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This commit is contained in:
Liu Lida
2025-12-05 18:22:50 +08:00
parent 865da57ebc
commit 3f7cc22f95
1 changed files with 53 additions and 35 deletions
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76
src/MindVisionMain.cpp
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@@ -20,40 +20,52 @@
#include "TTLCommunicator.h"
#include "PidController.h"
// Function to safely access PID controllers (avoiding static initialization order issues)
PidController& getPitchPid() {
static PidController pitch_pid(0.1f, 0.01f, 0.05f);
return pitch_pid;
// 全局PID参数（使用简单类型避免初始化问题）
float g_pitch_kp = 0.1f;
float g_pitch_ki = 0.01f;
float g_pitch_kd = 0.05f;
float g_yaw_kp = 0.1f;
float g_yaw_ki = 0.01f;
float g_yaw_kd = 0.05f;
// PID控制器实例
PidController pitch_pid(g_pitch_kp, g_pitch_ki, g_pitch_kd);
PidController yaw_pid(g_yaw_kp, g_yaw_ki, g_yaw_kd);
// 更新PID控制器参数的函数
void update_pid_controllers() {
static bool first_call = true;
if (first_call) {
first_call = false;
return;
}
pitch_pid.setParameters(g_pitch_kp, g_pitch_ki, g_pitch_kd);
yaw_pid.setParameters(g_yaw_kp, g_yaw_ki, g_yaw_kd);
}
PidController& getYawPid() {
static PidController yaw_pid(0.1f, 0.01f, 0.05f);
return yaw_pid;
}
// Callback functions for trackbars - use safe access to PID controllers
// 轨迹条回调函数
void on_pitch_kp_trackbar(int pos, void*) {
getPitchPid().setKp(pos / 100.0f);
g_pitch_kp = pos / 100.0f;
}
void on_pitch_ki_trackbar(int pos, void*) {
getPitchPid().setKi(pos / 1000.0f);
g_pitch_ki = pos / 1000.0f;
}
void on_pitch_kd_trackbar(int pos, void*) {
getPitchPid().setKd(pos / 100.0f);
g_pitch_kd = pos / 100.0f;
}
void on_yaw_kp_trackbar(int pos, void*) {
getYawPid().setKp(pos / 100.0f);
g_yaw_kp = pos / 100.0f;
}
void on_yaw_ki_trackbar(int pos, void*) {
getYawPid().setKi(pos / 1000.0f);
g_yaw_ki = pos / 1000.0f;
}
void on_yaw_kd_trackbar(int pos, void*) {
getYawPid().setKd(pos / 100.0f);
g_yaw_kd = pos / 100.0f;
}
// Function to output control data to TTL device (with enable control)
@@ -70,18 +82,21 @@ void output_control_data(const cv::Point2f* ballistic_point,
float raw_offset_x = -(ballistic_point->x - img_center.x); // yaw error
float raw_offset_y = -(img_center.y - ballistic_point->y); // pitch error
// Calculate time delta (assuming we have access to time)
// Calculate time delta
static auto last_time = std::chrono::high_resolution_clock::now();
auto current_time = std::chrono::high_resolution_clock::now();
float dt = std::chrono::duration<float>(current_time - last_time).count();
if (dt <= 0) dt = 0.01f; // Minimum dt to avoid division by zero
last_time = current_time;
// Update PID controllers with latest parameters
update_pid_controllers();
// Apply PID control to the pitch (vertical) component
float pid_pitch_output = getPitchPid().update(0.0f, raw_offset_y, dt); // Setpoint is 0, error is raw_offset_y
float pid_pitch_output = pitch_pid.update(0.0f, raw_offset_y, dt); // Setpoint is 0, error is raw_offset_y
// Apply PID control to the yaw (horizontal) component
float pid_yaw_output = getYawPid().update(0.0f, raw_offset_x, dt); // Setpoint is 0, error is raw_offset_x
float pid_yaw_output = yaw_pid.update(0.0f, raw_offset_x, dt); // Setpoint is 0, error is raw_offset_x
// Convert PID outputs to the expected format
// The PID output might be large, so we might need to scale it
@@ -93,7 +108,7 @@ void output_control_data(const cv::Point2f* ballistic_point,
if (ballistic_offset_yaw != 0) {
ballistic_offset_yaw = (ballistic_offset_yaw / abs(ballistic_offset_yaw)) * 220; // Keep the scale factor
} else {
ballistic_offset_yaw = 220; // or some default value
ballistic_offset_yaw = ballistic_offset_yaw > 0 ? 220 : -220; // or some default value
}
}
if (abs(ballistic_offset_pitch) > 180) {
@@ -101,7 +116,7 @@ void output_control_data(const cv::Point2f* ballistic_point,
if (ballistic_offset_pitch != 0) {
ballistic_offset_pitch = (ballistic_offset_pitch / abs(ballistic_offset_pitch)) * 180 * 1.9;
} else {
ballistic_offset_pitch = 180 * 1.9; // or some default value
ballistic_offset_pitch = ballistic_offset_pitch > 0 ? 180 * 1.9 : -180 * 1.9; // or some default value
}
}
@@ -204,7 +219,7 @@ int main(int /*argc*/, char* /*argv*/[]) {
// Initialize KCF tracker
cv::Ptr<cv::Tracker> tracker = cv::TrackerKCF::create();
bool is_tracking = false;
cv::Rect tracking_roi;
cv::Rect2d tracking_roi;
int tracking_frame_count = 0;
const int MAX_TRACKING_FRAMES = 100; // Maximum frames to track before returning to search
@@ -379,20 +394,23 @@ int main(int /*argc*/, char* /*argv*/[]) {
cv::createTrackbar("Yaw Kd", "PID Tuning", nullptr, 1000, on_yaw_kd_trackbar);
// Set initial positions
cv::setTrackbarPos("Pitch Kp", "PID Tuning", static_cast<int>(getPitchPid().getKp() * 100));
cv::setTrackbarPos("Pitch Ki", "PID Tuning", static_cast<int>(getPitchPid().getKi() * 1000));
cv::setTrackbarPos("Pitch Kd", "PID Tuning", static_cast<int>(getPitchPid().getKd() * 100));
cv::setTrackbarPos("Yaw Kp", "PID Tuning", static_cast<int>(getYawPid().getKp() * 100));
cv::setTrackbarPos("Yaw Ki", "PID Tuning", static_cast<int>(getYawPid().getKi() * 1000));
cv::setTrackbarPos("Yaw Kd", "PID Tuning", static_cast<int>(getYawPid().getKd() * 100));
cv::setTrackbarPos("Pitch Kp", "PID Tuning", static_cast<int>(g_pitch_kp * 100));
cv::setTrackbarPos("Pitch Ki", "PID Tuning", static_cast<int>(g_pitch_ki * 1000));
cv::setTrackbarPos("Pitch Kd", "PID Tuning", static_cast<int>(g_pitch_kd * 100));
cv::setTrackbarPos("Yaw Kp", "PID Tuning", static_cast<int>(g_yaw_kp * 100));
cv::setTrackbarPos("Yaw Ki", "PID Tuning", static_cast<int>(g_yaw_ki * 1000));
cv::setTrackbarPos("Yaw Kd", "PID Tuning", static_cast<int>(g_yaw_kd * 100));
initialized_trackbars = true;
}
// Display windows
cv::imshow("Armor Detection", frame);
cv::imshow(target_color + " Mask", mask);
cv::imshow(target_color + " Only", color_only_frame);
cv::imshow("Armor Detection", frame);
// Only call cv::waitKey to keep GUI responsive
cv::waitKey(1);
// Exit on 'q' key press
if (cv::waitKey(1) == 'q') {