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This commit is contained in:
JiatongSun
2019-04-28 13:08:32 +08:00
parent c2b4bdf4cd
commit 2dad2d864a
4 changed files with 13 additions and 13 deletions
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2
energy/src/energy/find/energy_finder.cpp
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@@ -19,7 +19,7 @@ int Energy::findFan(const cv::Mat &src, vector<EnergyPart> &fans, int &last_fans
std::vector<vector<Point> > fan_contours; std::vector<vector<Point> > fan_contours;
StructingElementClose(src_bin); 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); findContours(src_bin, fan_contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE);

12
energy/src/energy/run.cpp
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@@ -12,14 +12,14 @@ extern float curr_yaw, curr_pitch, mark_yaw, mark_pitch;
extern int mark; extern int mark;
int Energy::run(cv::Mat &src){ int Energy::run(cv::Mat &src){
imshow("src",src); // imshow("src",src);
fans.clear(); fans.clear();
armors.clear(); armors.clear();
fanPosition.clear(); fanPosition.clear();
armorPosition.clear(); armorPosition.clear();
gimble_zero_points.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(all_armor_centers.size()>200)all_armor_centers.clear();
// if(first_armor_centers.size()>200)first_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; cout<<"all_armor_centers.size(): "<<all_armor_centers.size()<<endl;
cycleLeastFit(); cycleLeastFit();
cycle_center = cv::Point(321,319); cycle_center = cv::Point(214,305);
radius = 109.178; radius = 114.695;
attack_distance = ATTACK_DISTANCE * 123.323 / radius; attack_distance = ATTACK_DISTANCE * 123.323 / radius;
getFanPosition(fanPosition, fans, cycle_center, 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; cout<<"The target armor center is: "<<target_center<<endl;
getHitPoint(); getHitPoint();
// hit_point = target_center; hit_point = target_center;
cout << "The hit point position is " << hit_point << endl; cout << "The hit point position is " << hit_point << endl;
// hit_point = cycle_center; // hit_point = cycle_center;
if(!isSendTarget)return 0; // if(!isSendTarget)return 0;
gimbleRotation(); gimbleRotation();

2
main.cpp
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@@ -119,7 +119,7 @@ void uartReceive(Uart* uart){
} }
memcpy(&curr_yaw, buffer, 4); memcpy(&curr_yaw, buffer, 4);
memcpy(&curr_pitch, buffer+4, 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(buffer[9] == 1){
if(mark == 0){ if(mark == 0){
mark = 1; mark = 1;

10
others/src/camera/camera_wrapper.cpp
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@@ -97,12 +97,14 @@ bool CameraWrapper::init() {
CameraSetAnalogGain(h_camera, 63); CameraSetAnalogGain(h_camera, 63);
// 使用预设LUT表 // 使用预设LUT表
CameraSetLutMode(h_camera, LUTMODE_PRESET); CameraSetLutMode(h_camera, LUTMODE_PRESET);
// 抗频闪
// CameraSetAntiFlick(h_camera, true);
} }
else if(mode == 1){ else if(mode == 1){
// 使用自动曝光 // 使用自动曝光
CameraSetAeState(h_camera, true); CameraSetAeState(h_camera, true);
// 抗频闪 // 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 /*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） 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) { if (tCapability.sIspCapacity.bMonoSensor) {
channel = 1; channel = 1;
CameraSetIspOutFormat(h_camera, CAMERA_MEDIA_TYPE_MONO8); CameraSetIspOutFormat(h_camera, CAMERA_MEDIA_TYPE_MONO8);
@@ -135,7 +134,8 @@ bool CameraWrapper::init() {
bool CameraWrapper::read(cv::Mat& src) { 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 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);
} }