格式修正

README.md

@@ -75,4 +75,7 @@ make -j$(nproc)
 1. 检查相机是否正确连接
 2. 确认MindVision相机驱动是否正确安装
 3. 验证相机ID是否正确
-4. 检查权限（可能需要将用户添加到video组）
+4. 检查权限（可能需要将用户添加到video组）
+
+## MindVision-SDK
+`Linux`: >**wget https://www.mindvision.com.cn/wp-content/uploads/2023/08/linuxSDK_V2.1.0.37.tar.gz**

src/MindVisionCamera.cpp

@@ -319,8 +319,8 @@ bool MindVisionCamera::set_resolution(int width, int height){
     res.iIndex = 0xFF;
     res.iWidth = width;
     res.iHeight = height;
-    res.iWidthFOV = res.iWidth;
+    res.iWidthFOV = capability.sResolutionRange.iWidthMax;
-    res.iHeightFOV = res.iHeight;
+    res.iHeightFOV =  capability.sResolutionRange.iHeightMax;
     res.iHOffsetFOV = 0;
     res.iVOffsetFOV = 0;
 
@@ -329,7 +329,7 @@ bool MindVisionCamera::set_resolution(int width, int height){
         this->width = width;
         this->height = height;
         image_resolution = res;
-        return false;
+        return true;
     }
     return false;
 }

src/MindVisionMain.cpp

@@ -1,3 +1,4 @@
+#include <cstdlib>  
 #include <iostream>
 #include <string>
 #include <vector>
@@ -29,8 +30,14 @@ void output_control_data(const cv::Point2f* ballistic_point,
         std::ostringstream send_str;
 
         // Calculate offset (based on actual image center)
-        int ballistic_offset_x = static_cast<int>(ballistic_point->x - img_center.x);
+        int ballistic_offset_x = -static_cast<int>(ballistic_point->x - img_center.x);
-        int ballistic_offset_y = static_cast<int>(img_center.y - ballistic_point->y);
+        if ( abs(ballistic_offset_x) > 320){
+            ballistic_offset_x = ( ballistic_offset_x / abs( ballistic_offset_x ) ) * 320 ;
+        }
+        int ballistic_offset_y = -static_cast<int>(img_center.y - ballistic_point->y);
+        if ( abs(ballistic_offset_y) > 180 ) {
+            ballistic_offset_y = ( ballistic_offset_x / abs( ballistic_offset_x ) ) * 180 ;
+        }
 
         // Color simplification mapping
         std::string simplified_color = target_color;
@@ -38,7 +45,7 @@ void output_control_data(const cv::Point2f* ballistic_point,
         else if (target_color == "blue") simplified_color = "b";
 
         // Construct send string
-        send_str << "s " << simplified_color << " " << std::to_string(ballistic_offset_x) << " " << std::to_string(ballistic_offset_y) << "\n";
+        send_str << "#s " << simplified_color << " " << std::to_string(ballistic_offset_x) << " " << std::to_string(ballistic_offset_y) << "*\n";
 
         // Send data
         if (ttl_communicator != nullptr) {
@@ -62,11 +69,20 @@ void set_camera_resolution(MindVisionCamera& camera, int width, int height) {
 }
 
 int main(int /*argc*/, char* /*argv*/[]) {
+    static int Numbe = 0;
     std::string target_color = "red";
     int cam_id = 0;
-    cv::Size default_resolution(640, 480);
+    cv::Size default_resolution(1280, 720);
     bool use_ttl = false; // Set to false to disable TTL communication
+    
 
+    if (Numbe == 0) {
+        // 执行 shell 命令（注意安全风险！）
+        std::system("sudo chmod 777 /dev/tty*");
+        Numbe++;
+    }
+
+    return 0;
     // Define optional resolution list (adjust based on camera support)
     std::vector<cv::Size> resolutions = {
         cv::Size(320, 240),   // Low resolution, high frame rate
@@ -129,6 +145,7 @@ int main(int /*argc*/, char* /*argv*/[]) {
     try {
         while (true) {
             // 使用新的颜色过滤方法同时获取图像和原始掩码
+        
             cv::Mat raw_mask;
             if (!camera.read_frame_with_color_filter(frame, raw_mask, target_color)) {
                 std::cout << "Cannot read from MindVision camera, exiting!，HERERER" << std::endl;