RoboSub/BuoyTask.h at master · YingHan97/RoboSub · GitHub

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#ifndef BUOYTASK_H
#define BUOYTASK_H

///For the submarine movement
#include "Task.h"
#include "TurnTask.h"
#include "SpeedTask.h"
#include "DepthTask.h"
#include "CameraModel.h"
#include "ShapeFilter.h"
#include <unistd.h>

///For filter detection
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include <iostream>
#include <stdio.h>
#include <stdlib.h>
#include <cmath>

using namespace cv;
using namespace std;

class BuoyTask: public Task
{
public:
    BuoyTask(Model* camModel, TurnTask* tk, SpeedTask* st, DepthTask* dt);
    virtual ~BuoyTask();

    void execute();

private:
    Logger* logger = new Logger("BuoyTask");
	Properties* settings
    CameraModel* camModel;
    int imgWidth = -1;
    int imgHeight = -1;
    TurnTask* tk;
    SpeedTask* st;
    DepthTask* dt;
    void thresh_callback(int, Mat, float*, float*, float*);
    void detectBuoy(ImgData*, std::string, float*, float*, float*);
};

#endif // BUOYTASK_H