mzxwww
f3b06d6abe
- traditional CV pipeline referencing jlu_vision_26: HSV mask -> contour LightBar -> PCA corner refine -> pairing gates - big/small armor classification (bar distance / bar length ratio) - detect_test with synthetic selftest, 6/6 passed - measured armor size 131.56x55mm, solver NaN guard + ITERATIVE fallback
67 lines
2.6 KiB
Lua
67 lines
2.6 KiB
Lua
add_rules("mode.debug", "mode.release")
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set_policy("generator.compile_commands", true)
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set_languages("c++17")
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-- 公共依赖：OpenCV + MindVision 相机 SDK
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local ROOT = os.scriptdir()
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rule("rm_deps")
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on_load(function (target)
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target:add("includedirs", ROOT .. "/inc")
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target:add("includedirs", "/usr/local/include/opencv4")
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target:add("includedirs", "/home/mzxiang/MindVisionSDK/include")
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target:add("linkdirs", "/usr/local/lib")
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target:add("linkdirs", "/home/mzxiang/MindVisionSDK/lib/x64")
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target:add("rpathdirs", "/home/mzxiang/MindVisionSDK/lib/x64")
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target:add("links", "opencv_core", "opencv_imgproc", "opencv_highgui",
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"opencv_imgcodecs", "opencv_videoio", "opencv_calib3d",
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"MVSDK")
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end)
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rule_end()
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-- 主程序（自瞄本体）
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target("27RM")
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add_rules("rm_deps")
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set_kind("binary")
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-- 各工具有自己的 main 函数，从主程序中排除
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add_files("src/*.cpp")
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remove_files("src/capture_calib.cpp")
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remove_files("src/calibrate.cpp")
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remove_files("src/pose_test.cpp")
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remove_files("src/detect_test.cpp")
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-- 标定图采集工具
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-- ./build/linux/x86_64/debug/capture_calib （MindVision 相机）
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-- ./build/linux/x86_64/debug/capture_calib --usb 0 （USB 摄像头）
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target("capture_calib")
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add_rules("rm_deps")
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set_kind("binary")
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add_files("src/capture_calib.cpp", "src/camera_set.cpp")
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-- 标定计算工具（读 calib_images/ 算出内参，存 camera_calib.yml）
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target("calibrate")
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add_rules("rm_deps")
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set_kind("binary")
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add_files("src/calibrate.cpp")
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-- 几何链路验证工具（4 角点 → PnP → 距离/yaw/pitch）
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-- ./build/linux/x86_64/debug/pose_test （相机 + 鼠标点角）
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-- ./build/linux/x86_64/debug/pose_test --selftest （合成自检，无需相机）
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-- ./build/linux/x86_64/debug/pose_test --image x.jpg --corners x1,y1 x2,y2 x3,y3 x4,y4
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target("pose_test")
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add_rules("rm_deps")
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set_kind("binary")
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add_files("src/pose_test.cpp", "src/camera_calib.cpp", "src/camera_set.cpp")
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-- 灯条检测验证工具（检测 → 4 角点 → PnP → 距离/yaw/pitch）
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-- ./build/linux/x86_64/debug/detect_test （相机实时）
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-- ./build/linux/x86_64/debug/detect_test --selftest （合成自检，无需相机）
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-- ./build/linux/x86_64/debug/detect_test --image x.jpg --once
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target("detect_test")
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add_rules("rm_deps")
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set_kind("binary")
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add_files("src/detect_test.cpp", "src/light_bar.cpp",
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"src/camera_calib.cpp", "src/camera_set.cpp")
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