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