energy changed

armor/src/armor_finder/armor_finder.cpp

@@ -29,8 +29,8 @@ void ArmorFinder::run(cv::Mat &src) {
         showArmorBox("box", src, armor_box, boxid);
         cv::waitKey(1);
     }
-//    stateSearchingTarget(src_use);
-//    return;
+    stateSearchingTarget(src_use);
+    return;
     switch (state){
         case SEARCHING_STATE:
             if(stateSearchingTarget(src_use)){

energy/include/energy/energy.h

@@ -118,6 +118,7 @@ private:
 
 	void splitBayerBG(cv::Mat src, cv::Mat &blue, cv::Mat &red);//拜耳阵列分离
 	void imagePreprocess(cv::Mat &src);//图像通道分离
+    void hsvFilter(cv::Mat &src);//此函数通过HSV颜色空间对图像纯度进行限制，进行滤光
 
 	void StructingElementClose(cv::Mat &src,int length, int width);//闭运算
 	void StructingElementErodeDilate(cv::Mat &src);//腐蚀和膨胀

energy/src/energy/calibrate/hsv_filter.cpp

@@ -0,0 +1,28 @@
+//
+// Created by sun on 19-7-7.
+//
+
+#include "energy/energy.h"
+
+using namespace std;
+using namespace cv;
+
+
+
+//----------------------------------------------------------------------------------------------------------------------
+// 此函数用于利用HSV颜色空间对图像进行预处理
+// ---------------------------------------------------------------------------------------------------------------------
+
+void Energy::hsvFilter(cv::Mat &src){
+    Mat hsv, hsv_in_range;
+    cvtColor(src, hsv, CV_BGR2HSV);
+//    imshow("hsv", hsv);
+    vector<Mat> hsv_channels;
+    split(hsv, hsv_channels);
+    Mat H = hsv_channels.at(0);
+    Mat S = hsv_channels.at(1);
+    Mat V = hsv_channels.at(2);
+//    imshow("S", S);
+    inRange(hsv,Scalar(0,150,0),Scalar(180,255,255),hsv_in_range);
+//    imshow("in range", hsv_in_range);
+}

energy/src/energy/calibrate/split.cpp

@@ -52,9 +52,9 @@ void Energy::imagePreprocess(cv::Mat &src) {
     {
         std::vector<Mat> channels;
         split(src, channels);
-        resize(channels.at(0), src_blue, Size(SRC_WIDTH, SRC_HEIGHT));
-        resize(channels.at(1), src_green, Size(SRC_WIDTH, SRC_HEIGHT));
-        resize(channels.at(2), src_red, Size(SRC_WIDTH, SRC_HEIGHT));
+        resize(channels.at(0), src_blue, Size(src.size().width/2, src.size().height/2));
+        resize(channels.at(1), src_green, Size(src.size().width/2, src.size().height/2));
+        resize(channels.at(2), src_red, Size(src.size().width/2, src.size().height/2));
         if(ally_color == ALLY_RED)
         {
             src = src_red-src_blue;
@@ -64,7 +64,7 @@ void Energy::imagePreprocess(cv::Mat &src) {
             //src=src_blue;
         }
     }
-    cv::resize(src, src, cv::Size(640, 480), 2);
+    cv::resize(src, src, cv::Size(src.size().width * 2, src.size().height * 2), 2);
     threshold(src, src, energy_part_param_.SPLIT_GRAY_THRESH, 255, THRESH_BINARY);
 
 }

energy/src/energy/run.cpp

@@ -73,7 +73,7 @@ int Energy::runBig(cv::Mat &gimble_src, cv::Mat &chassis_src){
 // 此函数为大能量机关模式主控制流函数，且步兵仅拥有云台摄像头
 // ---------------------------------------------------------------------------------------------------------------------
 int Energy::runBig(cv::Mat &gimble_src){
-//    imshow("src",src);
+    imshow("src",gimble_src);
     fans.clear();
     armors.clear();
     centerRs.clear();
@@ -82,22 +82,21 @@ int Energy::runBig(cv::Mat &gimble_src){
 
     changeMark();
     if (isMark)return 0;
-//    imagePreprocess(src);
-//    imshow("img_preprocess",src);
+//    imagePreprocess(gimble_src);
+//    imshow("img_preprocess", gimble_src);
 
     threshold(gimble_src, gimble_src, energy_part_param_.GRAY_THRESH, 255, THRESH_BINARY);
-//    imshow("bin",src);
+    imshow("bin",gimble_src);
 
     fans_cnt = findFan(gimble_src, last_fans_cnt);
 //    cout<<"fans_cnt: "<<fans_cnt<<endl;
     if(fans_cnt==-1) return 0;//滤去漏判的帧
 //    if(fans_cnt>0)showFanContours("fan",src);
-//    fans_cnt=0;
 
     armors_cnt = findArmor(gimble_src, last_armors_cnt);
 //    cout<<"armors_cnt: "<<armors_cnt<<endl;
     if(armors_cnt==-1) return 0;//滤去漏判的帧
-//    if(armors_cnt>0) showArmorContours("armor",src);
+//    if(armors_cnt>0) showArmorContours("armor",gimble_src);
 
     if(armors_cnt != fans_cnt+1) return 0;
 
@@ -142,7 +141,7 @@ int Energy::runSmall(cv::Mat &gimble_src){
     imshow("gimble src", gimble_src);
     if(gimble_src.type()== CV_8UC3)cvtColor(gimble_src, gimble_src, COLOR_BGR2GRAY);
     fans.clear();
-    armors.clear();
+    armors.clear();-
     threshold(gimble_src, gimble_src, energy_part_param_.GRAY_THRESH, 255, THRESH_BINARY);
     imshow("bin",gimble_src);
     fans_cnt = findFan(gimble_src, last_fans_cnt);

main.cpp

@@ -56,8 +56,8 @@ int main(int argc, char *argv[]) {
             video_gimble = new CameraWrapper(0/*, "armor"*/);
             video_chassis = new CameraWrapper(1/*, "energy"*/);
         } else {
-            video_gimble = new VideoWrapper("/Users/leo/Desktop/videos/179.avi");
-            video_chassis = new VideoWrapper("/Users/leo/Desktop/videos/179.avi");
+            video_gimble = new VideoWrapper("/home/sun/项目/energy_video/official_r_l.mp4");
+            video_chassis = new VideoWrapper("/home/sun/项目/energy_video/energy_test.avi");
         }
         if (video_gimble->init()) {
             LOGM("video_gimble source initialization successfully.");
@@ -117,7 +117,7 @@ int main(int argc, char *argv[]) {
                         energy.runSmall(gimble_src);
                     }
                 }
-                cv::waitKey(1);
+//                cv::waitKey(1);
             });
         } while (ok);
 

others/src/camera/camera_wrapper.cpp

@@ -76,7 +76,7 @@ bool CameraWrapper::init() {
 #elif defined(Linux)
     CameraSetAeState(h_camera, false);
     CameraSetExposureTime(h_camera, 10*1000);
-    CameraSetAnalogGain(h_camera, 40);
+    CameraSetAnalogGain(h_camera, 30);
     if(mode == 0){
         CameraSetGain(h_camera, 100, 100, 100);
         CameraSetLutMode(h_camera, LUTMODE_PRESET);