62 lines
1.7 KiB
C++
62 lines
1.7 KiB
C++
#ifndef AUTO_AIM__DETECTOR_HPP
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#define AUTO_AIM__DETECTOR_HPP
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#include <list>
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#include <opencv2/opencv.hpp>
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#include <string>
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#include <vector>
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#include "armor.hpp"
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#include "classifier.hpp"
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namespace auto_aim
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{
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class Detector
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{
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public:
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Detector(const std::string & config_path, bool debug = true);
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std::list<Armor> detect(const cv::Mat & bgr_img, int frame_count = -1);
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bool detect(Armor & armor, const cv::Mat & bgr_img);
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friend class YOLOV8;
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private:
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Classifier classifier_;
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double threshold_;
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double max_angle_error_;
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double min_lightbar_ratio_, max_lightbar_ratio_;
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double min_lightbar_length_;
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double min_armor_ratio_, max_armor_ratio_;
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double max_side_ratio_;
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double min_confidence_;
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double max_rectangular_error_;
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bool debug_;
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std::string save_path_;
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// 利用PCA回归角点，参考自https://github.com/CSU-FYT-Vision/FYT2024_vision
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void lightbar_points_corrector(Lightbar & lightbar, const cv::Mat & gray_img) const;
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bool check_geometry(const Lightbar & lightbar) const;
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bool check_geometry(const Armor & armor) const;
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bool check_name(const Armor & armor) const;
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bool check_type(const Armor & armor) const;
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Color get_color(const cv::Mat & bgr_img, const std::vector<cv::Point> & contour) const;
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cv::Mat get_pattern(const cv::Mat & bgr_img, const Armor & armor) const;
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ArmorType get_type(const Armor & armor);
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cv::Point2f get_center_norm(const cv::Mat & bgr_img, const cv::Point2f & center) const;
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void save(const Armor & armor) const;
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void show_result(
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const cv::Mat & binary_img, const cv::Mat & bgr_img, const std::list<Lightbar> & lightbars,
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const std::list<Armor> & armors, int frame_count) const;
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};
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} // namespace auto_aim
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#endif // AUTO_AIM__DETECTOR_HPP
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