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Merge remote-tracking branch 'origin/master'

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This commit is contained in:
JiatongSun
2019-08-06 15:57:17 +08:00
parent dbe6296a91 0307a01f55
commit 86aaad55e8
1 changed files with 14 additions and 12 deletions
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26
armor/src/armor_finder/find/find_armor_box.cpp
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@@ -6,9 +6,10 @@
#include <show_images/show_images.h> #include <show_images/show_images.h>
#include <options.h> #include <options.h>
#include <opencv2/highgui.hpp> #include <opencv2/highgui.hpp>
#define DO_NOT_CNT_TIME
#include <log.h>
#define DO_NOT_CNT_TIME
#include <log.h>
static bool angelJudge(const LightBlob &light_blob_i, const LightBlob &light_blob_j) { static bool angelJudge(const LightBlob &light_blob_i, const LightBlob &light_blob_j) {
@@ -100,7 +101,8 @@ bool matchArmorBoxes(const cv::Mat &src, const LightBlobs &light_blobs, ArmorBox
if (min_x < 0 || max_x > src.cols || min_y < 0 || max_y > src.rows) { if (min_x < 0 || max_x > src.cols || min_y < 0 || max_y > src.rows) {
continue; continue;
} }
if((max_x-min_x)/(max_y-min_y) < 0.8) continue; if ((max_y + min_y) / 2 < 120) continue;
if ((max_x - min_x) / (max_y - min_y) < 0.8) continue;
LightBlobs pair_blobs = {light_blobs.at(i), light_blobs.at(j)}; LightBlobs pair_blobs = {light_blobs.at(i), light_blobs.at(j)};
armor_boxes.emplace_back( armor_boxes.emplace_back(
cv::Rect2d(min_x, min_y, max_x - min_x, max_y - min_y), cv::Rect2d(min_x, min_y, max_x - min_x, max_y - min_y),
@@ -127,9 +129,9 @@ bool ArmorFinder::findArmorBox(const cv::Mat &src, ArmorBox &box) {
showLightBlobs("light_blobs", src, light_blobs); showLightBlobs("light_blobs", src, light_blobs);
cv::waitKey(1); cv::waitKey(1);
} }
CNT_TIME("boxes",{ CNT_TIME("boxes", {
if (!matchArmorBoxes(src, light_blobs, armor_boxes, enemy_color)) { if (!matchArmorBoxes(src, light_blobs, armor_boxes, enemy_color)) {
// cout << "Box fail!" << endl; // cout << "Box fail!" << endl;
return false; return false;
} }
}); });
@@ -147,16 +149,16 @@ bool ArmorFinder::findArmorBox(const cv::Mat &src, ArmorBox &box) {
armor_box.id = c; armor_box.id = c;
} }
}, armor_boxes.size()); }, armor_boxes.size());
sort(armor_boxes.begin(), armor_boxes.end(), [&](const ArmorBox &a, const ArmorBox &b){ sort(armor_boxes.begin(), armor_boxes.end(), [&](const ArmorBox &a, const ArmorBox &b) {
if(last_box.rect != cv::Rect2d()){ if (last_box.rect != cv::Rect2d()) {
return getPointLength(a.getCenter()-last_box.getCenter()) < return getPointLength(a.getCenter() - last_box.getCenter()) <
getPointLength(b.getCenter()-last_box.getCenter()); getPointLength(b.getCenter() - last_box.getCenter());
}else{ } else {
return a < b; return a < b;
} }
}); });
for(auto &one_box : armor_boxes){ for (auto &one_box : armor_boxes) {
if(one_box.id != 0){ if (one_box.id != 0) {
box = one_box; box = one_box;
} }
} }