From ffd5d748567549ad7a3c76a7233d86144ca73336 Mon Sep 17 00:00:00 2001 From: sun Date: Sun, 28 Jul 2019 19:02:24 +0800 Subject: [PATCH 1/7] energy changed --- energy/src/energy/mark/mark.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/energy/src/energy/mark/mark.cpp b/energy/src/energy/mark/mark.cpp index 2711b92..0168f5f 100644 --- a/energy/src/energy/mark/mark.cpp +++ b/energy/src/energy/mark/mark.cpp @@ -15,7 +15,8 @@ void Energy::writeDownSlightChange(cv::Mat &src) { if (findFans(src) >= 4) { FILE *fp_delta = fopen(PROJECT_DIR"/Mark/delta.txt", "w"); if (fp_delta) { - fprintf(fp_delta, "delta_x: %d, delta_y: %d\n", mcuData.delta_x, mcuData.delta_y); + fprintf(fp_delta, "delta_x: %d, delta_y: %d\n", mcuData.delta_x + manual_delta_x, + mcuData.delta_y + manual_delta_y); fclose(fp_delta); } } From 00351599b1f2a0e9e8adcc9106761acc17a9fc04 Mon Sep 17 00:00:00 2001 From: sun Date: Mon, 29 Jul 2019 19:17:53 +0800 Subject: [PATCH 2/7] energy changed --- energy/include/energy/energy.h | 2 +- energy/src/energy/clear/energy_init.cpp | 3 ++- energy/src/energy/get/aim_point_get.cpp | 28 ++++++++++++++++++++++--- 3 files changed, 28 insertions(+), 5 deletions(-) diff --git a/energy/include/energy/energy.h b/energy/include/energy/energy.h index ea5d92c..197b74c 100644 --- a/energy/include/energy/energy.h +++ b/energy/include/energy/energy.h @@ -73,7 +73,7 @@ private: int anticlockwise_rotation_init_cnt;//装甲板逆时针旋转次数 int last_mode;//上一帧的能量机关状态 int manual_delta_x, manual_delta_y;//手动微调量 - int extra_delta_y;//在风车运动到最高点附近的额外补偿量 + int extra_delta_x, extra_delta_y;//在风车运动到最高点附近的额外补偿量 float target_polar_angle;//待击打装甲板的极坐标角度 float last_target_polar_angle;//上一帧待击打装甲板的极坐标角度 diff --git a/energy/src/energy/clear/energy_init.cpp b/energy/src/energy/clear/energy_init.cpp index 41123ce..2123b82 100644 --- a/energy/src/energy/clear/energy_init.cpp +++ b/energy/src/energy/clear/energy_init.cpp @@ -39,6 +39,7 @@ void Energy::initEnergy() { manual_delta_x = 0; manual_delta_y = 0; extra_delta_y = 0; + extra_delta_x = 0; target_polar_angle = -1000; last_target_polar_angle = -1000; @@ -76,7 +77,7 @@ void Energy::initEnergy() { // 此函数对能量机关参数进行初始化 // --------------------------------------------------------------------------------------------------------------------- void Energy::initEnergyPartParam() { - gimbal_energy_part_param_.GRAY_THRESH = 90;//home + gimbal_energy_part_param_.GRAY_THRESH = 120;//home // gimbal_energy_part_param_.GRAY_THRESH = 200;//official // gimbal_energy_part_param_.GRAY_THRESH = 225; gimbal_energy_part_param_.SPLIT_GRAY_THRESH = 230; diff --git a/energy/src/energy/get/aim_point_get.cpp b/energy/src/energy/get/aim_point_get.cpp index 8d7c6d2..d53d1f5 100644 --- a/energy/src/energy/get/aim_point_get.cpp +++ b/energy/src/energy/get/aim_point_get.cpp @@ -17,10 +17,32 @@ extern mcu_data mcuData; void Energy::getAimPoint(cv::Point target_point_) { float target_polar_angle_ = static_cast(180 / PI * atan2(-1 * (target_point_.y - circle_center_point.y), (target_point_.x - circle_center_point.x))); - if (target_polar_angle_ > 50 && target_polar_angle_ < 130)extra_delta_y = -16; - else extra_delta_y = 0; + if (target_polar_angle_ > 40 && target_polar_angle_ < 140){ + extra_delta_x = 0; + extra_delta_y = -14; + } + else if (target_polar_angle_ > 30 && target_polar_angle_ <= 40){ + extra_delta_x = 8; + extra_delta_y = -8; + } + else if (target_polar_angle_ >= 140 && target_polar_angle_ < 150){ + extra_delta_x = -8; + extra_delta_y = -8; + } + else { + extra_delta_x = 0; + extra_delta_y = 0; + } - double dx = -(target_point_.x - 320 - COMPENSATE_YAW - mcuData.delta_x - manual_delta_x); +// if (target_polar_angle_ > 20 && target_polar_angle_ <= 90) { +// extra_delta_y = -17 * (target_polar_angle_ - 20) / 70; +// } else if (target_polar_angle_ > 90 && target_polar_angle_ < 160) { +// extra_delta_y = -17 * (160 - target_polar_angle_) / 70; +// } else { +// extra_delta_y = 0; +// } + + double dx = -(target_point_.x - 320 - COMPENSATE_YAW - mcuData.delta_x - manual_delta_x - extra_delta_x); double dy = -(target_point_.y - 240 - COMPENSATE_PITCH - mcuData.delta_y - manual_delta_y - extra_delta_y); yaw_rotation = atan(dx / FOCUS_PIXAL) * 180 / PI; pitch_rotation = atan(dy / FOCUS_PIXAL) * 180 / PI; From 0522009d2ddbbe4aa45fe54bf907cc1d01f4fbd0 Mon Sep 17 00:00:00 2001 From: sun Date: Mon, 29 Jul 2019 22:48:01 +0800 Subject: [PATCH 3/7] energy changed --- energy/include/energy/energy.h | 1 + energy/src/energy/clear/energy_init.cpp | 2 +- energy/src/energy/get/aim_point_get.cpp | 47 +++++++++++++------------ energy/src/energy/get/origin_get.cpp | 17 ++++++++- energy/src/energy/run.cpp | 10 ++++++ others/include/config/setconfig.h | 6 ++++ 6 files changed, 59 insertions(+), 24 deletions(-) diff --git a/energy/include/energy/energy.h b/energy/include/energy/energy.h index 197b74c..a26afc6 100644 --- a/energy/include/energy/energy.h +++ b/energy/include/energy/energy.h @@ -163,6 +163,7 @@ private: bool guessTarget();//获得猜测击打点位 bool getOrigin();//获得云台对心所需角度 void changeTarget();//判断目标是否改变 + void getCenter();//对心 void multipleMode(cv::Mat &src);//多模式切换 void getTargetPolarAngle();//获得目标装甲板极坐标角度 void getPredictPoint(cv::Point target_point);//获取预测点位 diff --git a/energy/src/energy/clear/energy_init.cpp b/energy/src/energy/clear/energy_init.cpp index 2123b82..b785a87 100644 --- a/energy/src/energy/clear/energy_init.cpp +++ b/energy/src/energy/clear/energy_init.cpp @@ -45,7 +45,7 @@ void Energy::initEnergy() { last_target_polar_angle = -1000; guess_polar_angle = -1000; last_base_angle = -1000; - predict_rad = 25; + predict_rad = 27; attack_distance = ATTACK_DISTANCE; center_delta_yaw = 1000; center_delta_pitch = 1000; diff --git a/energy/src/energy/get/aim_point_get.cpp b/energy/src/energy/get/aim_point_get.cpp index d53d1f5..543f2d0 100644 --- a/energy/src/energy/get/aim_point_get.cpp +++ b/energy/src/energy/get/aim_point_get.cpp @@ -17,31 +17,34 @@ extern mcu_data mcuData; void Energy::getAimPoint(cv::Point target_point_) { float target_polar_angle_ = static_cast(180 / PI * atan2(-1 * (target_point_.y - circle_center_point.y), (target_point_.x - circle_center_point.x))); - if (target_polar_angle_ > 40 && target_polar_angle_ < 140){ - extra_delta_x = 0; - extra_delta_y = -14; - } - else if (target_polar_angle_ > 30 && target_polar_angle_ <= 40){ - extra_delta_x = 8; - extra_delta_y = -8; - } - else if (target_polar_angle_ >= 140 && target_polar_angle_ < 150){ - extra_delta_x = -8; - extra_delta_y = -8; - } - else { - extra_delta_x = 0; - extra_delta_y = 0; - } - -// if (target_polar_angle_ > 20 && target_polar_angle_ <= 90) { -// extra_delta_y = -17 * (target_polar_angle_ - 20) / 70; -// } else if (target_polar_angle_ > 90 && target_polar_angle_ < 160) { -// extra_delta_y = -17 * (160 - target_polar_angle_) / 70; -// } else { +// if (target_polar_angle_ > 40 && target_polar_angle_ < 140){ +// extra_delta_x = 0; +// extra_delta_y = -10; +// } +// else if (target_polar_angle_ > 30 && target_polar_angle_ <= 40){ +// extra_delta_x = 8; +// extra_delta_y = -8; +// } +// else if (target_polar_angle_ >= 140 && target_polar_angle_ < 150){ +// extra_delta_x = -8; +// extra_delta_y = -8; +// } +// else { +// extra_delta_x = 0; // extra_delta_y = 0; // } + if (target_polar_angle_ > 0 && target_polar_angle_ <= 90) { +// extra_delta_x = EXTRA_DELTA_X * (90 - target_polar_angle_) / 90; + extra_delta_y = - EXTRA_DELTA_Y * target_polar_angle_ / 90; + } else if (target_polar_angle_ > 90 && target_polar_angle_ < 180) { +// extra_delta_x = - EXTRA_DELTA_X * (target_polar_angle_ - 90) / 90; + extra_delta_y = - EXTRA_DELTA_Y * (180 - target_polar_angle_) / 90; + } else { +// extra_delta_x = 0; + extra_delta_y = 0; + } + double dx = -(target_point_.x - 320 - COMPENSATE_YAW - mcuData.delta_x - manual_delta_x - extra_delta_x); double dy = -(target_point_.y - 240 - COMPENSATE_PITCH - mcuData.delta_y - manual_delta_y - extra_delta_y); yaw_rotation = atan(dx / FOCUS_PIXAL) * 180 / PI; diff --git a/energy/src/energy/get/origin_get.cpp b/energy/src/energy/get/origin_get.cpp index 54dd3b9..8359a1d 100644 --- a/energy/src/energy/get/origin_get.cpp +++ b/energy/src/energy/get/origin_get.cpp @@ -10,12 +10,27 @@ using namespace std; using namespace cv; + +//---------------------------------------------------------------------------------------------------------------------- +// 此函数用于对心 +// --------------------------------------------------------------------------------------------------------------------- +void Energy::getCenter(){ + double dx = -(circle_center_point.x - 320 - COMPENSATE_YAW); + double dy = -(circle_center_point.y - 240 - COMPENSATE_PITCH); + yaw_rotation = atan(dx / FOCUS_PIXAL) * 180 / PI; + pitch_rotation = atan(dy / FOCUS_PIXAL) * 180 / PI; + if (abs(yaw_rotation) < 0.5 && abs(pitch_rotation) < 0.5) { + shoot = 4; + } else + shoot = 2; +} + + //---------------------------------------------------------------------------------------------------------------------- // 此函数用于获得云台对心得到的初始yaw和pitch（即以该yaw和pitch发射子弹，可以击中风车中心） // --------------------------------------------------------------------------------------------------------------------- bool Energy::getOrigin() { if (!auto_mark && !manual_mark) { -//五号车 double dx = -(circle_center_point.x - 320 - COMPENSATE_YAW); double dy = -(circle_center_point.y - 240 - COMPENSATE_PITCH); center_delta_yaw = static_cast(atan(dx / FOCUS_PIXAL) * 180 / PI); diff --git a/energy/src/energy/run.cpp b/energy/src/energy/run.cpp index baeed89..549d29b 100644 --- a/energy/src/energy/run.cpp +++ b/energy/src/energy/run.cpp @@ -3,6 +3,7 @@ // #include "energy/energy.h" #include "log.h" +#include "config/setconfig.h" #include "options/options.h" #include @@ -85,6 +86,11 @@ void Energy::runBig(cv::Mat &gimbal_src) { if (show_energy)showFlowStripFan("strip", gimbal_src); if (!findCenterR(gimbal_src))return; if (show_energy)showCenterR("R", gimbal_src); + +// getCenter(); +// sendEnergy(); +// return; + changeTarget(); getTargetPolarAngle(); if (energy_rotation_init) { @@ -114,6 +120,10 @@ void Energy::runSmall(cv::Mat &gimbal_src) { if (!findTargetInFlowStripFan()) return; if (!findFlowStrip(gimbal_src))return; +// getCenter(); +// sendEnergy(); +// return; + changeTarget(); if (save_mark)writeDownSlightChange(gimbal_src); getPredictPoint(target_point); diff --git a/others/include/config/setconfig.h b/others/include/config/setconfig.h index 7399504..e23db56 100644 --- a/others/include/config/setconfig.h +++ b/others/include/config/setconfig.h @@ -43,6 +43,12 @@ #ifndef COMPENSATE_PITCH #define COMPENSATE_PITCH (74) #endif +#ifndef EXTRA_DELTA_X + #define EXTRA_DELTA_X (10) +#endif +#ifndef EXTRA_DELTA_Y + #define EXTRA_DELTA_Y (10) +#endif //#define GIMBAL_FLIP_MODE (-1) //#define CHASSIS_FLIP_MODE (-1) From 49240ec1bf9b36d9937a54ed9d167fc745579a5d Mon Sep 17 00:00:00 2001 From: sun Date: Tue, 30 Jul 2019 03:12:40 +0800 Subject: [PATCH 4/7] energy changed --- energy/src/energy/clear/energy_init.cpp | 4 ++-- energy/src/energy/find/energy_finder.cpp | 2 +- energy/src/energy/get/aim_point_get.cpp | 22 +++------------------- 3 files changed, 6 insertions(+), 22 deletions(-) diff --git a/energy/src/energy/clear/energy_init.cpp b/energy/src/energy/clear/energy_init.cpp index b785a87..0fd81e8 100644 --- a/energy/src/energy/clear/energy_init.cpp +++ b/energy/src/energy/clear/energy_init.cpp @@ -109,9 +109,9 @@ void Energy::initEnergyPartParam() { gimbal_energy_part_param_.CENTER_R_CONTOUR_AREA_MAX = 100000; gimbal_energy_part_param_.CENTER_R_CONTOUR_AREA_MIN = 0; - gimbal_energy_part_param_.CENTER_R_CONTOUR_LENGTH_MIN = 5; + gimbal_energy_part_param_.CENTER_R_CONTOUR_LENGTH_MIN = 8; gimbal_energy_part_param_.CENTER_R_CONTOUR_LENGTH_MAX = 45; - gimbal_energy_part_param_.CENTER_R_CONTOUR_WIDTH_MIN = 5; + gimbal_energy_part_param_.CENTER_R_CONTOUR_WIDTH_MIN = 8; gimbal_energy_part_param_.CENTER_R_CONTOUR_WIDTH_MAX = 45; gimbal_energy_part_param_.CENTER_R_CONTOUR_HW_RATIO_MAX = 3; gimbal_energy_part_param_.CENTER_R_CONTOUR_HW_RATIO_MIN = 1; diff --git a/energy/src/energy/find/energy_finder.cpp b/energy/src/energy/find/energy_finder.cpp index 8c96e9d..0e398a9 100644 --- a/energy/src/energy/find/energy_finder.cpp +++ b/energy/src/energy/find/energy_finder.cpp @@ -134,7 +134,7 @@ bool Energy::findCenterR(const cv::Mat src) { circle_center_point = centerR.center; circle_center_point.y += target_length / 7.5;//实际最小二乘得到的中心在R的下方 - RotatedRect cur_rect = minAreaRect(center_R_contour); +// RotatedRect cur_rect = minAreaRect(center_R_contour); // Size2f cur_size = cur_rect.size; // float length = cur_size.height > cur_size.width ? cur_size.height : cur_size.width; // float width = cur_size.height < cur_size.width ? cur_size.height : cur_size.width; diff --git a/energy/src/energy/get/aim_point_get.cpp b/energy/src/energy/get/aim_point_get.cpp index 543f2d0..7199112 100644 --- a/energy/src/energy/get/aim_point_get.cpp +++ b/energy/src/energy/get/aim_point_get.cpp @@ -17,31 +17,15 @@ extern mcu_data mcuData; void Energy::getAimPoint(cv::Point target_point_) { float target_polar_angle_ = static_cast(180 / PI * atan2(-1 * (target_point_.y - circle_center_point.y), (target_point_.x - circle_center_point.x))); -// if (target_polar_angle_ > 40 && target_polar_angle_ < 140){ -// extra_delta_x = 0; -// extra_delta_y = -10; -// } -// else if (target_polar_angle_ > 30 && target_polar_angle_ <= 40){ -// extra_delta_x = 8; -// extra_delta_y = -8; -// } -// else if (target_polar_angle_ >= 140 && target_polar_angle_ < 150){ -// extra_delta_x = -8; -// extra_delta_y = -8; -// } -// else { -// extra_delta_x = 0; -// extra_delta_y = 0; -// } if (target_polar_angle_ > 0 && target_polar_angle_ <= 90) { -// extra_delta_x = EXTRA_DELTA_X * (90 - target_polar_angle_) / 90; + extra_delta_x = EXTRA_DELTA_X * (90 - target_polar_angle_) / 90; extra_delta_y = - EXTRA_DELTA_Y * target_polar_angle_ / 90; } else if (target_polar_angle_ > 90 && target_polar_angle_ < 180) { -// extra_delta_x = - EXTRA_DELTA_X * (target_polar_angle_ - 90) / 90; + extra_delta_x = - EXTRA_DELTA_X * (target_polar_angle_ - 90) / 90; extra_delta_y = - EXTRA_DELTA_Y * (180 - target_polar_angle_) / 90; } else { -// extra_delta_x = 0; + extra_delta_x = 0; extra_delta_y = 0; } From b253c4728368ab9bfa89a7e84dc59217b4bb66e0 Mon Sep 17 00:00:00 2001 From: sun Date: Tue, 30 Jul 2019 05:29:18 +0800 Subject: [PATCH 5/7] energy changed --- energy/src/energy/find/energy_finder.cpp | 29 ++++++++++++++++++------ energy/src/energy/show/show.cpp | 1 + 2 files changed, 23 insertions(+), 7 deletions(-) diff --git a/energy/src/energy/find/energy_finder.cpp b/energy/src/energy/find/energy_finder.cpp index 0e398a9..eea8240 100644 --- a/energy/src/energy/find/energy_finder.cpp +++ b/energy/src/energy/find/energy_finder.cpp @@ -14,7 +14,10 @@ using std::vector; // 此函数用于寻找图像内所有的大风车扇叶 // --------------------------------------------------------------------------------------------------------------------- int Energy::findFans(const cv::Mat src) { - if (src.empty())return 0; + if (src.empty()){ + cout << "empty!" << endl; + return 0; + } static Mat src_bin; src_bin = src.clone(); if (src.type() == CV_8UC3) { @@ -59,7 +62,10 @@ int Energy::findFans(const cv::Mat src) { // 此函数用于寻找图像内所有的大风车装甲板模块 // --------------------------------------------------------------------------------------------------------------------- int Energy::findArmors(const cv::Mat src) { - if (src.empty())return 0; + if (src.empty()){ + cout << "empty!" << endl; + return 0; + } static Mat src_bin; src_bin = src.clone(); if (src.type() == CV_8UC3) { @@ -114,7 +120,10 @@ int Energy::findArmors(const cv::Mat src) { // 此函数用于寻找图像内大风车中心字母“R” // --------------------------------------------------------------------------------------------------------------------- bool Energy::findCenterR(const cv::Mat src) { - if (src.empty())return false; + if (src.empty()){ + cout << "empty!" << endl; + return false; + } static Mat src_bin; src_bin = src.clone(); if (src.type() == CV_8UC3) { @@ -163,7 +172,10 @@ bool Energy::findCenterR(const cv::Mat src) { // 此函数用于判断找到的矩形候选区是否为含流动条的扇叶 // --------------------------------------------------------------------------------------------------------------------- bool Energy::findFlowStripFan(const cv::Mat src) { - if (src.empty())return false; + if (src.empty()){ + cout << "empty!" << endl; + return false; + } static Mat src_bin; static Mat src_copy; src_bin = src.clone(); @@ -201,9 +213,8 @@ bool Energy::findFlowStripFan(const cv::Mat src) { if (flow_strip_fans.empty()) { if (show_info)cout << "flow strip fan false!" << endl; return false; - } else { - return true; } + return true; } @@ -211,7 +222,10 @@ bool Energy::findFlowStripFan(const cv::Mat src) { // 此函数用于寻找流动条 // --------------------------------------------------------------------------------------------------------------------- bool Energy::findFlowStrip(const cv::Mat src) { - if (src.empty())return false; + if (src.empty()) { + cout << "empty!" << endl; + return false; + } cv::Mat src_bin; src_bin = src.clone(); @@ -296,6 +310,7 @@ bool Energy::findFlowStrip(const cv::Mat src) { } } } + return true; } diff --git a/energy/src/energy/show/show.cpp b/energy/src/energy/show/show.cpp index 0455ffa..cced0c0 100644 --- a/energy/src/energy/show/show.cpp +++ b/energy/src/energy/show/show.cpp @@ -165,6 +165,7 @@ void Energy::showFlowStripFan(std::string windows_name, const cv::Mat src) { center_ROI.points(ROI_vertices); //计算矩形的4个顶点 for (int i = 0; i < 4; i++) line(image2show, ROI_vertices[i], ROI_vertices[(i + 1) % 4], Scalar(0, 0, 255), 2); + cout<<"show strip!"< Date: Tue, 30 Jul 2019 05:30:05 +0800 Subject: [PATCH 6/7] energy changed --- energy/src/energy/find/energy_finder.cpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/energy/src/energy/find/energy_finder.cpp b/energy/src/energy/find/energy_finder.cpp index eea8240..e7e5e78 100644 --- a/energy/src/energy/find/energy_finder.cpp +++ b/energy/src/energy/find/energy_finder.cpp @@ -15,7 +15,7 @@ using std::vector; // --------------------------------------------------------------------------------------------------------------------- int Energy::findFans(const cv::Mat src) { if (src.empty()){ - cout << "empty!" << endl; + if (show_info) cout << "empty!" << endl; return 0; } static Mat src_bin; @@ -63,7 +63,7 @@ int Energy::findFans(const cv::Mat src) { // --------------------------------------------------------------------------------------------------------------------- int Energy::findArmors(const cv::Mat src) { if (src.empty()){ - cout << "empty!" << endl; + if (show_info) cout << "empty!" << endl; return 0; } static Mat src_bin; @@ -121,7 +121,7 @@ int Energy::findArmors(const cv::Mat src) { // --------------------------------------------------------------------------------------------------------------------- bool Energy::findCenterR(const cv::Mat src) { if (src.empty()){ - cout << "empty!" << endl; + if (show_info) cout << "empty!" << endl; return false; } static Mat src_bin; @@ -173,7 +173,7 @@ bool Energy::findCenterR(const cv::Mat src) { // --------------------------------------------------------------------------------------------------------------------- bool Energy::findFlowStripFan(const cv::Mat src) { if (src.empty()){ - cout << "empty!" << endl; + if (show_info) cout << "empty!" << endl; return false; } static Mat src_bin; @@ -223,7 +223,7 @@ bool Energy::findFlowStripFan(const cv::Mat src) { // --------------------------------------------------------------------------------------------------------------------- bool Energy::findFlowStrip(const cv::Mat src) { if (src.empty()) { - cout << "empty!" << endl; + if (show_info) cout << "empty!" << endl; return false; } cv::Mat src_bin; From 62763cec60a750cb9776db441cc8e19c70d50970 Mon Sep 17 00:00:00 2001 From: xinyang Date: Tue, 30 Jul 2019 19:23:48 +0800 Subject: [PATCH 7/7] fix bug. --- energy/src/energy/clear/energy_init.cpp | 2 +- energy/src/energy/show/show.cpp | 1 - 2 files changed, 1 insertion(+), 2 deletions(-) diff --git a/energy/src/energy/clear/energy_init.cpp b/energy/src/energy/clear/energy_init.cpp index 0fd81e8..1d11c6c 100644 --- a/energy/src/energy/clear/energy_init.cpp +++ b/energy/src/energy/clear/energy_init.cpp @@ -45,7 +45,7 @@ void Energy::initEnergy() { last_target_polar_angle = -1000; guess_polar_angle = -1000; last_base_angle = -1000; - predict_rad = 27; + predict_rad = 25; attack_distance = ATTACK_DISTANCE; center_delta_yaw = 1000; center_delta_pitch = 1000; diff --git a/energy/src/energy/show/show.cpp b/energy/src/energy/show/show.cpp index cced0c0..0455ffa 100644 --- a/energy/src/energy/show/show.cpp +++ b/energy/src/energy/show/show.cpp @@ -165,7 +165,6 @@ void Energy::showFlowStripFan(std::string windows_name, const cv::Mat src) { center_ROI.points(ROI_vertices); //计算矩形的4个顶点 for (int i = 0; i < 4; i++) line(image2show, ROI_vertices[i], ROI_vertices[(i + 1) % 4], Scalar(0, 0, 255), 2); - cout<<"show strip!"<