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OpenCV4 + XMake

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This commit is contained in:
Huang Haoyu
2026-03-15 01:42:59 +08:00
parent 7770503779
commit 15be04d1f7
13 changed files with 182 additions and 54 deletions
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2
armor/include/armor_finder/armor_finder.h
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@@ -9,7 +9,7 @@
#include <systime.h>
#include <constants.h>
#include <opencv2/core.hpp>
#include <opencv2/tracking.hpp>
#include <opencv2/tracking/tracking.hpp>
#include <serial.h>
#include <armor_finder/classifier/classifier.h>
#include <additions.h>

2
armor/src/armor_finder/armor_finder.cpp
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@@ -67,7 +67,7 @@ void ArmorFinder::run(cv::Mat &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) { /* 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::cvtColor(roi, roi_gray, cv::COLOR_RGB2GRAY);
cv::threshold(roi_gray, roi_gray, 180, 255, cv::THRESH_BINARY);
contour_area = cv::countNonZero(roi_gray);
}

8
armor/src/armor_finder/find/find_light_blobs.cpp
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@@ -83,11 +83,11 @@ bool ArmorFinder::findLightBlobs(const cv::Mat &src, LightBlobs &light_blobs) {
}else{
light_threshold = 200;
}
cv::threshold(color_channel, src_bin_light, light_threshold, 255, CV_THRESH_BINARY); // 二值化对应通道
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;
imagePreProcess(src_bin_light); // 开闭运算
cv::threshold(color_channel, src_bin_dim, 140, 255, CV_THRESH_BINARY); // 二值化对应通道
cv::threshold(color_channel, src_bin_dim, 140, 255, cv::THRESH_BINARY); // 二值化对应通道
if (src_bin_dim.empty()) return false;
imagePreProcess(src_bin_dim); // 开闭运算
@@ -100,8 +100,8 @@ bool ArmorFinder::findLightBlobs(const cv::Mat &src, LightBlobs &light_blobs) {
std::vector<std::vector<cv::Point>> light_contours_light, light_contours_dim;
LightBlobs light_blobs_light, light_blobs_dim;
std::vector<cv::Vec4i> hierarchy_light, hierarchy_dim;
cv::findContours(src_bin_light, light_contours_light, hierarchy_light, CV_RETR_CCOMP, CV_CHAIN_APPROX_NONE);
cv::findContours(src_bin_dim, light_contours_dim, hierarchy_dim, CV_RETR_CCOMP, CV_CHAIN_APPROX_NONE);
cv::findContours(src_bin_light, light_contours_light, hierarchy_light, cv::RETR_CCOMP, cv::CHAIN_APPROX_NONE);
cv::findContours(src_bin_dim, light_contours_dim, hierarchy_dim, cv::RETR_CCOMP, cv::CHAIN_APPROX_NONE);
for (int i = 0; i < light_contours_light.size(); i++) {
if (hierarchy_light[i][2] == -1) {
cv::RotatedRect rect = cv::minAreaRect(light_contours_light[i]);

6
armor/src/armor_finder/tracking_state/tracking_state.cpp
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@@ -8,13 +8,13 @@
#include <show_images/show_images.h>
bool ArmorFinder::stateTrackingTarget(cv::Mat &src) {
auto pos = target_box.rect;
cv::Rect pos(target_box.rect);
if(!tracker->update(src, pos)){ // 使用KCFTracker进行追踪
target_box = ArmorBox();
LOGW("Track fail!");
return false;
}
if((pos & cv::Rect2d(0, 0, 640, 480)) != pos){
if((cv::Rect2d(pos) & cv::Rect2d(0, 0, 640, 480)) != cv::Rect2d(pos)){
target_box = ArmorBox();
LOGW("Track out range!");
return false;
@@ -52,7 +52,7 @@ bool ArmorFinder::stateTrackingTarget(cv::Mat &src) {
}
}else{ //　分类器不可用，使用常规方法判断
cv::Mat roi_gray;
cv::cvtColor(roi, roi_gray, CV_RGB2GRAY);
cv::cvtColor(roi, roi_gray, cv::COLOR_RGB2GRAY);
cv::threshold(roi_gray, roi_gray, 180, 255, cv::THRESH_BINARY);
contour_area = cv::countNonZero(roi_gray);
if(abs(cv::countNonZero(roi_gray) - contour_area) > contour_area * 0.3){