auto-aim

armor/include/armor_finder/armor_finder.h

@@ -0,0 +1,57 @@
+//
+// Created by xinyang on 19-3-27.
+//
+
+#ifndef _ARMOR_FINDER_H_
+#define _ARMOR_FINDER_H_
+
+#include <opencv2/core.hpp>
+#include <opencv2/tracking.hpp>
+#include <uart/uart.h>
+
+typedef enum{
+    ENEMY_BLUE, ENEMY_RED
+} EnemyColor;
+
+class ArmorFinder{
+public:
+    ArmorFinder(EnemyColor color, Uart &u);
+    ~ArmorFinder() = default;
+
+private:
+    typedef cv::TrackerKCF TrackerToUse;
+
+    typedef enum{
+        SEARCHING_STATE, TRACKING_STATE, STANDBY_STATE
+    } State;
+
+    EnemyColor enemy_color;
+    State state;
+    cv::Rect2d armor_box;
+    cv::Ptr<cv::Tracker> tracker;
+
+    int  contour_area;
+    Uart &uart;
+
+    bool stateSearchingTarget(cv::Mat &src);
+    bool stateTrackingTarget(cv::Mat &src);
+    bool stateStandBy();
+public:
+    void run(cv::Mat &src);
+    bool sendBoxPosition();
+};
+
+struct LightBlob {
+    cv::RotatedRect rect;
+    double length;
+
+    explicit LightBlob(cv::RotatedRect &r) : rect(r) {
+        length = std::max(rect.size.height, rect.size.width);
+    };
+    bool operator<(LightBlob &l2) { return this->rect.center.x < l2.rect.center.x; }
+    bool operator<=(LightBlob &l2) { return this->rect.center.x <= l2.rect.center.x; }
+    bool operator>(LightBlob &l2) { return this->rect.center.x > l2.rect.center.x; }
+    bool operator>=(LightBlob &l2) { return this->rect.center.x >= l2.rect.center.x; }
+};
+
+#endif /* _ARMOR_FINDER_H_ */