Parts of the dcumentation is finished

|------------|:----|

|car_target.py| Armour Detection |

|circle_test.py| A testing program for circle detection|

|tool.py|Unclear|

|tool.py| Supporting file for armour detection program |

## Complete Documentation for Car Target Detection

### API for functions in the program

#### func_undistort

Recover the undistorted image obtained from the camera. </br>

<b>paramter :</b>

* <b>mat</b> - image matrix

* <b>color_threshold</b> - the value of threshold

* <b>square_ratio</b> - the standard ratio of length and width of a given square

* <b>angle_rate</b> - the value of standard angle between the lengh and width of a given square_ratio

* <b>length_rate</b> -

* <b>matrix threshold</b> -

* <b>square_ratio</b> - the threshold ratio of height/width (any smaler than the threshold will be deleted)

* <b>angle_rate</b> - angle factor for matching

* <b>length_rate</b> - length factor for matching

* <b>matrix threshold</b> - match those with score greater than threshold

* <b>DIST</b> - distance of the target

<b> return :</b>

* return: [] when no target, [x, y, pixel count] for target

#### func_get_delete_strict_list

Get a strict list of deleted component. Used when target is near

<b>paramter :</b>

* <b>mat</b> - image matrix

### Detail description on Armour Detection

#### Setup

Set up undisorted matrix and some paramters

#### Program

##### 1. Setup shooting range

##### 2. Judge image souce and run corresponding program

###### 2.1 Image source is picture<br>

Give a file list<br>

Read pictures in the list one by one.<br>

Store a read picture in <b>mat</b>, and run <b>main(mat)</b> <br>

Quit the program and close all windows when press "q"<br>

###### 2.2 Image source is camera

Capture a picture with camera<br>

If camera is open, read the captured picture, stored it in <b>mat</b>, run <b>func_undistort(mat)</b> to undisort the captured picture, and run <b>main(mat)</b><br>

Stop capturing, and close all windows

###### 2.3 Image source is video

Run a video capturer to capture pictures from a video<br>

While capturer is running, read the image captured, store it in <b>mat</b> and run <b>main(mat)</b><br>

Wait for some seconds (the exact number of seconds is decided by variable <b>wait</b>)<br>

When press "q", break; when press "p", set <b>wait</b> to 0; when press "c",set <b>wait</b> to 10.<br>

Stop capturing and close all windows.

#### 3. Main

1. Get global variable : target_last and MIN_STEP. Copy <b>mat</b> (input image matrix) to <b>origin</b>, set <b>tstart</b> to starting time.

2. Track the near by targets :<b>track</b>(detail information of this function is dipicted below)

3. If no target is found, track the far targets.

4. Calculate the distance of the target

5. Draw a circle on the detected targets.

#### 4.Track

1. Relative threshold: set 255 if b - r < color_threshold. Show the processed image if it's in debug mode.<br>

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