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反陀螺v1.1。

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This commit is contained in:
xinyang
2019-07-20 11:10:25 +08:00
parent ccb87882f3
commit 206026b5d9
13 changed files with 26844 additions and 26828 deletions
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2
armor/include/armor_finder/armor_finder.h
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@@ -123,7 +123,7 @@ private:
public: public:
void run(cv::Mat &src); // 自瞄主函数 void run(cv::Mat &src); // 自瞄主函数
bool sendBoxPosition(bool shoot); // 和主控板通讯 bool sendBoxPosition(uint8_t shoot, bool isTrack); // 和主控板通讯
}; };
#endif /* _ARMOR_FINDER_H_ */ #endif /* _ARMOR_FINDER_H_ */

33
armor/src/armor_finder/anti_top/anti_top.cpp
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@@ -13,31 +13,34 @@ void ArmorFinder::antiTop() {
static double top_periodms = 0; static double top_periodms = 0;
static double last_top_periodms = 0; static double last_top_periodms = 0;
timeval curr_time; timeval curr_time;
bool shoot = 0; uint8_t shoot = 0;
/*if(anti_top_state == ANTI_TOP){ /*if(anti_top_state == ANTI_TOP){
cout << "anti top" << endl; cout << "anti top" << endl;
}else if(anti_top_state == NORMAL){ }else if(anti_top_state == NORMAL){
cout << "Normal" << endl; cout << "Normal" << endl;
}*/ }*/
ArmorBox::BoxOrientation orientation = armor_box.getOrientation();
if(orientation == ArmorBox::UNKNOWN){
if(anti_top_state == NORMAL){
sendBoxPosition(shoot);
return;
}else{
return;
}
}
gettimeofday(&curr_time, nullptr); gettimeofday(&curr_time, nullptr);
auto interval = getTimeIntervalms(curr_time, last_front_time); auto interval = getTimeIntervalms(curr_time, last_front_time);
LOGM("interval:%.1lf", interval); LOGM("interval:%.1lf", interval);
if(anti_top_state == ANTI_TOP && (top_periodms+last_top_periodms)/2.0-130<interval&&interval<(top_periodms+last_top_periodms)/2.0-70){ if(anti_top_state == ANTI_TOP && (top_periodms+last_top_periodms)/2.0-120<interval&&interval<(top_periodms+last_top_periodms)/2.0-80){
shoot = 1; shoot = 1;
// LOGM(STR_CTR(WORD_RED,"Shoot!!!"));
}else if(interval > 700){ }else if(interval > 700){
anti_top_state = NORMAL; anti_top_state = NORMAL;
anti_top_cnt = 0; anti_top_cnt = 0;
} }
ArmorBox::BoxOrientation orientation = armor_box.getOrientation();
if(orientation == ArmorBox::UNKNOWN){
if(anti_top_state == NORMAL){
sendBoxPosition(shoot, true);
return;
}else{
sendBoxPosition(shoot, false);
return;
}
}
if(orientation != last_orient){ if(orientation != last_orient){
if(interval > 700){ if(interval > 700){
anti_top_cnt = 0; anti_top_cnt = 0;
@@ -64,10 +67,12 @@ void ArmorFinder::antiTop() {
if(anti_top_state == ANTI_TOP){ if(anti_top_state == ANTI_TOP){
if(orientation == ArmorBox::FRONT){ if(orientation == ArmorBox::FRONT){
sendBoxPosition(shoot); sendBoxPosition(shoot, true);
}else if(shoot){
sendBoxPosition(shoot, false);
} }
}else if(anti_top_state == NORMAL){ }else if(anti_top_state == NORMAL){
sendBoxPosition(shoot); sendBoxPosition(shoot, true);
} }

2
armor/src/armor_finder/armor_box/armor_box.cpp
View File

@@ -70,7 +70,7 @@ ArmorBox::BoxOrientation ArmorBox::getOrientation() const{
case B3: case B3:
case B4: case B4:
case B5: case B5:
if (lengthDistanceRatio() < 0.45) { if (lengthDistanceRatio() < 0.46) {
return FRONT; return FRONT;
}else{ }else{
return SIDE; return SIDE;

2
armor/src/armor_finder/find/find_light_blobs.cpp
View File

@@ -122,7 +122,7 @@ bool ArmorFinder::findLightBlobs(const cv::Mat &src, LightBlobs &light_blobs) {
color_channel = channels[0]; /* 根据目标颜色进行通道提取 */ color_channel = channels[0]; /* 根据目标颜色进行通道提取 */
else if (enemy_color == ENEMY_RED) /* */ else if (enemy_color == ENEMY_RED) /* */
color_channel = channels[2]; /************************/ color_channel = channels[2]; /************************/
cv::threshold(color_channel, src_bin, 170, 255, CV_THRESH_BINARY); // 二值化对应通道 cv::threshold(color_channel, src_bin, 140, 255, CV_THRESH_BINARY); // 二值化对应通道
imagePreProcess(src_bin); // 开闭运算 imagePreProcess(src_bin); // 开闭运算
if(src_bin.size() == cv::Size(640, 480) && show_light_blobs) if(src_bin.size() == cv::Size(640, 480) && show_light_blobs)

15
armor/src/armor_finder/send_target/send_target.cpp
View File

@@ -3,6 +3,7 @@
// //
#include <armor_finder/armor_finder.h> #include <armor_finder/armor_finder.h>
#include<log.h>
static bool sendTarget(Serial &serial, double x, double y, double z, uint8_t shoot) { static bool sendTarget(Serial &serial, double x, double y, double z, uint8_t shoot) {
static short x_tmp, y_tmp, z_tmp; static short x_tmp, y_tmp, z_tmp;
@@ -35,7 +36,7 @@ static bool sendTarget(Serial &serial, double x, double y, double z, uint8_t sho
return serial.WriteData(buff, sizeof(buff)); return serial.WriteData(buff, sizeof(buff));
} }
bool ArmorFinder::sendBoxPosition(bool shoot) { bool ArmorFinder::sendBoxPosition(uint8_t shoot, bool isTrack) {
if(armor_box.rect == cv::Rect2d()) return false; if(armor_box.rect == cv::Rect2d()) return false;
auto rect = armor_box.rect; auto rect = armor_box.rect;
double dx = rect.x + rect.width / 2 - 320; double dx = rect.x + rect.width / 2 - 320;
@@ -44,5 +45,15 @@ bool ArmorFinder::sendBoxPosition(bool shoot) {
double pitch = atan(dy / FOCUS_PIXAL) * 180 / PI; double pitch = atan(dy / FOCUS_PIXAL) * 180 / PI;
double dist = DISTANCE_HEIGHT / rect.height; double dist = DISTANCE_HEIGHT / rect.height;
// cout << yaw << endl; // cout << yaw << endl;
return sendTarget(serial, yaw, -pitch, dist, shoot); if(isTrack){
if(shoot){
LOGM(STR_CTR(WORD_RED,"Shoot!!!"));
}
return sendTarget(serial, yaw, -pitch, dist, shoot);
LOGM(STR_CTR(WORD_RED,"Shoot!!!"));
return sendTarget(serial, 0, -0, dist, 1);
}else if(shoot){
LOGM(STR_CTR(WORD_RED,"Shoot!!!"));
return sendTarget(serial, 0, 0, 4, 1);
}
} }

12
tools/para/conv1_b
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@@ -1,7 +1,7 @@
6 6
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2.3465085 1.7967451
0.00036684246 1.4466392
-0.15470123 -0.098023266
1.5563219 -0.006771178

900
tools/para/conv1_w
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@@ -2,453 +2,453 @@
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