temps_reel/software/raspberry/superviseur-robot/lib/img.h

85 lines
2.1 KiB
C
Raw Normal View History

2018-12-14 17:04:42 +01:00
/*
* Copyright (C) 2018 dimercur
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef __IMG_H__
#define __IMG_H__
#include <iostream>
#include <list>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/core.hpp>
#ifdef __WITH_ARUCO__
#include <opencv2/aruco/dictionary.hpp>
#include <opencv2/aruco/charuco.hpp>
#include <opencv2/core/mat.hpp>
#endif // __WITH_ARUCO__
#define ARENA_NOT_DETECTED -1
typedef cv::Mat ImageMat;
typedef std::vector<unsigned char> Jpg;
struct Position {
cv::Point2f center;
cv::Point2f direction;
float angle;
int robotId;
};
class Arene {
public:
Arene();
cv::Rect arene;
bool empty();
};
class Img {
public:
Img(ImageMat imgMatrice);
Jpg toJpg();
Arene search_arena();
int draw_robot(Position robot);
int draw_all_robots(std::list<Position> robots);
int draw_arena(Arene areneToDraw);
std::list<Position> search_robot(Arene monArene);
#ifdef __WITH_ARUCO__
std::list<Position> search_aruco(Arene monArene = NULL);
#endif // __WITH_ARUCO__
private:
cv::Mat img;
#ifdef __WITH_ARUCO__
Ptr<std::Dictionary> dictionary;
cv::Point2f find_aruco_center(std::vector<cv::Point2f> aruco);
cv::Point2f find_aruco_direction(std::vector<cv::Point2f> aruco);
#endif // __WITH_ARUCO__
float calculAngle(Position robots);
float calculAngle2(cv::Point2f pt1, cv::Point2f pt2);
float euclideanDist(cv::Point2f p, cv::Point2f q);
ImageMat cropArena(Arene arene);
};
#endif //__IMG_H__