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armor small change

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xinyang
2019-08-08 00:22:39 +08:00
parent 86b37b3f5e
commit dcde93a608
1 changed files with 7 additions and 2 deletions
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9
armor/src/armor_finder/find/find_light_blobs.cpp
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@@ -130,8 +130,13 @@ bool ArmorFinder::findLightBlobs(const cv::Mat &src, LightBlobs &light_blobs) {
color_channel = channels[2]; /************************/ color_channel = channels[2]; /************************/
} }
int light_threshold;
cv::threshold(color_channel, src_bin_light, 200, 255, CV_THRESH_BINARY); // 二值化对应通道 if(enemy_color == ENEMY_BLUE){
light_threshold = 225;
}else{
light_threshold = 200;
}
cv::threshold(color_channel, src_bin_light, light_threshold, 255, CV_THRESH_BINARY); // 二值化对应通道
if (src_bin_light.empty()) return false; if (src_bin_light.empty()) return false;
imagePreProcess(src_bin_light); // 开闭运算 imagePreProcess(src_bin_light); // 开闭运算