/*
* 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 .
*/
#ifndef __IMG_H__
#define __IMG_H__
#include
#include
#include
#include
#include
#include
#ifdef __WITH_ARUCO__
#include
#include
#include
#endif // __WITH_ARUCO__
#define ARENA_NOT_DETECTED -1
using namespace std;
typedef cv::Mat ImageMat;
typedef vector Jpg;
typedef struct {
cv::Point2f center;
cv::Point2f direction;
float angle;
int robotId;
} Position;
class Arena {
public:
Arena() {}
cv::Rect arena;
bool IsEmpty();
};
class Img {
public:
Img(ImageMat imgMatrice);
string ToString();
Img* Copy();
Jpg ToJpg();
Arena SearchArena();
int DrawRobot(Position robot);
int DrawAllRobots(std::list robots);
int DrawArena(Arena areneToDraw);
std::list SearchRobot(Arena myArena);
#ifdef __WITH_ARUCO__
list search_aruco(Arena monArene = NULL);
#endif // __WITH_ARUCO__
private:
ImageMat img;
#ifdef __WITH_ARUCO__
Ptr dictionary;
cv::Point2f find_aruco_center(std::vector aruco);
cv::Point2f find_aruco_direction(std::vector aruco);
#endif // __WITH_ARUCO__
float CalculAngle(Position robots);
float CalculAngle2(cv::Point2f pt1, cv::Point2f pt2);
float EuclideanDistance(cv::Point2f p, cv::Point2f q);
ImageMat CropArena(Arena arene);
};
#endif //__IMG_H__