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energy changed

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sun
2019-07-30 03:12:40 +08:00
parent 0522009d2d
commit 49240ec1bf
3 changed files with 6 additions and 22 deletions
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4
energy/src/energy/clear/energy_init.cpp
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@@ -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_MAX = 100000;
gimbal_energy_part_param_.CENTER_R_CONTOUR_AREA_MIN = 0; 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_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_WIDTH_MAX = 45;
gimbal_energy_part_param_.CENTER_R_CONTOUR_HW_RATIO_MAX = 3; gimbal_energy_part_param_.CENTER_R_CONTOUR_HW_RATIO_MAX = 3;
gimbal_energy_part_param_.CENTER_R_CONTOUR_HW_RATIO_MIN = 1; gimbal_energy_part_param_.CENTER_R_CONTOUR_HW_RATIO_MIN = 1;

2
energy/src/energy/find/energy_finder.cpp
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@@ -134,7 +134,7 @@ bool Energy::findCenterR(const cv::Mat src) {
circle_center_point = centerR.center; 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 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; // Size2f cur_size = cur_rect.size;
// float length = cur_size.height > cur_size.width ? cur_size.height : cur_size.width; // 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; // float width = cur_size.height < cur_size.width ? cur_size.height : cur_size.width;

22
energy/src/energy/get/aim_point_get.cpp
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@@ -17,31 +17,15 @@ extern mcu_data mcuData;
void Energy::getAimPoint(cv::Point target_point_) { void Energy::getAimPoint(cv::Point target_point_) {
float target_polar_angle_ = static_cast<float>(180 / PI * atan2(-1 * (target_point_.y - circle_center_point.y), float target_polar_angle_ = static_cast<float>(180 / PI * atan2(-1 * (target_point_.y - circle_center_point.y),
(target_point_.x - circle_center_point.x))); (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) { 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; extra_delta_y = - EXTRA_DELTA_Y * target_polar_angle_ / 90;
} else if (target_polar_angle_ > 90 && target_polar_angle_ < 180) { } 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; extra_delta_y = - EXTRA_DELTA_Y * (180 - target_polar_angle_) / 90;
} else { } else {
// extra_delta_x = 0; extra_delta_x = 0;
extra_delta_y = 0; extra_delta_y = 0;
} }