置在对应id位置
+
+    box.rect = cv::Rect2d(0,0,0,0);
+    box.id   = -1;
+
+    if (!findLightBlobs(src, light_blobs)) {
+        return false;
+    }
+    if (show_light_blobs && src.size()==cv::Size(640, 480)) {
+        showLightBlobs("light_blobs", src, light_blobs);
+        cv::waitKey(1);
+    }
+
+    if (!matchArmorBoxes(src, light_blobs, armor_boxes, enemy_color)) {
+//        cout << "Box fail!" << endl;
+        return false;
+    }
+    if (show_armor_boxes && src.size()==cv::Size(640, 480)) {
+        showArmorBoxes("boxes", src, armor_boxes);
+        cv::waitKey(1);
+    }
+
+    if (classifier && use_classifier) {
+        for (auto &armor_box : armor_boxes) {
+            cv::Mat roi = src(armor_box.rect).clone();
+            cv::resize(roi, roi, cv::Size(48, 36));
+            int c = classifier(roi);
+            armor_box.id = c;
+            boxes_number[c].emplace_back(armor_box);
+        }
+        if (enemy_color == ENEMY_BLUE) {
+            for (auto &name : prior_blue) {
+                if (!boxes_number[name2id[name]].empty()) {
+                    box = boxes_number[name2id[name]][0];
+                    break;
+                }
+            }
+        } else if (enemy_color == ENEMY_RED) {
+            for (auto &name : prior_red) {
+                if (!boxes_number[name2id[name]].empty()) {
+                    box = boxes_number[name2id[name]][0];
+                    break;
+                }
+            }
+        } else {
+            LOGE_INFO("enemy_color ERROR!");
+        }
+        if (save_labelled_boxes) {
+            for (int i = 0; i < sizeof(boxes_number) / sizeof(boxes_number[0]); i++) {
+                for (auto &armor_box : boxes_number[i]) {
+                    char filename[100];
+                    sprintf(filename, PROJECT_DIR"/armor_box_photo/%s_%d.jpg", id2name[i].data(),
+                            time(nullptr) + clock());
+                    cv::imwrite(filename, src(armor_box.rect));
+                }
+            }
+        }
+        if (box.rect == cv::Rect2d(0, 0, 0, 0)) {
+            return false;
+        }
+        if (show_armor_boxes && src.size()==cv::Size(640, 480)) {
+            showArmorBoxesClass("class", src, boxes_number);
+        }
+    } else {
+        box = armor_boxes[0];
+    }
+    return true;
+}
+
+

armor/src/armor_finder/find/find_light_blobs.cpp

@@ -17,10 +17,10 @@ static double areaRatio(const std::vector<cv::Point> &contour, const cv::Rotated
 }
 
 static bool isValidLightBlob(const std::vector<cv::Point> &contour, const cv::RotatedRect &rect) {
-    return (lw_rate(rect) > 1.5) &&
+    return (1.5 < lw_rate(rect) && lw_rate(rect) < 10) &&
 //           (rect.size.area() < 3000) &&
-           (rect.size.area() > 5) &&
+            ((rect.size.area() < 50 && areaRatio(contour, rect) > 0.5) ||
-           (areaRatio(contour, rect) > 0.7);
+            (rect.size.area() >= 50 && areaRatio(contour, rect) > 0.7));
 }
 
 // 此函数可以有性能优化.
@@ -50,7 +50,7 @@ static float linePointX(const cv::Point2f &p1, const cv::Point2f &p2, int y) {
     return (p2.x - p1.x) / (p2.y - p1.y) * (y - p1.y) + p1.x;
 }
 
-// 性能优化后的函数
+/// Todo:性能优化后的函数（还有点问题）
 static double get_blob_color_opt(const cv::Mat &src, cv::RotatedRect blobPos) {
     int blue_cnt=0, red_cnt=0;
     blobPos.size.height *= 1.05;
@@ -124,6 +124,9 @@ bool ArmorFinder::findLightBlobs(const cv::Mat &src, LightBlobs &light_blobs) {
     cv::threshold(color_channel, src_bin, 160, 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))
+        imshow("bin", src_bin);
+
     std::vector<std::vector<cv::Point> > light_contours;
     cv::findContours(src_bin, light_contours, CV_RETR_LIST, CV_CHAIN_APPROX_NONE);
     for (auto &light_contour : light_contours) {

armor/src/show_images/show_images.cpp

@@ -94,8 +94,8 @@ void showArmorBox(std::string windows_name, const cv::Mat &src, const ArmorBox &
 //    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;
+//    cout << box.lengthDistanceRatio() << endl;
-    if(box.rect.width/box.rect.height > 1.6){
+    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);