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energy changed

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sun
2019-07-13 10:27:27 +08:00
parent 6cafefd7bd
commit 95eb65e6f0
5 changed files with 38 additions and 37 deletions
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2
energy/include/energy/param_struct_define.h
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@@ -79,7 +79,7 @@ struct EnergyPartParam {
float FLOW_STRIP_CONTOUR_INTERSETION_AREA_MIN;//流动条占旋转矩形面积比最小值
float TWIN_ANGEL_MAX;//两个理论上相等的角度在计算时具有的可能最大差值
long INTERSETION_CONTOUR_AREA_MIN;//扇叶与装甲板匹配时的最小重合面积
long TARGET_INTERSETION_CONTOUR_AREA_MIN;//扇叶与装甲板匹配时的最小重合面积
long TARGET_CHANGE_DISTANCE_MAX;//目标未更改时，目标装甲板中心与原目标装甲板中心的距离变化最大值
long TWIN_POINT_MAX;//两个点相同时距离最大值

2
energy/src/energy/find/target_finder.cpp
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@@ -59,7 +59,7 @@ bool Energy::findTargetInFlowStripFan() {
if (rotatedRectangleIntersection(armors.at(i), flow_strip_fan, intersection) == 0)
continue;//返回0表示没有重合面积
double cur_contour_area = contourArea(intersection);
if (cur_contour_area < energy_part_param_.INTERSETION_CONTOUR_AREA_MIN)
if (cur_contour_area < energy_part_param_.TARGET_INTERSETION_CONTOUR_AREA_MIN)
continue;
else {
target_armor = armors.at(i);

60
energy/src/energy/init/energy_init.cpp
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@@ -60,17 +60,17 @@ void Energy::initEnergy() {
// 此函数对能量机关参数进行初始化
// ---------------------------------------------------------------------------------------------------------------------
void Energy::initEnergyPartParam() {
gimble_energy_part_param_.GRAY_THRESH = 225;
gimble_energy_part_param_.GRAY_THRESH = 160;
gimble_energy_part_param_.SPLIT_GRAY_THRESH = 180;
gimble_energy_part_param_.FAN_GRAY_THRESH = 75;
gimble_energy_part_param_.ARMOR_GRAY_THRESH = 80;
gimble_energy_part_param_.FAN_CONTOUR_AREA_MAX = 17000;
gimble_energy_part_param_.FAN_CONTOUR_AREA_MAX = 6600;
gimble_energy_part_param_.FAN_CONTOUR_AREA_MIN = 0;
gimble_energy_part_param_.FAN_CONTOUR_LENGTH_MIN = 70;
gimble_energy_part_param_.FAN_CONTOUR_LENGTH_MAX = 100;
gimble_energy_part_param_.FAN_CONTOUR_WIDTH_MIN = 30;
gimble_energy_part_param_.FAN_CONTOUR_WIDTH_MAX = 60;
gimble_energy_part_param_.FAN_CONTOUR_LENGTH_MIN = 56;
gimble_energy_part_param_.FAN_CONTOUR_LENGTH_MAX = 88;
gimble_energy_part_param_.FAN_CONTOUR_WIDTH_MIN = 21;
gimble_energy_part_param_.FAN_CONTOUR_WIDTH_MAX = 40;
gimble_energy_part_param_.FAN_CONTOUR_HW_RATIO_MAX = 4;
gimble_energy_part_param_.FAN_CONTOUR_HW_RATIO_MIN = 1;
gimble_energy_part_param_.FAN_NON_ZERO_RATE_MAX = 0.8;
@@ -78,19 +78,19 @@ void Energy::initEnergyPartParam() {
gimble_energy_part_param_.ARMOR_CONTOUR_AREA_MAX = 100000;
gimble_energy_part_param_.ARMOR_CONTOUR_AREA_MIN = 0;
gimble_energy_part_param_.ARMOR_CONTOUR_LENGTH_MIN = 13;
gimble_energy_part_param_.ARMOR_CONTOUR_WIDTH_MIN = 5;
gimble_energy_part_param_.ARMOR_CONTOUR_LENGTH_MAX = 30;
gimble_energy_part_param_.ARMOR_CONTOUR_WIDTH_MAX = 20;
gimble_energy_part_param_.ARMOR_CONTOUR_LENGTH_MIN = 18;
gimble_energy_part_param_.ARMOR_CONTOUR_LENGTH_MAX = 32;
gimble_energy_part_param_.ARMOR_CONTOUR_WIDTH_MIN = 10;
gimble_energy_part_param_.ARMOR_CONTOUR_WIDTH_MAX = 30;
gimble_energy_part_param_.ARMOR_CONTOUR_HW_RATIO_MAX = 3;
gimble_energy_part_param_.ARMOR_CONTOUR_HW_RATIO_MIN = 1;
gimble_energy_part_param_.CENTER_R_CONTOUR_AREA_MAX = 100000;
gimble_energy_part_param_.CENTER_R_CONTOUR_AREA_MIN = 0;
gimble_energy_part_param_.CENTER_R_CONTOUR_LENGTH_MIN = 10;
gimble_energy_part_param_.CENTER_R_CONTOUR_WIDTH_MIN = 10;
gimble_energy_part_param_.CENTER_R_CONTOUR_LENGTH_MAX = 30;
gimble_energy_part_param_.CENTER_R_CONTOUR_WIDTH_MAX = 30;
gimble_energy_part_param_.CENTER_R_CONTOUR_LENGTH_MIN = 7;
gimble_energy_part_param_.CENTER_R_CONTOUR_LENGTH_MAX = 19;
gimble_energy_part_param_.CENTER_R_CONTOUR_WIDTH_MIN = 7;
gimble_energy_part_param_.CENTER_R_CONTOUR_WIDTH_MAX = 19;
gimble_energy_part_param_.CENTER_R_CONTOUR_HW_RATIO_MAX = 3;
gimble_energy_part_param_.CENTER_R_CONTOUR_HW_RATIO_MIN = 1;
gimble_energy_part_param_.CENTER_R_CONTOUR_AREA_RATIO_MIN = 0.7;
@@ -98,10 +98,10 @@ void Energy::initEnergyPartParam() {
gimble_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_AREA_MAX = 17000;
gimble_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_AREA_MIN = 0;
gimble_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_LENGTH_MIN = 90;
gimble_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_WIDTH_MIN = 35;
gimble_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_LENGTH_MAX = 140;
gimble_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_WIDTH_MAX = 60;
gimble_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_LENGTH_MIN = 56;
gimble_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_LENGTH_MAX = 88;
gimble_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_WIDTH_MIN = 21;
gimble_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_WIDTH_MAX = 40;
gimble_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_HW_RATIO_MAX = 3;
gimble_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_HW_RATIO_MIN = 1;
gimble_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_AREA_RATIO_MAX = 0.55;
@@ -111,17 +111,17 @@ void Energy::initEnergyPartParam() {
gimble_energy_part_param_.FLOW_STRIP_CONTOUR_AREA_MAX = 100000;
gimble_energy_part_param_.FLOW_STRIP_CONTOUR_AREA_MIN = 0;
gimble_energy_part_param_.FLOW_STRIP_CONTOUR_LENGTH_MIN = 50;
gimble_energy_part_param_.FLOW_STRIP_CONTOUR_WIDTH_MIN = 3;
gimble_energy_part_param_.FLOW_STRIP_CONTOUR_LENGTH_MAX = 90;
gimble_energy_part_param_.FLOW_STRIP_CONTOUR_WIDTH_MAX = 20;
gimble_energy_part_param_.FLOW_STRIP_CONTOUR_LENGTH_MIN = 31;
gimble_energy_part_param_.FLOW_STRIP_CONTOUR_LENGTH_MAX = 57;
gimble_energy_part_param_.FLOW_STRIP_CONTOUR_WIDTH_MIN = 2;
gimble_energy_part_param_.FLOW_STRIP_CONTOUR_WIDTH_MAX = 13;
gimble_energy_part_param_.FLOW_STRIP_CONTOUR_HW_RATIO_MAX = 12;
gimble_energy_part_param_.FLOW_STRIP_CONTOUR_HW_RATIO_MIN = 4;
gimble_energy_part_param_.FLOW_STRIP_CONTOUR_AREA_RATIO_MIN = 0.5;
gimble_energy_part_param_.FLOW_STRIP_CONTOUR_INTERSETION_AREA_MIN = 300;
gimble_energy_part_param_.FLOW_STRIP_CONTOUR_INTERSETION_AREA_MIN = 117;
gimble_energy_part_param_.TWIN_ANGEL_MAX = 10;
gimble_energy_part_param_.INTERSETION_CONTOUR_AREA_MIN = 60;
gimble_energy_part_param_.TARGET_INTERSETION_CONTOUR_AREA_MIN = 24;
@@ -133,8 +133,8 @@ void Energy::initEnergyPartParam() {
chassis_energy_part_param_.FAN_CONTOUR_AREA_MAX = 17000;
chassis_energy_part_param_.FAN_CONTOUR_AREA_MIN = 0;
chassis_energy_part_param_.FAN_CONTOUR_LENGTH_MIN = 90;
chassis_energy_part_param_.FAN_CONTOUR_WIDTH_MIN = 35;
chassis_energy_part_param_.FAN_CONTOUR_LENGTH_MAX = 140;
chassis_energy_part_param_.FAN_CONTOUR_WIDTH_MIN = 35;
chassis_energy_part_param_.FAN_CONTOUR_WIDTH_MAX = 65;
chassis_energy_part_param_.FAN_CONTOUR_HW_RATIO_MAX = 4;
chassis_energy_part_param_.FAN_CONTOUR_HW_RATIO_MIN = 1;
@@ -145,8 +145,8 @@ void Energy::initEnergyPartParam() {
chassis_energy_part_param_.ARMOR_CONTOUR_AREA_MAX = 100000;
chassis_energy_part_param_.ARMOR_CONTOUR_AREA_MIN = 0;
chassis_energy_part_param_.ARMOR_CONTOUR_LENGTH_MIN = 30;
chassis_energy_part_param_.ARMOR_CONTOUR_WIDTH_MIN = 15;
chassis_energy_part_param_.ARMOR_CONTOUR_LENGTH_MAX = 50;
chassis_energy_part_param_.ARMOR_CONTOUR_WIDTH_MIN = 15;
chassis_energy_part_param_.ARMOR_CONTOUR_WIDTH_MAX = 45;
chassis_energy_part_param_.ARMOR_CONTOUR_HW_RATIO_MAX = 3;
chassis_energy_part_param_.ARMOR_CONTOUR_HW_RATIO_MIN = 1;
@@ -155,8 +155,8 @@ void Energy::initEnergyPartParam() {
chassis_energy_part_param_.CENTER_R_CONTOUR_AREA_MAX = 100000;
chassis_energy_part_param_.CENTER_R_CONTOUR_AREA_MIN = 0;
chassis_energy_part_param_.CENTER_R_CONTOUR_LENGTH_MIN = 10;
chassis_energy_part_param_.CENTER_R_CONTOUR_WIDTH_MIN = 10;
chassis_energy_part_param_.CENTER_R_CONTOUR_LENGTH_MAX = 30;
chassis_energy_part_param_.CENTER_R_CONTOUR_WIDTH_MIN = 10;
chassis_energy_part_param_.CENTER_R_CONTOUR_WIDTH_MAX = 30;
chassis_energy_part_param_.CENTER_R_CONTOUR_HW_RATIO_MAX = 3;
chassis_energy_part_param_.CENTER_R_CONTOUR_HW_RATIO_MIN = 1;
@@ -166,8 +166,8 @@ void Energy::initEnergyPartParam() {
chassis_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_AREA_MAX = 17000;
chassis_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_AREA_MIN = 0;
chassis_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_LENGTH_MIN = 90;
chassis_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_WIDTH_MIN = 35;
chassis_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_LENGTH_MAX = 140;
chassis_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_WIDTH_MIN = 35;
chassis_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_WIDTH_MAX = 60;
chassis_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_HW_RATIO_MAX = 3;
chassis_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_HW_RATIO_MIN = 1;
@@ -179,8 +179,8 @@ void Energy::initEnergyPartParam() {
chassis_energy_part_param_.FLOW_STRIP_CONTOUR_AREA_MAX = 100000;
chassis_energy_part_param_.FLOW_STRIP_CONTOUR_AREA_MIN = 0;
chassis_energy_part_param_.FLOW_STRIP_CONTOUR_LENGTH_MIN = 50;
chassis_energy_part_param_.FLOW_STRIP_CONTOUR_WIDTH_MIN = 3;
chassis_energy_part_param_.FLOW_STRIP_CONTOUR_LENGTH_MAX = 90;
chassis_energy_part_param_.FLOW_STRIP_CONTOUR_WIDTH_MIN = 3;
chassis_energy_part_param_.FLOW_STRIP_CONTOUR_WIDTH_MAX = 20;
chassis_energy_part_param_.FLOW_STRIP_CONTOUR_HW_RATIO_MAX = 12;
chassis_energy_part_param_.FLOW_STRIP_CONTOUR_HW_RATIO_MIN = 4;
@@ -188,7 +188,7 @@ void Energy::initEnergyPartParam() {
chassis_energy_part_param_.FLOW_STRIP_CONTOUR_INTERSETION_AREA_MIN = 300;
chassis_energy_part_param_.TWIN_ANGEL_MAX = 10;
chassis_energy_part_param_.INTERSETION_CONTOUR_AREA_MIN = 60;
chassis_energy_part_param_.TARGET_INTERSETION_CONTOUR_AREA_MIN = 60;
chassis_energy_part_param_.TARGET_CHANGE_DISTANCE_MAX = 20;
chassis_energy_part_param_.TWIN_POINT_MAX = 20;

2
energy/src/energy/run.cpp
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@@ -16,7 +16,7 @@ void Energy::run(cv::Mat &gimble_src, cv::Mat &chassis_src) {
if (chassis_src.empty())
run(gimble_src);//仅拥有云台摄像头则调用单摄像头的run函数
else if (isGimble) {
energy_part_param_ = chassis_energy_part_param_;
energy_part_param_ = gimble_energy_part_param_;
clearAll();
initImage(gimble_src);