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Cross plantform versiongit status !

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This commit is contained in:
xinyang
2019-05-14 22:22:33 +08:00
parent 601bf2a510
commit f9eab62680
30 changed files with 13231 additions and 392 deletions
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10
armor/include/armor_finder/armor_finder.h
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@@ -7,7 +7,7 @@
#include <opencv2/core.hpp>
#include <opencv2/tracking.hpp>
#include <uart/uart.h>
#include <serial/serial.h>
#include <armor_finder/classifier/classifier.h>
typedef enum{
@@ -16,7 +16,7 @@ typedef enum{
class ArmorFinder{
public:
ArmorFinder(EnemyColor color, Uart &u, string paras_folder, const bool &use);
ArmorFinder(EnemyColor &color, Serial &u, string paras_folder, const bool &use);
~ArmorFinder() = default;
private:
@@ -26,7 +26,7 @@ private:
SEARCHING_STATE, TRACKING_STATE, STANDBY_STATE
} State;
EnemyColor enemy_color;
const EnemyColor &enemy_color;
State state;
cv::Rect2d armor_box;
cv::Ptr<cv::Tracker> tracker;
@@ -35,7 +35,7 @@ private:
Classifier classifier;
int contour_area;
Uart &uart;
Serial &serial;
const bool &use_classifier;
bool stateSearchingTarget(cv::Mat &src);
@@ -51,7 +51,7 @@ struct LightBlob {
double length;
explicit LightBlob(cv::RotatedRect &r) : rect(r) {
length = std::max(rect.size.height, rect.size.width);
length = 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; }