使用C++和OpenCV绘制robomaster场地平面图

深藏阁楼爱情的钟 2022-11-11 05:58 42阅读 0赞

> 需要使用CMakeLists链接到opencv

# draw.cpp #

#include<iostream>
    #include <opencv2/imgproc/imgproc.hpp>
    #include <opencv2/highgui/highgui.hpp>
    using namespace std;
    int main()
    {
        
        cv::Mat icra2021(cv::Size(850, 490), CV_8UC1, cv::Scalar::all(255));
    
        // 边框
        for (int i = 0; i < 21; ++i){
        
            for (int j = 0; j < 850; ++j){
        
                icra2021.at<uchar>(i, j) = 0;
                icra2021.at<uchar>(490 - i, 850 - j) = 0;
            }
        }
        for (int j = 0; j < 21; ++j){
        
            for (int i = 0; i < 490; ++i){
        
                icra2021.at<uchar>(i, j) = 0;
                icra2021.at<uchar>(490 - i, 850 - j) = 0;
            }
        }
    
        // 1000 x 200
        for (int i = 121; i < 141; ++i){
        
            for (int j = 21; j < 121; ++j){
        
                 icra2021.at<uchar>(i, j) = 0;
                 icra2021.at<uchar>(490 - i, 850 - j) = 0;
            }
        } 
        for (int i = 21; i < 121; ++i){
        
            for (int j = 659; j < 679; ++j){
        
                 icra2021.at<uchar>(i, j) = 0;
                 icra2021.at<uchar>(490 - i, 850 - j) = 0;
            }
        }
    
        for (int i = 235; i < 255; ++i){
        
            for (int j = 171; j < 251; ++j){
        
                icra2021.at<uchar>(i, j) = 0;
                icra2021.at<uchar>(490 - i, 850 - j) = 0;
            }
        }
    
        for (int i = 115; i < 135; ++i){
        
            for (int j = 375; j < 475; ++j){
        
                icra2021.at<uchar>(i, j) = 0;
                icra2021.at<uchar>(490 - i, 850 - j) = 0;
            }
        }
        
        for (int i = 227; i <= 245; ++i){
        
            for (int j = 425; j <= 425 + i - 227; ++j){
        
                icra2021.at<uchar>(i, j) = 0;
                icra2021.at<uchar>(490 - i, 850 - j) = 0; 
            }
        }
    
        for (int i = 227; i <= 245; ++i){
        
            for (int j = 425 - i + 227; j <= 425; ++j){
        
                icra2021.at<uchar>(i, j) = 0;
                icra2021.at<uchar>(490 - i, 850 - j) = 0; 
            }
        }
        cv::imshow("icra2021", icra2021);
        cv::waitKey(0);
    	system("pause");
        cv::imwrite("icra2021.pgm", icra2021); 
    	return 0;
    }

# CMakeLists.txt #

cmake_minimum_required(VERSION 2.8)
    project(draw)
    
    set( CMAKE_CXX_FLAGS "-std=c++11" )
    
    find_package( OpenCV REQUIRED)
    
    include_directories( ${
        OpenCV_INCLUDE_DIRS} )
    
    add_executable( draw draw.cpp )
    
    target_link_libraries( draw ${
        OpenCV_LIBS})