From 49240ec1bf9b36d9937a54ed9d167fc745579a5d Mon Sep 17 00:00:00 2001 From: sun Date: Tue, 30 Jul 2019 03:12:40 +0800 Subject: [PATCH] energy changed --- energy/src/energy/clear/energy_init.cpp | 4 ++-- energy/src/energy/find/energy_finder.cpp | 2 +- energy/src/energy/get/aim_point_get.cpp | 22 +++------------------- 3 files changed, 6 insertions(+), 22 deletions(-) diff --git a/energy/src/energy/clear/energy_init.cpp b/energy/src/energy/clear/energy_init.cpp index b785a87..0fd81e8 100644 --- a/energy/src/energy/clear/energy_init.cpp +++ b/energy/src/energy/clear/energy_init.cpp @@ -109,9 +109,9 @@ void Energy::initEnergyPartParam() { gimbal_energy_part_param_.CENTER_R_CONTOUR_AREA_MAX = 100000; gimbal_energy_part_param_.CENTER_R_CONTOUR_AREA_MIN = 0; - gimbal_energy_part_param_.CENTER_R_CONTOUR_LENGTH_MIN = 5; + gimbal_energy_part_param_.CENTER_R_CONTOUR_LENGTH_MIN = 8; gimbal_energy_part_param_.CENTER_R_CONTOUR_LENGTH_MAX = 45; - gimbal_energy_part_param_.CENTER_R_CONTOUR_WIDTH_MIN = 5; + gimbal_energy_part_param_.CENTER_R_CONTOUR_WIDTH_MIN = 8; gimbal_energy_part_param_.CENTER_R_CONTOUR_WIDTH_MAX = 45; gimbal_energy_part_param_.CENTER_R_CONTOUR_HW_RATIO_MAX = 3; gimbal_energy_part_param_.CENTER_R_CONTOUR_HW_RATIO_MIN = 1; diff --git a/energy/src/energy/find/energy_finder.cpp b/energy/src/energy/find/energy_finder.cpp index 8c96e9d..0e398a9 100644 --- a/energy/src/energy/find/energy_finder.cpp +++ b/energy/src/energy/find/energy_finder.cpp @@ -134,7 +134,7 @@ bool Energy::findCenterR(const cv::Mat src) { circle_center_point = centerR.center; circle_center_point.y += target_length / 7.5;//实际最小二乘得到的中心在R的下方 - RotatedRect cur_rect = minAreaRect(center_R_contour); +// RotatedRect cur_rect = minAreaRect(center_R_contour); // 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; diff --git a/energy/src/energy/get/aim_point_get.cpp b/energy/src/energy/get/aim_point_get.cpp index 543f2d0..7199112 100644 --- a/energy/src/energy/get/aim_point_get.cpp +++ b/energy/src/energy/get/aim_point_get.cpp @@ -17,31 +17,15 @@ extern mcu_data mcuData; void Energy::getAimPoint(cv::Point target_point_) { float target_polar_angle_ = static_cast(180 / PI * atan2(-1 * (target_point_.y - circle_center_point.y), (target_point_.x - circle_center_point.x))); -// if (target_polar_angle_ > 40 && target_polar_angle_ < 140){ -// extra_delta_x = 0; -// extra_delta_y = -10; -// } -// else if (target_polar_angle_ > 30 && target_polar_angle_ <= 40){ -// extra_delta_x = 8; -// extra_delta_y = -8; -// } -// else if (target_polar_angle_ >= 140 && target_polar_angle_ < 150){ -// extra_delta_x = -8; -// extra_delta_y = -8; -// } -// else { -// extra_delta_x = 0; -// extra_delta_y = 0; -// } if (target_polar_angle_ > 0 && target_polar_angle_ <= 90) { -// extra_delta_x = EXTRA_DELTA_X * (90 - target_polar_angle_) / 90; + extra_delta_x = EXTRA_DELTA_X * (90 - target_polar_angle_) / 90; extra_delta_y = - EXTRA_DELTA_Y * target_polar_angle_ / 90; } else if (target_polar_angle_ > 90 && target_polar_angle_ < 180) { -// extra_delta_x = - EXTRA_DELTA_X * (target_polar_angle_ - 90) / 90; + extra_delta_x = - EXTRA_DELTA_X * (target_polar_angle_ - 90) / 90; extra_delta_y = - EXTRA_DELTA_Y * (180 - target_polar_angle_) / 90; } else { -// extra_delta_x = 0; + extra_delta_x = 0; extra_delta_y = 0; }