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大版本更新。

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This commit is contained in:
xinyang
2019-07-06 20:20:48 +08:00
parent 9f9050e04a
commit e9a0e9ad7b
23 changed files with 15297 additions and 20022 deletions
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86
armor/src/show_images/show_images.cpp
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@@ -1,7 +1,26 @@
#include <show_images/show_images.h>
#include <log.h>
using namespace cv;
std::map<int, string> id2name = {
{-1, "NO"},
{ 0, "B1"},
{ 1, "B2"},
{ 2, "B3"},
{ 3, "B4"},
{ 4, "B5"},
{ 5, "B7"},
{ 6, "B8"},
{ 7, "R1"},
{ 8, "R2"},
{ 9, "R3"},
{10, "R4"},
{11, "R5"},
{12, "R7"},
{13, "R8"},
};
void showArmorBoxVector(std::string windows_name, const cv::Mat &src, const std::vector<cv::Rect2d> &armor_box) {
static Mat image2show;
if (src.type() == CV_8UC1) // 黑白图像
@@ -27,20 +46,25 @@ void showArmorBoxClass(std::string window_names, const cv::Mat &src, vector<cv::
{
image2show = src.clone();
}
for(int i=0; i<10; i++){
for(int i=0; i<14; i++){
if(!boxes[i].empty()){
for(auto box : boxes[i]){
char buff[2] = {0};
buff[0] = i + '0';
rectangle(image2show, box, Scalar(0, 255, 0), 1);
putText(image2show, buff, Point(box.x+2, box.y+2), cv::FONT_HERSHEY_TRIPLEX, 1, Scalar(255,0,0));
if(i == -1)
putText(image2show, id2name[i], Point(box.x+2, box.y+2), cv::FONT_HERSHEY_TRIPLEX, 1, Scalar(0,255,0));
else if(0<=i && i<7)
putText(image2show, id2name[i], Point(box.x+2, box.y+2), cv::FONT_HERSHEY_TRIPLEX, 1, Scalar(255,0,0));
else if(7<=i && i<14)
putText(image2show, id2name[i], Point(box.x+2, box.y+2), cv::FONT_HERSHEY_TRIPLEX, 1, Scalar(0,0,255));
else
LOGE_INFO("Invalid box id:%d!", i);
}
}
}
imshow(window_names, image2show);
}
void showArmorBox(std::string windows_name, const cv::Mat &src, cv::Rect2d armor_box) {
void showArmorBox(std::string windows_name, const cv::Mat &src, cv::Rect2d armor_box, int boxid) {
static Mat image2show;
if (src.type() == CV_8UC1) // 黑白图像
{
@@ -50,6 +74,14 @@ void showArmorBox(std::string windows_name, const cv::Mat &src, cv::Rect2d armor
image2show = src.clone();
}
rectangle(image2show, armor_box, Scalar(0, 255, 0), 1);
if(boxid == -1)
putText(image2show, id2name[boxid], Point(armor_box.x+2, armor_box.y+2), cv::FONT_HERSHEY_TRIPLEX, 1, Scalar(0,255,0));
else if(0<=boxid && boxid<7)
putText(image2show, id2name[boxid], Point(armor_box.x+2, armor_box.y+2), cv::FONT_HERSHEY_TRIPLEX, 1, Scalar(255,0,0));
else if(7<=boxid && boxid<14)
putText(image2show, id2name[boxid], Point(armor_box.x+2, armor_box.y+2), cv::FONT_HERSHEY_TRIPLEX, 1, Scalar(0,0,255));
else
LOGE_INFO("Invalid box id:%d!", boxid);
imshow(windows_name, image2show);
}
@@ -67,13 +99,49 @@ 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)
rectangle(image2show, light_blob.rect.boundingRect(), Scalar(0,0,255), 3);
if(light_blob.BlobColor == BLOB_BLUE)
rectangle(image2show, light_blob.rect.boundingRect(), Scalar(255,0,0), 3);
color = Scalar(0,0,255);
else if(light_blob.BlobColor == BLOB_BLUE)
color = Scalar(255,0,0);
else
rectangle(image2show, light_blob.rect.boundingRect(), Scalar(0,255,0), 3);
color = Scalar(0,255,0);
cv::Point2f vertices[4];
light_blob.rect.points(vertices);
for (int j = 0; j < 4; j++){
cv::line(image2show, vertices[j], vertices[(j + 1) % 4], color, 2);
}
}
imshow(windows_name, image2show);
}
void drawCuoWeiDu(cv::Mat &src, 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;
}
Point2f orientation(cos(angle), sin(angle));
Vector2f p2p(light_blob_j.rect.center.x-light_blob_i.rect.center.x, light_blob_i.rect.center.y-light_blob_j.rect.center.y);
cv::line(
src,
(light_blob_j.rect.center+light_blob_i.rect.center)/2.0,
(light_blob_j.rect.center+light_blob_i.rect.center)/2.0 + 100*orientation,
Scalar(0,255,0),
2
);
}
void showCuoWeiDu(const cv::Mat &src, const std::vector<LightBlob> &light_blobs){
Mat image2show = src.clone();
for (int i = 0; i < light_blobs.size() - 1; ++i) {
for (int j = i + 1; j < light_blobs.size(); ++j) {
drawCuoWeiDu(image2show, light_blobs[i], light_blobs[j]);
}
}
imshow("CuoWeiDu", image2show);
}