From 39b32bf339fff88b31ef543ca5edb418f7b3e763 Mon Sep 17 00:00:00 2001
From: sun <SJT_sjtu1998@163.con>
Date: Fri, 19 Jul 2019 23:27:15 +0800
Subject: [PATCH] energy change

---
 energy/src/energy/calculate/circle_calculate.cpp |  1 +
 energy/src/energy/clear/clear.cpp                |  1 -
 energy/src/energy/get/aim_point_get.cpp          |  6 +++---
 energy/src/energy/run.cpp                        | 10 ++++++++--
 main.cpp                                         |  7 ++++---
 5 files changed, 16 insertions(+), 9 deletions(-)

diff --git a/energy/src/energy/calculate/circle_calculate.cpp b/energy/src/energy/calculate/circle_calculate.cpp
index 52688e6..2217a3f 100644
--- a/energy/src/energy/calculate/circle_calculate.cpp
+++ b/energy/src/energy/calculate/circle_calculate.cpp
@@ -61,3 +61,4 @@ void Energy::circleLeastFit()
 //    cout << "The cycle center is: " << cycle_center << endl;
 //    cout << "The radius is: " << radius << endl;
 }
+
diff --git a/energy/src/energy/clear/clear.cpp b/energy/src/energy/clear/clear.cpp
index 5aefa1b..a40bd6a 100644
--- a/energy/src/energy/clear/clear.cpp
+++ b/energy/src/energy/clear/clear.cpp
@@ -18,7 +18,6 @@ void Energy::clearAll(){
 }
 
 
-
 //----------------------------------------------------------------------------------------------------------------------
 // 此函数用于图像预处理
 // ---------------------------------------------------------------------------------------------------------------------
diff --git a/energy/src/energy/get/aim_point_get.cpp b/energy/src/energy/get/aim_point_get.cpp
index c15d61d..189811b 100644
--- a/energy/src/energy/get/aim_point_get.cpp
+++ b/energy/src/energy/get/aim_point_get.cpp
@@ -16,9 +16,9 @@ void Energy::getAimPoint(cv::Point target_point) {
 //    double dx = -(target_point.x - 320 - 10);
 //    double dy = -(target_point.y - 240 - 22);
 //四号车
-    double dx = -(target_point.x - 320 - 0);
-    double dy = -(target_point.y - 240 - 69);
+    double dx = -(target_point.x - 320 - 5);
+    double dy = -(target_point.y - 240 - 74);
     yaw_rotation = atan(dx / FOCUS_PIXAL) * 180 / PI;
     pitch_rotation = atan(dy / FOCUS_PIXAL) * 180 / PI;
-    cout << "yaw: " << yaw_rotation << '\t' << "pitch: " << pitch_rotation << endl;
+//    cout << "yaw: " << yaw_rotation << '\t' << "pitch: " << pitch_rotation << endl;
 }
diff --git a/energy/src/energy/run.cpp b/energy/src/energy/run.cpp
index 355db0a..1568760 100644
--- a/energy/src/energy/run.cpp
+++ b/energy/src/energy/run.cpp
@@ -101,17 +101,19 @@ void Energy::runBig(cv::Mat &gimbal_src) {
     if (show_energy)showCenterR("R", gimbal_src);
     changeTarget();
     getTargetPolarAngle();
+//    cout<<circle_center_point<<endl;
 //    cout << target_point << '\t' << target_polar_angle << endl;
 //    cout << circle_center_point<< endl;
 
 //    judgeMode();
 //    if (energy_mode_init)return;
-    if (!getOrigin())return;
+//    if (!getOrigin())return;
     if (energy_rotation_init) {
         initRotation();
         return;
     }
 
+
     if (is_predicting) {
         getPredictPoint(target_point);
         getAimPoint(predict_point);
@@ -144,7 +146,11 @@ void Energy::runSmall(cv::Mat &gimbal_src) {
     if (show_energy)showArmors("armor", gimbal_src);
     if (!findFlowStripFan(gimbal_src))return;
     if (!findTargetInFlowStripFan()) return;
-    if (show_energy)showFlowStripFan("strip", gimbal_src);
+//
+//    if (!findCenterROI(gimbal_src))return;
+//    if (show_energy)showFlowStripFan("strip", gimbal_src);
+//    if (!findCenterR(gimbal_src))return;
+//    if (show_energy)showCenterR("R", gimbal_src);
 
     changeTarget();
 //    cout << "target point: " << target_point << endl;
diff --git a/main.cpp b/main.cpp
index e0662c5..190483d 100644
--- a/main.cpp
+++ b/main.cpp
@@ -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/gimbal106.avi");
-            video_chassis = new VideoWrapper("/home/sun/项目/energy_video/gimbal106.avi");
+            video_gimbal = new VideoWrapper("/home/sun/项目/energy_video/gimbal132.avi");
+            video_chassis = new VideoWrapper("/home/sun/项目/energy_video/gimbal132.avi");
         }
         if (video_gimbal->init()) {
             LOGM("video_gimbal source initialization successfully.");
@@ -110,7 +110,8 @@ int main(int argc, char *argv[]) {
                     if (!from_camera) extract(gimbal_src, chassis_src);
                     if (save_video) saveVideos(gimbal_src, chassis_src);//保存视频
                     if (show_origin) showOrigin(gimbal_src, chassis_src);//显示原始图像
-                    energy.runBig(gimbal_src, chassis_src);
+//                    energy.runBig(gimbal_src, chassis_src);
+                    energy.runBig(gimbal_src);
                     last_state = mcuData.state;//更新上一帧状态
                 } else if (mcuData.state == SMALL_ENERGY_STATE) {
                     if (mcuData.state != SMALL_ENERGY_STATE) {