a97e849155
Demande #42: Migrer le code sous xenomai
239 lines
5.8 KiB
C++
239 lines
5.8 KiB
C++
/*
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* Copyright (C) 2018 dimercur
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef __IMG_H__
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#define __IMG_H__
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#include <iostream>
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#include <list>
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#include <string>
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#include <opencv2/highgui/highgui.hpp>
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#include <opencv2/imgproc/imgproc.hpp>
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#include <opencv2/core.hpp>
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#ifdef __WITH_ARUCO__
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#include <opencv2/aruco/dictionary.hpp>
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#include <opencv2/aruco/charuco.hpp>
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#include <opencv2/core/mat.hpp>
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#endif // __WITH_ARUCO__
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#define ARENA_NOT_DETECTED -1
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using namespace std;
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/**
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* Redefinition of cv::Mat type
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*/
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typedef cv::Mat ImageMat;
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/**
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* Declaration of Jpg type
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*/
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typedef vector<unsigned char> Jpg;
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/**
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* Class position, used for store robot coordinates
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*
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* @brief Class position, used for store robot coordinates
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*/
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class Position {
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public:
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int robotId;
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float angle;
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cv::Point2f center;
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cv::Point2f direction;
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/**
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* Constructor of Position object
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*/
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Position() {
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robotId = -1;
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angle = 0.0;
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center=cv::Point2f(0.0,0.0);
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direction=cv::Point2f(0.0,0.0);
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}
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/**
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* Build a string representation of the object
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* @return String containing object information
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*/
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string ToString() {
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return "Id=" + to_string(this->robotId) + ", Angle=" + to_string(this->angle) + ", center=(" + to_string(this->center.x) + ";" + to_string(this->center.y) + ")";
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}
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};
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/**
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* Class arena, used for holding outline of arena on image and cropping image to only usefull area
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*
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* @brief Class arena, used for holding outline of arena on image and cropping image to only usefull area
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*/
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class Arena {
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public:
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/**
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* Coordinate of arena, empty if no arena found
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*/
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cv::Rect arena;
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/**
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* Constructor of Arena object
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*/
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Arena() {}
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/**
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* Tell if arena is empty (not found) or not
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* @return true if no arena found, false otherwise
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*/
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bool IsEmpty();
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/**
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* Build a string representation of the object
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* @return String containing object information
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*/
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string ToString() {
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if (IsEmpty()) return "Arena empty";
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else
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return "Arena: (x;y)=(" + to_string(this->arena.x) + ";" + to_string(this->arena.x) + " (w;h)=(" + to_string(this->arena.width) + ";" + to_string(this->arena.height) + ")";
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}
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};
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/**
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* Class for image storage and treatment
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*
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* @brief Class for image storage and treatment
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*/
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class Img {
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public:
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/**
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* Image data
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*/
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ImageMat img;
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/**
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* Create new Img object based on image data
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*
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* @param imgMatrice Image data to be stored (raw data)
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*/
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Img(ImageMat imgMatrice);
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/**
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* Convert object to a string representation
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*
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* @return String containing information on contained image (size and number of channel)
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*/
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string ToString();
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/**
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* Create a copy of current object
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*
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* @return New Img object, copy of current
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*/
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Img* Copy();
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/**
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* Compress current image to JPEG
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* @return Image compressed as JPEG
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*/
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Jpg ToJpg();
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/**
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* Search arena outline in current image
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* @return Arena object with coordinate of outline, empty if no arena found
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*/
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Arena SearchArena();
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/**
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* Draw an oriented arrow at robot position
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* @param robot Position of robot
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*/
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void DrawRobot(Position robot);
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/**
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* Draw an oriented arrow for each position provided
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* @param robots List of robot positions
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* @return Number of position drawn
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*/
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int DrawAllRobots(std::list<Position> robots);
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/**
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* Draw arena outline
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* @param arenaToDraw Arena position
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*/
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void DrawArena(Arena arenaToDraw);
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/**
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* Search available robots in an image
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* @param arena Arena position for cropping image
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* @return list of position, empty if no robot found
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*/
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std::list<Position> SearchRobot(Arena arena);
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#ifdef __WITH_ARUCO__
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/**
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* Dictionary to be used for aruco recognition
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*/
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cv::Ptr<cv::aruco::Dictionary> dictionary;
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#endif // __WITH_ARUCO__
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private:
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#ifdef __WITH_ARUCO__
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/**
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* Find center point of given aruco
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* @param aruco Aruco coordinates
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* @return Center point coordinate
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*/
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cv::Point2f FindArucoCenter(std::vector<cv::Point2f> aruco);
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/**
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* Find direction of given aruco
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* @param aruco Aruco coordinates
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* @return Orientation of aruco
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*/
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cv::Point2f FindArucoDirection(std::vector<cv::Point2f> aruco);
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#endif // __WITH_ARUCO__
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/**
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* Function for computing angle
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* @param robots Position of robot
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* @return Angle
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*/
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float CalculAngle(Position robots);
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/**
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* Function for computing angle
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* @param pt1 ???
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* @param pt2 ???
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* @return Angle
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*/
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float CalculAngle2(cv::Point2f pt1, cv::Point2f pt2);
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/**
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* Used for computing distance
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* @param p ???
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* @param q ???
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* @return Distance
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*/
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float EuclideanDistance(cv::Point2f p, cv::Point2f q);
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/**
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* Crop image around detected arena
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* @param arena Coordinate of arena
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* @return Reduced image, focused on arena
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*/
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ImageMat CropArena(Arena arena);
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};
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#endif //__IMG_H__
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