From 2dad2d864a058f8b59d183fec67220ce2b39f83f Mon Sep 17 00:00:00 2001
From: JiatongSun <SJT_sjtu1998@163.com>
Date: Sun, 28 Apr 2019 13:08:32 +0800
Subject: [PATCH] Auto Aim

---
 energy/src/energy/find/energy_finder.cpp |  2 +-
 energy/src/energy/run.cpp                | 12 ++++++------
 main.cpp                                 |  2 +-
 others/src/camera/camera_wrapper.cpp     | 10 +++++-----
 4 files changed, 13 insertions(+), 13 deletions(-)

diff --git a/energy/src/energy/find/energy_finder.cpp b/energy/src/energy/find/energy_finder.cpp
index efc04c3..6838955 100644
--- a/energy/src/energy/find/energy_finder.cpp
+++ b/energy/src/energy/find/energy_finder.cpp
@@ -19,7 +19,7 @@ int Energy::findFan(const cv::Mat &src, vector<EnergyPart> &fans, int &last_fans
 	std::vector<vector<Point> > fan_contours;
 
 	StructingElementClose(src_bin);
-	imshow("fan struct",src_bin);
+//	imshow("fan struct",src_bin);
 
 	findContours(src_bin, fan_contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE);
 
diff --git a/energy/src/energy/run.cpp b/energy/src/energy/run.cpp
index a88faf4..5eb2ff7 100644
--- a/energy/src/energy/run.cpp
+++ b/energy/src/energy/run.cpp
@@ -12,14 +12,14 @@ extern float curr_yaw, curr_pitch, mark_yaw, mark_pitch;
 extern int mark;
 
 int Energy::run(cv::Mat &src){
-    imshow("src",src);
+//    imshow("src",src);
     fans.clear();
     armors.clear();
     fanPosition.clear();
     armorPosition.clear();
     gimble_zero_points.clear();
 
-//    if(mark==0)return 0;
+    if(mark==0)return 0;
 
 //    if(all_armor_centers.size()>200)all_armor_centers.clear();
 //    if(first_armor_centers.size()>200)first_armor_centers.clear();
@@ -51,8 +51,8 @@ int Energy::run(cv::Mat &src){
     cout<<"all_armor_centers.size(): "<<all_armor_centers.size()<<endl;
     cycleLeastFit();
 
-    cycle_center = cv::Point(321,319);
-    radius = 109.178;
+    cycle_center = cv::Point(214,305);
+    radius = 114.695;
     attack_distance = ATTACK_DISTANCE * 123.323 / radius;
 
     getFanPosition(fanPosition, fans, cycle_center, radius);
@@ -62,11 +62,11 @@ int Energy::run(cv::Mat &src){
     cout<<"The target armor center is: "<<target_center<<endl;
 
     getHitPoint();
-//    hit_point = target_center;
+    hit_point = target_center;
     cout << "The hit point position is " << hit_point << endl;
 //    hit_point = cycle_center;
 
-    if(!isSendTarget)return 0;
+//    if(!isSendTarget)return 0;
 
 
     gimbleRotation();
diff --git a/main.cpp b/main.cpp
index 810725e..7ce5783 100644
--- a/main.cpp
+++ b/main.cpp
@@ -119,7 +119,7 @@ void uartReceive(Uart* uart){
             }
             memcpy(&curr_yaw, buffer, 4);
             memcpy(&curr_pitch, buffer+4, 4);
-            LOGM("Get yaw:%f pitch:%f", curr_yaw, curr_pitch);
+//            LOGM("Get yaw:%f pitch:%f", curr_yaw, curr_pitch);
             if(buffer[9] == 1){
                 if(mark == 0){
                     mark = 1;
diff --git a/others/src/camera/camera_wrapper.cpp b/others/src/camera/camera_wrapper.cpp
index b924c86..8bebcb2 100644
--- a/others/src/camera/camera_wrapper.cpp
+++ b/others/src/camera/camera_wrapper.cpp
@@ -97,12 +97,14 @@ bool CameraWrapper::init() {
         CameraSetAnalogGain(h_camera, 63);
         // 使用预设LUT表
         CameraSetLutMode(h_camera, LUTMODE_PRESET);
+        // 抗频闪
+//        CameraSetAntiFlick(h_camera, true);
     }
     else if(mode == 1){
         // 使用自动曝光
         CameraSetAeState(h_camera, true);
         // 抗频闪
-//        CameraSetAntiFlick(h_camera, true);
+        CameraSetAntiFlick(h_camera, true);
     }
 
     /*让SDK进入工作模式，开始接收来自相机发送的图像
@@ -117,9 +119,6 @@ bool CameraWrapper::init() {
          CameraGetFriendlyName    CameraSetFriendlyName 获取/设置相机名称（该名称可写入相机硬件）
     */
 
-    // 抗频闪
-//    CameraSetAntiFlick(h_camera, true);
-
     if (tCapability.sIspCapacity.bMonoSensor) {
         channel = 1;
         CameraSetIspOutFormat(h_camera, CAMERA_MEDIA_TYPE_MONO8);
@@ -135,7 +134,8 @@ bool CameraWrapper::init() {
 
 bool CameraWrapper::read(cv::Mat& src) {
 //    return readRaw(src);             //suit for using bayer hacking in armor_finder to replace process, fast and it can filter red and blue.
-    return readProcessed(src);   // processed color image, but this runs slowly, about half fps of previous one.
+    if(mode==0)return readProcessed(src);   // processed color image, but this runs slowly, about half fps of previous one.
+    if(mode==1)return readRaw(src);
 
 
 }