85 lines
2.1 KiB
C
85 lines
2.1 KiB
C
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/*
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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 <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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typedef cv::Mat ImageMat;
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typedef std::vector<unsigned char> Jpg;
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struct Position {
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cv::Point2f center;
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cv::Point2f direction;
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float angle;
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int robotId;
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};
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class Arene {
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public:
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Arene();
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cv::Rect arene;
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bool empty();
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};
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class Img {
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public:
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Img(ImageMat imgMatrice);
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Jpg toJpg();
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Arene search_arena();
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int draw_robot(Position robot);
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int draw_all_robots(std::list<Position> robots);
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int draw_arena(Arene areneToDraw);
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std::list<Position> search_robot(Arene monArene);
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#ifdef __WITH_ARUCO__
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std::list<Position> search_aruco(Arene monArene = NULL);
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#endif // __WITH_ARUCO__
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private:
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cv::Mat img;
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#ifdef __WITH_ARUCO__
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Ptr<std::Dictionary> dictionary;
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cv::Point2f find_aruco_center(std::vector<cv::Point2f> aruco);
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cv::Point2f find_aruco_direction(std::vector<cv::Point2f> aruco);
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#endif // __WITH_ARUCO__
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float calculAngle(Position robots);
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float calculAngle2(cv::Point2f pt1, cv::Point2f pt2);
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float euclideanDist(cv::Point2f p, cv::Point2f q);
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ImageMat cropArena(Arene arene);
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};
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#endif //__IMG_H__
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