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energy changed

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sun
2019-07-11 21:49:44 +08:00
parent 9e8ebe7a32
commit a2f08e9674
24 changed files with 689 additions and 575 deletions
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8
armor/src/armor_finder/searching_state/find_light_blobs.cpp
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@@ -58,7 +58,7 @@ static double nonZeroRateOfRotateRect_opt(const cv::Mat &bin, const cv::RotatedR
auto end = max(linePointX(corners[0], corners[1], r), linePointX(corners[0], corners[2], r)) + 1;
if (start < 0 || end > 640) return 0;
for (int c = start; c < end; c++) {
if (bin.at<uint8_t>(c, r)) {
if (bin.at<uint8_t>(r, c)) {
cnt++;
}
}
@@ -78,7 +78,7 @@ static double nonZeroRateOfRotateRect_opt(const cv::Mat &bin, const cv::RotatedR
auto end = max(linePointX(corners[1], corners[3], r), linePointX(corners[2], corners[3], r)) + 1;
if (start < 0 || end > 640) return 0;
for (int c = start; c < end; c++) {
if (bin.at<uint8_t>(c, r)) {
if (bin.at<uint8_t>(r, c)) {
cnt++;
}
}
@@ -90,8 +90,8 @@ static bool isValidLightBlob(const cv::Mat &bin, const cv::RotatedRect &rect) {
return (lw_rate(rect) > 1.5) &&
// (rect.size.width*rect.size.height < 3000) &&
(rect.size.width * rect.size.height > 1) &&
// (nonZeroRateOfRotateRect_opt(bin, rect) > 0.8);
(nonZeroRateOfRotateRect(bin, rect) > 0.8);
(nonZeroRateOfRotateRect_opt(bin, rect) > 0.8);
// (nonZeroRateOfRotateRect(bin, rect) > 0.8);
}
void get_blob_color(const cv::Mat &src, std::vector<LightBlob> &blobs) {