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为基建任务添加回调消息

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MistEO
2021-09-12 23:55:42 +08:00
parent 00eb27daa8
commit cae70e801d
15 changed files with 209 additions and 76 deletions
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25
src/MeoAssistance/InfrastAbstractTask.cpp
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@@ -310,21 +310,46 @@ bool asst::InfrastAbstractTask::enter_station(const std::vector<std::string>& te
cv::Mat image = m_controller_ptr->get_image();
std::vector<asst::Identify::FindImageResult> max_score_reslut;
json::value callback_json;
callback_json["algorithm"] = "MatchTemplate";
callback_json["threshold"] = threshold;
std::string max_score_name;
for (const auto& templ : templ_names) {
auto cur_result = m_identify_ptr->find_all_images(image, templ, threshold);
callback_json["name"] = templ;
if (cur_result.empty()) {
callback_json["value"] = 0;
callback_json["rect"] = json::array({ 0, 0, 0, 0 });
m_callback(AsstMsg::ImageFindResult, callback_json, m_callback_arg);
continue;
}
Rect& rect = cur_result.at(0).rect;
callback_json["value"] = cur_result.at(0).score;
callback_json["rect"] = json::array({ rect.x, rect.y, rect.width, rect.height });
m_callback(AsstMsg::ImageFindResult, callback_json, m_callback_arg);
if (max_score_reslut.empty()
|| cur_result.at(0).score > max_score_reslut.at(0).score) { // find_all_image里是排过序的，直接取第一个就是最大得分
max_score_reslut = std::move(cur_result);
max_score_name = templ;
}
}
if (max_score_reslut.empty()) {
DebugTraceError("The number of matches is empty");
return false;
}
callback_json["name"] = max_score_name;
Rect& rect = max_score_reslut.at(0).rect;
callback_json["size"] = max_score_reslut.size();
callback_json["value"] = max_score_reslut.at(0).score;
callback_json["rect"] = json::array({ rect.x, rect.y, rect.width, rect.height });
m_callback(AsstMsg::ImageMatched, callback_json, m_callback_arg);
if (index >= max_score_reslut.size()) {
DebugTraceError("The number of matches is too few", index, max_score_reslut.size());
return false;
}