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add auto binarythres fix expandBBox 和 processROIs

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cyy_mac
2026-03-26 06:32:38 +08:00
parent 8b6b6dc2a6
commit 9d43dce425
1 changed files with 9 additions and 9 deletions
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18
src/rm_auto_aim/armor_yolo_detect/include/armor_yolo_detect/armor_yolo_detector.hpp
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@@ -128,6 +128,15 @@ public:
// Draw detection results for debug visualization // Draw detection results for debug visualization
void drawResults(cv::Mat& img) noexcept; void drawResults(cv::Mat& img) noexcept;
// Expand YOLO bbox to ROI (needed by calibration)
cv::Rect expandBBox(const cv::Rect& bbox, const cv::Size& img_size, int pixel_expand);
// Process ROIs to detect armors (needed by calibration)
std::vector<fyt::auto_aim::Armor> processROIs(
const cv::Mat& input,
const cv::Mat& gray_img,
const std::vector<cv::Rect>& rois);
private: private:
// Traditional vision methods // Traditional vision methods
std::vector<fyt::auto_aim::Light> findLightsInROI( std::vector<fyt::auto_aim::Light> findLightsInROI(
@@ -139,15 +148,6 @@ private:
std::vector<fyt::auto_aim::Armor> matchLightsInROI(const std::vector<fyt::auto_aim::Light>& lights); std::vector<fyt::auto_aim::Armor> matchLightsInROI(const std::vector<fyt::auto_aim::Light>& lights);
void correctCorners(fyt::auto_aim::Armor& armor, const cv::Mat& gray_img); void correctCorners(fyt::auto_aim::Armor& armor, const cv::Mat& gray_img);
// Expand YOLO bbox to ROI
cv::Rect expandBBox(const cv::Rect& bbox, const cv::Size& img_size, int pixel_expand);
// Process ROIs to detect armors (common logic for all modes)
std::vector<fyt::auto_aim::Armor> processROIs(
const cv::Mat& input,
const cv::Mat& gray_img,
const std::vector<cv::Rect>& rois);
std::unique_ptr<YoloTensorRT> tensorrt_; std::unique_ptr<YoloTensorRT> tensorrt_;
std::vector<YoloObject> yolo_objects_; std::vector<YoloObject> yolo_objects_;
std::vector<fyt::auto_aim::Armor> armors_; std::vector<fyt::auto_aim::Armor> armors_;