modelec/detection_pot
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ackimixs
2024-03-20 20:29:40 +01:00
parent e40dcd36d9
commit 06df6e4b85
3 changed files with 7 additions and 7 deletions
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6
aruco/ArucoDetector.cpp
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@@ -13,7 +13,7 @@ ArucoDetector::ArucoDetector(Type::RobotPose* pose, const std::string& calibrati
this->transformationMatrix = (cv::Mat_<double>(4, 4) <<
cos(pose->theta), 0, sin(pose->theta), pose->position.x,
0, 1, 0, pose.position.y,
0, 1, 0, pose->position.y,
-sin(pose->theta), 0, cos(pose->theta), pose->position.z,
0, 0, 0, 1
);
@@ -182,7 +182,7 @@ std::pair<int, std::vector<std::pair<ArucoTag, std::pair<cv::Mat, cv::Mat>>>> Ar
return result;
}
void ArucoDetector::flowerDetector(const ArucoTag& tag, const cv::Mat& translationMatrix, const cv::Mat& rotationMatrix, Type::RobotPose* robotPose)
/*void ArucoDetector::flowerDetector(const ArucoTag& tag, const cv::Mat& translationMatrix, const cv::Mat& rotationMatrix, Type::RobotPose* robotPose)
{
constexpr double distanceToPot = 21;
@@ -221,4 +221,4 @@ void ArucoDetector::solarPanelDetector(const ArucoTag& tag, cv::Mat translationM
// BLUE => 90, YELLOW => -90
}
*/

4
aruco/ArucoDetector.h
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@@ -41,9 +41,9 @@ public:
void readCameraParameters(const std::string& path);
void addArucoTag(const ArucoTag& tag);
/*
static void flowerDetector(const ArucoTag& type, const cv::Mat& translationMatrix, const cv::Mat& rotationMatrix, Type::RobotPose* robotPose);
static void solarPanelDetector(const ArucoTag& type, cv::Mat translationMatrix, const cv::Mat& rotationMatrix, Type::RobotPose* robotPose);
*/
};

4
arucoDetector.cpp
View File

@@ -105,10 +105,10 @@ int main(int argc, char *argv[])
{
if (tags.type == FLOWER)
{
ArucoDetector::flowerDetector(tags, matrix.first, matrix.first, robotPose);
//ArucoDetector::flowerDetector(tags, matrix.first, matrix.first, robotPose);
} else if (tags.type == SOLAR_PANEL)
{
ArucoDetector::solarPanelDetector(tags, matrix.first, matrix.first, robotPose);
//ArucoDetector::solarPanelDetector(tags, matrix.first, matrix.first, robotPose);
}
}