VSAG/amadeus_26_fb
3
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Merge remote-tracking branch 'origin/master'

Browse Source 
# Conflicts:
#	others/src/additions/additions.cpp
This commit is contained in:
xinyang
2019-07-16 12:16:12 +08:00
parent 89344d1cd5 96c5936fd9
commit 298c4c9114
6 changed files with 28 additions and 21 deletions
Download Patch File Download Diff File Expand all files Collapse all files

19
energy/src/energy/clear/energy_init.cpp
View File

@@ -69,8 +69,8 @@ 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 = 80;
gimbal_energy_part_param_.GRAY_THRESH = 225;
gimbal_energy_part_param_.GRAY_THRESH = 120;
// gimbal_energy_part_param_.GRAY_THRESH = 225;
gimbal_energy_part_param_.SPLIT_GRAY_THRESH = 230;
gimbal_energy_part_param_.FAN_GRAY_THRESH = 75;
gimbal_energy_part_param_.ARMOR_GRAY_THRESH = 80;
@@ -141,8 +141,8 @@ void Energy::initEnergyPartParam() {
// chassis_energy_part_param_.GRAY_THRESH = 80;
chassis_energy_part_param_.GRAY_THRESH = 225;
chassis_energy_part_param_.GRAY_THRESH = 120;
// chassis_energy_part_param_.GRAY_THRESH = 225;
chassis_energy_part_param_.SPLIT_GRAY_THRESH = 230;
chassis_energy_part_param_.FAN_GRAY_THRESH = 75;
chassis_energy_part_param_.ARMOR_GRAY_THRESH = 80;
@@ -199,12 +199,13 @@ void Energy::initEnergyPartParam() {
chassis_energy_part_param_.FLOW_STRIP_CONTOUR_AREA_MAX = 100000;
chassis_energy_part_param_.FLOW_STRIP_CONTOUR_AREA_MIN = 0;
chassis_energy_part_param_.FLOW_STRIP_CONTOUR_LENGTH_MIN = 50;
chassis_energy_part_param_.FLOW_STRIP_CONTOUR_LENGTH_MAX = 90;
chassis_energy_part_param_.FLOW_STRIP_CONTOUR_WIDTH_MIN = 3;
chassis_energy_part_param_.FLOW_STRIP_CONTOUR_WIDTH_MAX = 20;
chassis_energy_part_param_.FLOW_STRIP_CONTOUR_LENGTH_MIN = 55;
chassis_energy_part_param_.FLOW_STRIP_CONTOUR_LENGTH_MAX = 95;
chassis_energy_part_param_.FLOW_STRIP_CONTOUR_WIDTH_MIN = 13;
chassis_energy_part_param_.FLOW_STRIP_CONTOUR_WIDTH_MAX = 35;
chassis_energy_part_param_.FLOW_STRIP_CONTOUR_HW_RATIO_MAX = 12;
chassis_energy_part_param_.FLOW_STRIP_CONTOUR_HW_RATIO_MIN = 4;
// chassis_energy_part_param_.FLOW_STRIP_CONTOUR_HW_RATIO_MIN = 4;
chassis_energy_part_param_.FLOW_STRIP_CONTOUR_HW_RATIO_MIN = 2.7;
chassis_energy_part_param_.FLOW_STRIP_CONTOUR_AREA_RATIO_MIN = 0.5;
chassis_energy_part_param_.FLOW_STRIP_CONTOUR_INTERSETION_AREA_MIN = 300;

10
energy/src/energy/find/energy_finder.cpp
View File

@@ -68,7 +68,7 @@ int Energy::findArmors(const cv::Mat src) {
std::vector<vector<Point> > armor_contours_external;//用总轮廓减去外轮廓，只保留内轮廓，除去流动条的影响。
ArmorStruct(src_bin);//图像膨胀，防止图像断开并更方便寻找
imshow("armor struct", src_bin);
// imshow("armor struct", src_bin);
findContours(src_bin, armor_contours, CV_RETR_LIST, CV_CHAIN_APPROX_NONE);
// findContours(src_bin, armor_contours_external, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE);
@@ -171,7 +171,7 @@ bool Energy::findFlowStripFan(const cv::Mat src) {
}
std::vector<vector<Point> > flow_strip_fan_contours;
FlowStripFanStruct(src_bin);//图像膨胀，防止图像断开并更方便寻找
imshow("flow strip fan struct", src_bin);
// imshow("flow strip fan struct", src_bin);
findContours(src_bin, flow_strip_fan_contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE);
@@ -214,7 +214,7 @@ bool Energy::findFlowStrip(const cv::Mat src) {
cvtColor(src_bin, src_bin, CV_BGR2GRAY);//若读取三通道视频文件，需转换为单通道
}
FlowStripStruct(src_bin);//图像膨胀，防止图像断开并更方便寻找
// imshow("flow strip struct", src_bin);
imshow("flow strip struct", src_bin);
std::vector<vector<Point> > flow_strip_contours;
findContours(src_bin, flow_strip_contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE);
@@ -228,10 +228,10 @@ bool Energy::findFlowStrip(const cv::Mat src) {
// 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;
// if (length > 20 && width > 5) {
// if (length / width > 2 && width > 5) {
// cout << cur_rect.center << endl;
// flow_strip = cv::minAreaRect(flow_strip_contour);
// cout << "flow strip fan area: " << length << '\t' << width << endl;
// cout << "flow strip area: " << length << '\t' << width << endl;
// }
return true;
}

6
energy/src/energy/get/aim_point_get.cpp
View File

@@ -11,9 +11,9 @@ using namespace cv;
//----------------------------------------------------------------------------------------------------------------------
// 此函数通过自瞄逻辑击打目标点，用于大符的自动对心和小符直接打击
// ---------------------------------------------------------------------------------------------------------------------
void Energy::getAimPoint(cv::Point target_point){
double dx = target_point.x - 320;
double dy = target_point.y - 240;
void Energy::getAimPoint(cv::Point target_point) {
double dx = -(target_point.x - 320 - 10);
double dy = -(target_point.y - 240 - 22);
yaw_rotation = atan(dx / FOCUS_PIXAL) * 180 / PI;
pitch_rotation = atan(dy / FOCUS_PIXAL) * 180 / PI;
}

2
energy/src/energy/run.cpp
View File

@@ -19,6 +19,8 @@ void Energy::run(cv::Mat &gimbal_src, cv::Mat &chassis_src) {
energy_part_param_ = gimbal_energy_part_param_;
clearAll();
initImage(gimbal_src);
// findFans(gimbal_src);
// showFans("fan",gimbal_src);
if (findArmors(gimbal_src) < 1)return;
if (show_energy)showArmors("armor", gimbal_src);

1
energy/src/energy/send/send.cpp
View File

@@ -17,6 +17,7 @@ void Energy::sendTarget(Serial& serial, float x, float y, float z){
uint8_t buff[8];
x_tmp = static_cast<short>(x * (32768 - 1) / 100);
y_tmp = static_cast<short>(y * (32768 - 1) / 100);
z_tmp = static_cast<short>(z * (32768 - 1) / 100);
buff[0] = 's';
buff[1] = static_cast<char>((x_tmp >> 8) & 0xFF);
buff[2] = static_cast<char>((x_tmp >> 0) & 0xFF);

9
main.cpp
View File

@@ -64,8 +64,8 @@ int main(int argc, char *argv[]) {
video_gimbal = new CameraWrapper(0/*, "armor"*/);
video_chassis = new CameraWrapper(1/*, "energy"*/);
} else {
video_gimbal = new VideoWrapper("/home/sun/项目/energy_video/大能量机关（蓝+开灯）.mov");
video_chassis = new VideoWrapper("/home/sun/项目/energy_video/大能量机关（蓝+开灯）.mov");
video_gimbal = new VideoWrapper("/home/sun/项目/energy_video/148.avi");
video_chassis = new VideoWrapper("/home/sun/项目/energy_video/148.avi");
}
if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully.");
@@ -94,6 +94,7 @@ int main(int argc, char *argv[]) {
CNT_TIME("Total", {
if (mcuData.state != ARMOR_STATE) {//能量机关模式
if (last_state == ARMOR_STATE) {//若上一帧是自瞄模式，即刚往完成切换，则需要初始化
destroyAllWindows();
((CameraWrapper *) video_gimbal)->changeBrightness(ENERGY_CAMERA_GAIN);
energy.setEnergyInit();
checkReconnect(video_chassis->read(chassis_src));
@@ -102,6 +103,7 @@ int main(int argc, char *argv[]) {
#endif
}
ok = checkReconnect(video_gimbal->read(gimbal_src));
video_gimbal->read(gimbal_src);
video_chassis->read(chassis_src);
#ifdef GIMBAL_FLIP_MODE
flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
@@ -114,6 +116,7 @@ int main(int argc, char *argv[]) {
last_state = mcuData.state;//更新上一帧状态
} else { // 自瞄模式
if (last_state != ARMOR_STATE) {
destroyAllWindows();
((CameraWrapper *) video_gimbal)->changeBrightness(ARMOR_CAMERA_GAIN);
}
last_state = mcuData.state;
@@ -128,7 +131,7 @@ int main(int argc, char *argv[]) {
armorFinder.run(gimbal_src);
});
}
// cv::waitKey(0);
cv::waitKey(1);
});
} while (ok);
delete video_gimbal;