VSAG/Catalyst-MDVS
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修正（Segmentationfault）

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This commit is contained in:
Liu Lida
2025-12-05 17:40:32 +08:00
parent b5ad1fa7f8
commit 7c77c55031
1 changed files with 14 additions and 26 deletions
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40
src/MindVisionMain.cpp
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@@ -24,33 +24,29 @@
PidController pitch_pid(0.1f, 0.01f, 0.05f); // Default PID values for pitch PidController pitch_pid(0.1f, 0.01f, 0.05f); // Default PID values for pitch
PidController yaw_pid(0.1f, 0.01f, 0.05f); // Default PID values for yaw PidController yaw_pid(0.1f, 0.01f, 0.05f); // Default PID values for yaw
// Global pointers to PID controllers to be accessed by trackbar callbacks // Callback functions for trackbars - use direct access to global objects
PidController* g_pitch_pid = &pitch_pid;
PidController* g_yaw_pid = &yaw_pid;
// Callback functions for trackbars
void on_pitch_kp_trackbar(int pos, void*) { void on_pitch_kp_trackbar(int pos, void*) {
g_pitch_pid->setKp(pos / 100.0f); pitch_pid.setKp(pos / 100.0f);
} }
void on_pitch_ki_trackbar(int pos, void*) { void on_pitch_ki_trackbar(int pos, void*) {
g_pitch_pid->setKi(pos / 1000.0f); pitch_pid.setKi(pos / 1000.0f);
} }
void on_pitch_kd_trackbar(int pos, void*) { void on_pitch_kd_trackbar(int pos, void*) {
g_pitch_pid->setKd(pos / 100.0f); pitch_pid.setKd(pos / 100.0f);
} }
void on_yaw_kp_trackbar(int pos, void*) { void on_yaw_kp_trackbar(int pos, void*) {
g_yaw_pid->setKp(pos / 100.0f); yaw_pid.setKp(pos / 100.0f);
} }
void on_yaw_ki_trackbar(int pos, void*) { void on_yaw_ki_trackbar(int pos, void*) {
g_yaw_pid->setKi(pos / 1000.0f); yaw_pid.setKi(pos / 1000.0f);
} }
void on_yaw_kd_trackbar(int pos, void*) { void on_yaw_kd_trackbar(int pos, void*) {
g_yaw_pid->setKd(pos / 100.0f); yaw_pid.setKd(pos / 100.0f);
} }
// Function to output control data to TTL device (with enable control) // Function to output control data to TTL device (with enable control)
@@ -71,7 +67,7 @@ void output_control_data(const cv::Point2f* ballistic_point,
static auto last_time = std::chrono::high_resolution_clock::now(); static auto last_time = std::chrono::high_resolution_clock::now();
auto current_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(); float dt = std::chrono::duration<float>(current_time - last_time).count();
if (dt < 0.001f) dt = 0.01f; // Minimum dt to avoid division by zero if (dt <= 0) dt = 0.01f; // Minimum dt to avoid division by zero
last_time = current_time; last_time = current_time;
// Apply PID control to the pitch (vertical) component // Apply PID control to the pitch (vertical) component
@@ -82,16 +78,16 @@ void output_control_data(const cv::Point2f* ballistic_point,
// Convert PID outputs to the expected format // Convert PID outputs to the expected format
// The PID output might be large, so we might need to scale it // The PID output might be large, so we might need to scale it
int ballistic_offset_yaw = 1.9 * (-static_cast<int>(pid_yaw_output)); int ballistic_offset_yaw = static_cast<int>(pid_yaw_output);
int ballistic_offset_pitch = 1.9 * (-static_cast<int>(pid_pitch_output)); int ballistic_offset_pitch = static_cast<int>(pid_pitch_output);
// Apply same limits as before // Apply same limits as before
if (abs(ballistic_offset_yaw) > 320) { if (abs(ballistic_offset_yaw) > 320) {
ballistic_offset_yaw = (ballistic_offset_yaw / abs(ballistic_offset_yaw)) * 220*1.9; // Keep the scale factor ballistic_offset_yaw = (ballistic_offset_yaw / abs(ballistic_offset_yaw)) * 220; // Keep the scale factor
} }
if (abs(ballistic_offset_pitch) > 180) { if (abs(ballistic_offset_pitch) > 180) {
// Use the same scale factor as before // Use the same scale factor as before
ballistic_offset_pitch = (ballistic_offset_pitch / abs(ballistic_offset_pitch)) * 180 * 1.9; ballistic_offset_pitch = (ballistic_offset_pitch / abs(ballistic_offset_pitch)) * 180 * ;
} }
// Color simplification mapping // Color simplification mapping
@@ -126,8 +122,8 @@ int main(int /*argc*/, char* /*argv*/[]) {
static int Numbe = 0; static int Numbe = 0;
std::string target_color = "red"; std::string target_color = "red";
int cam_id = 0; int cam_id = 0;
cv::Size default_resolution(1280, 720); // Changed to 640x480 for consistency with SJTU project cv::Size default_resolution(640, 480); // Changed to 640x480 for consistency with SJTU project
bool use_ttl = true; // Set to false to disable TTL communication bool use_ttl = false; // Set to false to disable TTL communication
if (Numbe == 0) { if (Numbe == 0) {
@@ -378,14 +374,6 @@ int main(int /*argc*/, char* /*argv*/[]) {
initialized_trackbars = true; initialized_trackbars = true;
} }
// Update trackbar positions in case they were changed externally
cv::setTrackbarPos("Pitch Kp", "PID Tuning", static_cast<int>(pitch_pid.getKp() * 100));
cv::setTrackbarPos("Pitch Ki", "PID Tuning", static_cast<int>(pitch_pid.getKi() * 1000));
cv::setTrackbarPos("Pitch Kd", "PID Tuning", static_cast<int>(pitch_pid.getKd() * 100));
cv::setTrackbarPos("Yaw Kp", "PID Tuning", static_cast<int>(yaw_pid.getKp() * 100));
cv::setTrackbarPos("Yaw Ki", "PID Tuning", static_cast<int>(yaw_pid.getKi() * 1000));
cv::setTrackbarPos("Yaw Kd", "PID Tuning", static_cast<int>(yaw_pid.getKd() * 100));
// Display windows // Display windows
cv::imshow("Armor Detection", frame); cv::imshow("Armor Detection", frame);
cv::imshow(target_color + " Mask", mask); cv::imshow(target_color + " Mask", mask);