66 lines
1.8 KiB
C
66 lines
1.8 KiB
C
|
#ifndef POWER_RUNE_RUNEDETECTOR_H
|
||
|
|
#define POWER_RUNE_RUNEDETECTOR_H
|
||
|
|
|
||
|
|
// OpenCV
|
||
|
|
#include <opencv2/core.hpp>
|
||
|
|
#include <opencv2/core/types.hpp>
|
||
|
|
|
||
|
|
// STD
|
||
|
|
#include <cmath>
|
||
|
|
#include <string>
|
||
|
|
#include <vector>
|
||
|
|
#include <chrono>
|
||
|
|
|
||
|
|
#include "Blade.h"
|
||
|
|
#include "AdamFitter.h"
|
||
|
|
|
||
|
|
namespace rm_power_rune {
|
||
|
|
class RuneDetector {
|
||
|
|
public:
|
||
|
|
RuneDetector(const int & bin_thres, const int & channel_thres, const int & color, const int & num_points);
|
||
|
|
|
||
|
|
std::vector<cv::Point> detect(const cv::Mat & input);
|
||
|
|
|
||
|
|
cv::Mat preprocessImage(const cv::Mat & input) const;
|
||
|
|
std::pair<std::vector<FarEnd>, std::vector<NearEnd>> findRAndEnds(const cv::Mat & bin_img);
|
||
|
|
static std::vector<Blade> matchEnds(std::vector<FarEnd> &far_ends, std::vector<NearEnd> &near_ends);
|
||
|
|
void getAngularV(const std::vector<Blade>& blades);
|
||
|
|
static void rotatePoints(const cv::Point& center, std::vector<cv::Point>& Points, double angle);
|
||
|
|
|
||
|
|
int binary_thres;
|
||
|
|
int channel_thres;
|
||
|
|
int detect_color;
|
||
|
|
int num_points;
|
||
|
|
|
||
|
|
// For debug usage
|
||
|
|
cv::Mat binary_img;
|
||
|
|
|
||
|
|
void drawEnds(cv::Mat & img);
|
||
|
|
int drawResults(cv::Mat & img);
|
||
|
|
|
||
|
|
|
||
|
|
private:
|
||
|
|
int width_;
|
||
|
|
int height_;
|
||
|
|
|
||
|
|
double distance_r_to_center_;
|
||
|
|
double t_;
|
||
|
|
double time_point_;
|
||
|
|
|
||
|
|
bool is_convergence_;
|
||
|
|
std::vector<cv::Point> target_points_;
|
||
|
|
|
||
|
|
std::vector<double> vec_t_;
|
||
|
|
std::vector<double> angular_v_;
|
||
|
|
fitter::AdamFitter adam_fitter_;
|
||
|
|
|
||
|
|
cv::Point2f r_;
|
||
|
|
std::pair<std::vector<FarEnd>, std::vector<NearEnd>> ends_;
|
||
|
|
std::vector<FarEnd> far_ends_;
|
||
|
|
std::vector<NearEnd> near_ends_;
|
||
|
|
std::vector<Blade> blades_;
|
||
|
|
std::vector<double> last_tilt_angles_;
|
||
|
|
};
|
||
|
|
}
|
||
|
|
#endif //POWER_RUNE_RUNEDETECTOR_H
|