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add support of TCP client

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ackimixs
2024-03-24 10:43:22 +01:00
parent 50b67eb2bf
commit 6a4f4e036b
9 changed files with 236 additions and 40 deletions
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29
aruco/ArucoDetector.cpp
View File

@@ -1,20 +1,21 @@
#include "ArucoDetector.h"
ArucoDetector::ArucoDetector(const Type::RobotPose& pose, const std::string& calibrationPath, const Team team, const int cameraId, const bool headless) : robotPose(pose), headless(headless), team(team)
ArucoDetector::ArucoDetector(Type::RobotPose* pose, const std::string& calibrationPath, const Team team, const int cameraId, const bool headless) : robotPose(pose), headless(headless), team(team)
{
// opencv 4.8
// this->detector = cv::aruco::ArucoDetector(getPredefinedDictionary(cv::aruco::DICT_4X4_50), cv::aruco::DetectorParameters());
// this->dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_4X4_50);
// this->parameters = cv::aruco::DetectorParameters();
this->detector = cv::aruco::ArucoDetector(getPredefinedDictionary(cv::aruco::DICT_4X4_50), cv::aruco::DetectorParameters());
this->dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_4X4_50);
this->parameters = cv::aruco::DetectorParameters();
// 4.6
this->dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_4X4_50);
// this->dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_4X4_50);
this->transformationMatrix = (cv::Mat_<double>(4, 4) <<
cos(pose.theta), 0, sin(pose.theta), pose.position.x,
0, 1, 0, pose.position.y,
-sin(pose.theta), 0, cos(pose.theta), pose.position.z,
cos(pose->theta), 0, sin(pose->theta), pose->position.x,
0, 1, 0, pose->position.y,
-sin(pose->theta), 0, cos(pose->theta), pose->position.z,
0, 0, 0, 1
);
this->readCameraParameters(calibrationPath);
@@ -43,10 +44,6 @@ ArucoDetector::ArucoDetector(const Type::RobotPose& pose, const std::string& cal
this->addArucoTag(ArucoTag(47, "Solar panel", 50, SOLAR_PANEL));
}
ArucoDetector::ArucoDetector(const float x, const float y, const float z, const float theta, const std::string& calibrationPath, const Team team, const int cameraId, const bool headless) : ArucoDetector(Type::RobotPose{cv::Point3f(x, y, z), theta}, calibrationPath, team, cameraId, headless)
{
}
ArucoDetector::~ArucoDetector()
{
cap.release();
@@ -102,10 +99,10 @@ std::pair<int, std::vector<std::pair<ArucoTag, std::pair<cv::Mat, cv::Mat>>>> Ar
std::vector<std::vector<cv::Point2f>> markerCorners;
// 4.6
cv::aruco::detectMarkers(frame, this->dictionary, markerCorners, markerIds);
// cv::aruco::detectMarkers(frame, this->dictionary, markerCorners, markerIds);
// opencv 4.8
// detector.detectMarkers(frame, markerCorners, markerIds);
detector.detectMarkers(frame, markerCorners, markerIds);
if (!markerIds.empty())
{
@@ -127,7 +124,7 @@ std::pair<int, std::vector<std::pair<ArucoTag, std::pair<cv::Mat, cv::Mat>>>> Ar
cv::Mat rvec, tvec;
solvePnP(tag.objectRepresenation, markerCorners.at(i), cameraMatrix, distCoeffs, rvec, tvec);
solvePnP(tag.objectRepresenation, markerCorners.at(i), cameraMatrix, distCoeffs, rvec, tvec, false, cv::SOLVEPNP_IPPE_SQUARE);
if (!headless)
{
@@ -159,7 +156,7 @@ std::pair<int, std::vector<std::pair<ArucoTag, std::pair<cv::Mat, cv::Mat>>>> Ar
std::sort(result.second.begin(), result.second.end(), [this](const std::pair<ArucoTag, std::pair<cv::Mat, cv::Mat>>& a, const std::pair<ArucoTag, std::pair<cv::Mat, cv::Mat>>& b)
{
return distanceBetweenRobotAndTag(robotPose, a.second.first) < distanceBetweenRobotAndTag(robotPose, b.second.first);
return distanceBetweenRobotAndTag(*robotPose, a.second.first) < distanceBetweenRobotAndTag(*robotPose, b.second.first);
});
if (!headless)

15
aruco/ArucoDetector.h
View File

@@ -6,7 +6,7 @@
class ArucoDetector {
std::vector<ArucoTag> arucoTags;
Type::RobotPose robotPose;
Type::RobotPose* robotPose;
cv::Mat cameraMatrix;
cv::Mat distCoeffs;
@@ -14,12 +14,12 @@ class ArucoDetector {
cv::VideoCapture cap;
// 4.6
cv::Ptr<cv::aruco::Dictionary> dictionary;
// cv::Ptr<cv::aruco::Dictionary> dictionary;
// 4.8
// cv::aruco::Dictionary dictionary;
// cv::aruco::DetectorParameters parameters;
// cv::aruco::ArucoDetector detector;
cv::aruco::Dictionary dictionary;
cv::aruco::DetectorParameters parameters;
cv::aruco::ArucoDetector detector;
bool headless;
@@ -30,9 +30,7 @@ class ArucoDetector {
bool started = false;
public:
ArucoDetector(const Type::RobotPose& pose, const std::string& calibrationPath, Team team, int cameraId = 0, bool headless = false);
ArucoDetector(float x, float y, float z, float theta, const std::string& calibrationPath, Team team, int cameraId = 0, bool headless = false);
ArucoDetector(Type::RobotPose* pose, const std::string& calibrationPath, Team team, int cameraId = 0, bool headless = false);
~ArucoDetector();
@@ -45,5 +43,4 @@ public:
static void flowerDetector(const ArucoTag& type, const cv::Mat& translationMatrix, const cv::Mat& rotationMatrix);
static void solarPanelDetector(const ArucoTag& type, cv::Mat translationMatrix, const cv::Mat& rotationMatrix, const Type::RobotPose& robotPose);
};