本文整理汇总了C++中Marker::set方法的典型用法代码示例。如果您正苦于以下问题：C++ Marker::set方法的具体用法？C++ Marker::set怎么用？C++ Marker::set使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类Marker的用法示例。
在下文中一共展示了Marker::set方法的1个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: findRobotsByModel
void TeamDetector::findRobotsByModel(::google::protobuf::RepeatedPtrField< ::SSL_DetectionRobot >* robots, int team_color_id, const Image<raw8> * image, CMVision::ColorRegionList * colorlist, CMVision::RegionTree & reg_tree)
{
(void)image;
const int MaxDetections = _other_markers_max_detections;
Marker cen; // center marker
Marker markers[MaxDetections];
const float marker_max_query_dist = _other_markers_max_query_distance;
const float marker_max_dist = _pattern_max_dist;
// partially forget old detections
//decaySeen();
filter_team.init( colorlist->getRegionList(team_color_id).getInitialElement());
const CMVision::Region * reg=0;
SSL_DetectionRobot * robot=0;
MultiPatternModel::PatternDetectionResult res;
// printf("finding robots...\n");
while((reg = filter_team.getNext()) != 0) {
vector2d reg_img_center(reg->cen_x,reg->cen_y);
vector3d reg_center3d;
_camera_params.image2field(reg_center3d,reg_img_center,_robot_height);
vector2d reg_center(reg_center3d.x,reg_center3d.y);
//TODO add masking:
//if(det.mask.get(reg->cen_x,reg->cen_y) >= 0.5){
// printf("if in field:\n");
if (field_filter.isInFieldOrPlayableBoundary(reg_center)) {
cen.set(reg,reg_center3d,getRegionArea(reg,_robot_height));
int num_markers = 0;
reg_tree.startQuery(*reg,marker_max_query_dist);
double sd=0.0;
CMVision::Region *mreg;
while((mreg=reg_tree.getNextNearest(sd))!=0 && num_markers<MaxDetections) {
//TODO: implement masking:
// filter_other.check(*mreg) && det.mask.get(mreg->cen_x,mreg->cen_y)>=0.5
if(filter_others.check(*mreg) && model.usesColor(mreg->color)) {
vector2d marker_img_center(mreg->cen_x,mreg->cen_y);
vector3d marker_center3d;
_camera_params.image2field(marker_center3d,marker_img_center,_robot_height);
Marker &m = markers[num_markers];
m.set(mreg,marker_center3d,getRegionArea(mreg,_robot_height));
vector2f ofs = m.loc - cen.loc;
m.dist = ofs.length();
m.angle = ofs.angle();
if(m.dist>0.0 && m.dist<marker_max_dist) {
num_markers++;
}
}
}
reg_tree.endQuery();
// printf("num markers = %d\n", num_markers);
if(num_markers >= 2) {
CMPattern::PatternProcessing::sortMarkersByAngle(markers,num_markers);
for(int i=0; i<num_markers; i++) {
// DEBUG CODE:
// char colorchar='?';
// if (markers[i].id==color_id_green) colorchar='g';
// if (markers[i].id==color_id_pink) colorchar='p';
// if (markers[i].id==color_id_white) colorchar='w';
// if (markers[i].id==color_id_team) colorchar='t';
// if (markers[i].id==color_id_field_green) colorchar='f';
// if (markers[i].id==color_id_cyan) colorchar='c';
// printf("%c ",colorchar);
int j = (i + 1) % num_markers;
markers[i].next_dist = dist(markers[i].loc,markers[j].loc);
markers[i].next_angle_dist = angle_pos(angle_diff(markers[i].angle,markers[j].angle));
}
if (model.findPattern(res,markers,num_markers,_pattern_fit_params,_camera_params)) {
robot=addRobot(robots,res.conf,_max_robots*2);
if (robot!=0) {
//setup robot:
robot->set_x(cen.loc.x);
robot->set_y(cen.loc.y);
if (_have_angle) robot->set_orientation(res.angle);
robot->set_robot_id(res.id);
robot->set_pixel_x(reg->cen_x);
robot->set_pixel_y(reg->cen_y);
robot->set_height(cen.height);
}
}
}
}
}
//remove items with 0-confidence:
stripRobots(robots);
//remove extra items:
while(robots->size() > _max_robots) {
robots->RemoveLast();
}
}