Merge pull request #10 from ichiro-its/hotfix/fix-add-contour

[Hotfix] - Store Detected Contour
ichiro-its · Mar 4, 2024 · c9f227c · c9f227c
2 parents c5ccd3e + 963d728
commit c9f227c
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Showing 4 changed files with 18 additions and 16 deletions.
diff --git a/data/color_classifier.json b/data/color_classifier.json
@@ -0,0 +1,14 @@
+{
+  "ball": {
+    "min_hsv": [151, 40, 10],
+    "max_hsv": [179, 100, 100]
+  },
+  "field": {
+    "min_hsv": [84, 10, 0],
+    "max_hsv": [116, 100, 100]
+  },
+  "line": {
+    "min_hsv": [180, 0, 55],
+    "max_hsv": [260, 60, 100]
+  }
+}
diff --git a/include/ninshiki_cpp/utils/contours.hpp b/include/ninshiki_cpp/utils/contours.hpp
@@ -37,12 +37,11 @@ class Contours
   explicit Contours(std::vector<std::vector<cv::Point>> contours);
   explicit Contours(cv::Mat binary_mat);
 
+  std::vector<std::vector<cv::Point>> contours;
+
   cv::Mat get_binary_mat(cv::Size mat_size);
   cv::Mat get_binary_mat_line(cv::Size mat_size, int line_size);
 
-  std::vector<std::vector<cv::Point>> get_contours();
-  void set_contours(std::vector<std::vector<cv::Point>> contours);
-
   void set_name(std::string contours_name);
 
   void find(cv::Mat binary_mat);
@@ -83,7 +82,6 @@ class Contours
 
 private:
   std::vector<cv::Point> get_all_point_contour();
-  std::vector<std::vector<cv::Point>> contours;
   std::string name;
 };
 

diff --git a/src/ninshiki_cpp/detector/color_detector.cpp b/src/ninshiki_cpp/detector/color_detector.cpp
@@ -64,7 +64,7 @@ bool ColorDetector::load_configuration(const std::string & path)
     // Get all config
     try {
       utils::Color color(
-        item.value().at("name"),
+        item.key(),
         item.value().at("min_hsv")[0],
         item.value().at("max_hsv")[0],
         item.value().at("min_hsv")[1],

diff --git a/src/ninshiki_cpp/utils/contours.cpp b/src/ninshiki_cpp/utils/contours.cpp
@@ -38,7 +38,7 @@ Contours::Contours()
 
 Contours::Contours(std::vector<std::vector<cv::Point>> contours)
 {
-  set_contours(contours);
+  contours = contours;
 }
 
 Contours::Contours(cv::Mat binary_mat)
@@ -71,16 +71,6 @@ cv::Mat Contours::get_binary_mat_line(cv::Size mat_size, int line_size)
   return binary_mat;
 }
 
-std::vector<std::vector<cv::Point>> Contours::get_contours()
-{
-  return contours;
-}
-
-void Contours::set_contours(std::vector<std::vector<cv::Point>> contours)
-{
-  this->contours = contours;
-}
-
 void Contours::set_name(std::string contours_name)
 {
   name = contours_name;