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some refactor

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This commit is contained in:
xinyang
2019-05-17 22:52:35 +08:00
parent 77a58511c9
commit 424cc724d8
13 changed files with 212 additions and 197 deletions
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11
armor/include/armor_finder/armor_finder.h
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@@ -9,14 +9,11 @@
#include <opencv2/tracking.hpp>
#include <serial/serial.h>
#include <armor_finder/classifier/classifier.h>
typedef enum{
ENEMY_BLUE, ENEMY_RED
} EnemyColor;
#include "additions/additions.h"
class ArmorFinder{
public:
ArmorFinder(EnemyColor &color, Serial &u, string paras_folder, const bool &use);
ArmorFinder(uint8_t &color, Serial &u, string paras_folder, const uint8_t &use);
~ArmorFinder() = default;
private:
@@ -26,7 +23,7 @@ private:
SEARCHING_STATE, TRACKING_STATE, STANDBY_STATE
} State;
const EnemyColor &enemy_color;
const uint8_t &enemy_color;
State state;
cv::Rect2d armor_box;
cv::Ptr<cv::Tracker> tracker;
@@ -36,7 +33,7 @@ private:
int contour_area;
Serial &serial;
const bool &use_classifier;
const uint8_t &use_classifier;
bool stateSearchingTarget(cv::Mat &src);
bool stateTrackingTarget(cv::Mat &src);

2
armor/src/armor_finder/armor_finder.cpp
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@@ -8,7 +8,7 @@
#include <opencv2/highgui.hpp>
#include <armor_finder/armor_finder.h>
ArmorFinder::ArmorFinder(EnemyColor &color, Serial &u, string paras_folder, const bool &use) :
ArmorFinder::ArmorFinder(uint8_t &color, Serial &u, string paras_folder, const uint8_t &use) :
serial(u),
enemy_color(color),
state(STANDBY_STATE),

2
armor/src/armor_finder/state_machine/searching_state/image_process/image_process.cpp
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@@ -21,7 +21,7 @@ static void splitBayerBG(cv::Mat &src, cv::Mat &blue, cv::Mat &red) {
}
}
void imageColorSplit(cv::Mat &src_input, cv::Mat &split, EnemyColor color) {
void imageColorSplit(cv::Mat &src_input, cv::Mat &split, uint8_t color) {
cv::Mat blue(240, 320, CV_8UC1), red(240, 320, CV_8UC1);
if(src_input.type() == CV_8UC1){
splitBayerBG(src_input, blue, red);

2
armor/src/armor_finder/state_machine/searching_state/image_process/image_process.h
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@@ -8,7 +8,7 @@
#include <opencv2/core.hpp>
#include <armor_finder/armor_finder.h>
void imageColorSplit(cv::Mat &src_input, cv::Mat &split, EnemyColor color);
void imageColorSplit(cv::Mat &src_input, cv::Mat &split, uint8_t color);
void imagePreProcess(cv::Mat &src);
#endif /* _IMAGE_PROCESS_H_ */