125 lines
3.7 KiB
C++
125 lines
3.7 KiB
C++
#ifndef AUTO_AIM__ARMOR_HPP
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#define AUTO_AIM__ARMOR_HPP
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#include <Eigen/Dense>
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#include <opencv2/opencv.hpp>
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#include <string>
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#include <vector>
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namespace auto_aim
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{
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enum Color
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{
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red,
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blue,
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extinguish,
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purple
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};
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const std::vector<std::string> COLORS = {"red", "blue", "extinguish", "purple"};
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enum ArmorType
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{
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big,
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small
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};
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const std::vector<std::string> ARMOR_TYPES = {"big", "small"};
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enum ArmorName
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{
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one,
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two,
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three,
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four,
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five,
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sentry,
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outpost,
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base,
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not_armor
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};
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const std::vector<std::string> ARMOR_NAMES = {"one", "two", "three", "four", "five",
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"sentry", "outpost", "base", "not_armor"};
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enum ArmorPriority
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{
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first = 1,
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second,
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third,
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forth,
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fifth
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};
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// clang-format off
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const std::vector<std::tuple<Color, ArmorName, ArmorType>> armor_properties = {
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{blue, sentry, small}, {red, sentry, small}, {extinguish, sentry, small},
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{blue, one, small}, {red, one, small}, {extinguish, one, small},
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{blue, two, small}, {red, two, small}, {extinguish, two, small},
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{blue, three, small}, {red, three, small}, {extinguish, three, small},
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{blue, four, small}, {red, four, small}, {extinguish, four, small},
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{blue, five, small}, {red, five, small}, {extinguish, five, small},
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{blue, outpost, small}, {red, outpost, small}, {extinguish, outpost, small},
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{blue, base, big}, {red, base, big}, {extinguish, base, big}, {purple, base, big},
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{blue, base, small}, {red, base, small}, {extinguish, base, small}, {purple, base, small},
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{blue, three, big}, {red, three, big}, {extinguish, three, big},
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{blue, four, big}, {red, four, big}, {extinguish, four, big},
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{blue, five, big}, {red, five, big}, {extinguish, five, big}};
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// clang-format on
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struct Lightbar
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{
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std::size_t id;
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Color color;
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cv::Point2f center, top, bottom, top2bottom;
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std::vector<cv::Point2f> points;
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double angle, angle_error, length, width, ratio;
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cv::RotatedRect rotated_rect;
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Lightbar(const cv::RotatedRect & rotated_rect, std::size_t id);
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Lightbar() {};
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};
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struct Armor
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{
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Color color;
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Lightbar left, right; //used to be const
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cv::Point2f center; // 不是对角线交点，不能作为实际中心！
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cv::Point2f center_norm; // 归一化坐标
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std::vector<cv::Point2f> points;
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double ratio; // 两灯条的中点连线与长灯条的长度之比
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double side_ratio; // 长灯条与短灯条的长度之比
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double rectangular_error; // 灯条和中点连线所成夹角与π/2的差值
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ArmorType type;
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ArmorName name;
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ArmorPriority priority;
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int class_id;
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cv::Rect box;
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cv::Mat pattern;
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double confidence;
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bool duplicated;
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Eigen::Vector3d xyz_in_gimbal; // 单位：m
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Eigen::Vector3d xyz_in_world; // 单位：m
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Eigen::Vector3d ypr_in_gimbal; // 单位：rad
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Eigen::Vector3d ypr_in_world; // 单位：rad
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Eigen::Vector3d ypd_in_world; // 球坐标系
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double yaw_raw; // rad
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Armor(const Lightbar & left, const Lightbar & right);
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Armor(
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int class_id, float confidence, const cv::Rect & box, std::vector<cv::Point2f> armor_keypoints);
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Armor(
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int class_id, float confidence, const cv::Rect & box, std::vector<cv::Point2f> armor_keypoints,
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cv::Point2f offset);
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Armor(
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int color_id, int num_id, float confidence, const cv::Rect & box,
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std::vector<cv::Point2f> armor_keypoints);
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Armor(
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int color_id, int num_id, float confidence, const cv::Rect & box,
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std::vector<cv::Point2f> armor_keypoints, cv::Point2f offset);
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};
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} // namespace auto_aim
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#endif // AUTO_AIM__ARMOR_HPP
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