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This commit is contained in:
wanpiqiu123
2019-07-22 11:53:40 +08:00
parent 68a642e6a6
commit 4075352a70
8 changed files with 95 additions and 102 deletions
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14
armor/include/armor_finder/armor_finder.h
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@@ -20,6 +20,9 @@
#define BOX_RED ENEMY_RED
#define BOX_BLUE ENEMY_BLUE
#define IMAGE_CENTER_X (320)
#define IMAGE_CENTER_Y (240-20)
#define DISTANCE_HEIGHT_5MM (107.0) // 单位: m*pixel
#define DISTANCE_HEIGHT DISTANCE_HEIGHT_5MM
@@ -40,6 +43,9 @@
extern std::map<int, string> id2name; //装甲板id到名称的map
extern std::map<string, int> name2id; //装甲板名称到id的map
extern std::map<string, int> prior_blue;
extern std::map<string, int> prior_red;
/******************* 灯条类定义 ***********************/
class LightBlob {
@@ -72,11 +78,13 @@ public:
explicit ArmorBox(const cv::Rect &pos=cv::Rect2d(), const LightBlobs &blobs=LightBlobs(), uint8_t color=0, int i=0);
double blobsDistance() const;
double lengthRatio() const;
double getBlobsDistance() const;
double lengthDistanceRatio() const;
double getDistance() const;
double getBoxDistance() const;
BoxOrientation getOrientation() const;
// double
bool operator<(const ArmorBox &box) const;
};
typedef std::vector<ArmorBox> ArmorBoxes;

2
armor/include/show_images/show_images.h
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@@ -12,7 +12,7 @@
void showArmorBoxes(std::string windows_name, const cv::Mat &src, const ArmorBoxes &armor_boxes);
void showArmorBox(std::string windows_name, const cv::Mat &src, const ArmorBox &armor_box);
void showLightBlobs(std::string windows_name, const cv::Mat &src, const LightBlobs &light_blobs);
void showArmorBoxesClass(std::string window_names, const cv::Mat &src, const ArmorBoxes boxes[15]);
void showArmorBoxesClass(std::string window_names, const cv::Mat &src, const ArmorBoxes &boxes);
void showTrackSearchingPos(std::string window_names, const cv::Mat &src, const cv::Rect2d pos);
#endif /* _SHOW_IMAGES_H_ */