From a8d24f412ee8ec62486fe968f68a28d99f0cdd28 Mon Sep 17 00:00:00 2001 From: xinyang <895639507@qq.com> Date: Sat, 13 Jul 2019 13:57:26 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E8=AE=A2=E6=8B=BC=E5=86=99=E9=94=99?= =?UTF-8?q?=E8=AF=AF=EF=BC=8C=E5=A2=9E=E5=8A=A0=E7=8B=AC=E7=AB=8Bconfig?= =?UTF-8?q?=E3=80=82?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .gitignore | 1 + CMakeLists.txt | 8 ++ energy/include/energy/energy.h | 10 +- energy/src/energy/change/mode_change.cpp | 2 +- energy/src/energy/energy.cpp | 8 +- energy/src/energy/get/gimble_rotation_get.cpp | 2 +- energy/src/energy/init/energy_init.cpp | 112 +++++++++--------- energy/src/energy/run.cpp | 54 ++++----- main.cpp | 58 +++++---- others/include/additions/additions.h | 12 +- others/src/additions/additions.cpp | 82 ++++++------- 11 files changed, 184 insertions(+), 165 deletions(-) diff --git a/.gitignore b/.gitignore index 2ff6614..6584eba 100644 --- a/.gitignore +++ b/.gitignore @@ -5,4 +5,5 @@ Mark armor_box_photo tools/TrainCNN/.idea tools/TrainCNN/__pycache__ +others/include/config/config.h .DS_Store diff --git a/CMakeLists.txt b/CMakeLists.txt index 6b0ea54..e19eb1d 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -8,6 +8,14 @@ SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DPATH=\"\\\"${PROJECT_SOURCE_DIR}\\\"\" SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -D${CMAKE_SYSTEM_NAME}") SET(BIN_NAME "run") + +FIND_FILE(CONFIG_FOUND "config.h" "others/include/config") +if (CONFIG_FOUND) + MESSAGE("Found config.h") + SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DWITH_CONFIG") +endif() + + FIND_PROGRAM(CCACHE_FOUND ccache) IF(CCACHE_FOUND) SET_PROPERTY(GLOBAL PROPERTY RULE_LAUNCH_COMPILE ccache) diff --git a/energy/include/energy/energy.h b/energy/include/energy/energy.h index 173c901..56798a2 100644 --- a/energy/include/energy/energy.h +++ b/energy/include/energy/energy.h @@ -27,9 +27,9 @@ public: Energy(Serial &u, uint8_t &color);//构造函数，参数为串口和敌方颜色 ~Energy();//默认析构函数 - void run(cv::Mat &gimble_src, cv::Mat &chassis_src); + void run(cv::Mat &gimbal_src, cv::Mat &chassis_src); - void run(cv::Mat &gimble_src); + void run(cv::Mat &gimbal_src); Serial &serial;//串口 void setEnergyInit();//设置能量机关初始化 @@ -40,13 +40,13 @@ public: private: EnergyPartParam energy_part_param_;//能量机关的参数设置 - EnergyPartParam gimble_energy_part_param_;//云台摄像头能量机关的参数设置 + EnergyPartParam gimbal_energy_part_param_;//云台摄像头能量机关的参数设置 EnergyPartParam chassis_energy_part_param_;//底盘摄像头能量机关的参数设置 bool isMark;//若操作手正在手动标定，则为true bool isBig;//大符模式为true bool isSmall;//小符模式为true - bool isGimble;//同时具有底盘和云台摄像头时，处于云台摄像头对心过程 + bool isgimbal;//同时具有底盘和云台摄像头时，处于云台摄像头对心过程 bool isChassis;//同时具有底盘和云台摄像头时，处于底盘摄像头击打过程 bool isGuessing;//当前处于发弹到新目标出现的过程，则为true，此时猜测下一个目标 bool isPredicting;//当前处于新目标出现到发弹的过程，则为true，此时正常击打 @@ -154,7 +154,7 @@ private: void getPredictPoint(cv::Point target_point);//获取预测点位 void getAimPoint(cv::Point target_point);//通过自瞄逻辑计算点位 void changeMark();//操作手手动修改标定值 - void gimbleRotation();//计算云台旋转角度 + void gimbalRotation();//计算云台旋转角度 void getAllTargetArmorCenters();//记录所有目标装甲板中心坐标 void getRecentTargetArmorCenters();//记录近30帧目标装甲板中心坐标 diff --git a/energy/src/energy/change/mode_change.cpp b/energy/src/energy/change/mode_change.cpp index 41e5b51..a9430b4 100644 --- a/energy/src/energy/change/mode_change.cpp +++ b/energy/src/energy/change/mode_change.cpp @@ -14,7 +14,7 @@ using namespace cv; // --------------------------------------------------------------------------------------------------------------------- void Energy::startChassis(){ isChassis = true; - isGimble = false; + isgimbal = false; } diff --git a/energy/src/energy/energy.cpp b/energy/src/energy/energy.cpp index 02dd854..0c3702c 100644 --- a/energy/src/energy/energy.cpp +++ b/energy/src/energy/energy.cpp @@ -22,7 +22,7 @@ Energy::Energy(Serial &u, uint8_t &color) : serial(u), ally_color(color), energy_rotation_init = false; isBig = false; isSmall = false; - isGimble = true; + isgimbal = true; isChassis = false; } @@ -44,7 +44,7 @@ void Energy::setEnergyInit() { energy_rotation_init = true; isBig = false; isSmall = false; - isGimble = true; + isgimbal = true; isChassis = false; } @@ -60,7 +60,7 @@ void Energy::setBigEnergyInit() { energy_rotation_init = true; isBig = true; isSmall = false; - isGimble = true; + isgimbal = true; isChassis = false; } @@ -73,6 +73,6 @@ void Energy::setSmallEnergyInit() { isBig = false; isSmall = true; - isGimble = true; + isgimbal = true; isChassis = false; } diff --git a/energy/src/energy/get/gimble_rotation_get.cpp b/energy/src/energy/get/gimble_rotation_get.cpp index 5282ff1..10993bd 100644 --- a/energy/src/energy/get/gimble_rotation_get.cpp +++ b/energy/src/energy/get/gimble_rotation_get.cpp @@ -38,7 +38,7 @@ void Energy::changeMark() { //---------------------------------------------------------------------------------------------------------------------- // 此函数用于计算云台应当转到的角度 // --------------------------------------------------------------------------------------------------------------------- -void Energy::gimbleRotation() { +void Energy::gimbalRotation() { cv::Point2f real_predict_point;//计算在真实世界中的预测点位，进而计算云台的旋转角度 stretch(predict_point, real_predict_point); yaw_rotation = static_cast(180 / PI * diff --git a/energy/src/energy/init/energy_init.cpp b/energy/src/energy/init/energy_init.cpp index cf0ab19..3761ba9 100644 --- a/energy/src/energy/init/energy_init.cpp +++ b/energy/src/energy/init/energy_init.cpp @@ -60,68 +60,68 @@ 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 = 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; + gimbal_energy_part_param_.GRAY_THRESH = 160; + gimbal_energy_part_param_.SPLIT_GRAY_THRESH = 180; + gimbal_energy_part_param_.FAN_GRAY_THRESH = 75; + gimbal_energy_part_param_.ARMOR_GRAY_THRESH = 80; - 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 = 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; - gimble_energy_part_param_.FAN_NON_ZERO_RATE_MIN = 0.48; + gimbal_energy_part_param_.FAN_CONTOUR_AREA_MAX = 6600; + gimbal_energy_part_param_.FAN_CONTOUR_AREA_MIN = 0; + gimbal_energy_part_param_.FAN_CONTOUR_LENGTH_MIN = 56; + gimbal_energy_part_param_.FAN_CONTOUR_LENGTH_MAX = 88; + gimbal_energy_part_param_.FAN_CONTOUR_WIDTH_MIN = 21; + gimbal_energy_part_param_.FAN_CONTOUR_WIDTH_MAX = 40; + gimbal_energy_part_param_.FAN_CONTOUR_HW_RATIO_MAX = 4; + gimbal_energy_part_param_.FAN_CONTOUR_HW_RATIO_MIN = 1; + gimbal_energy_part_param_.FAN_NON_ZERO_RATE_MAX = 0.8; + gimbal_energy_part_param_.FAN_NON_ZERO_RATE_MIN = 0.48; - 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 = 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; + gimbal_energy_part_param_.ARMOR_CONTOUR_AREA_MAX = 100000; + gimbal_energy_part_param_.ARMOR_CONTOUR_AREA_MIN = 0; + gimbal_energy_part_param_.ARMOR_CONTOUR_LENGTH_MIN = 18; + gimbal_energy_part_param_.ARMOR_CONTOUR_LENGTH_MAX = 32; + gimbal_energy_part_param_.ARMOR_CONTOUR_WIDTH_MIN = 10; + gimbal_energy_part_param_.ARMOR_CONTOUR_WIDTH_MAX = 30; + gimbal_energy_part_param_.ARMOR_CONTOUR_HW_RATIO_MAX = 3; + gimbal_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 = 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; - gimble_energy_part_param_.CENTER_R_CONTOUR_INTERSETION_AREA_MIN = 10; + 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 = 7; + gimbal_energy_part_param_.CENTER_R_CONTOUR_LENGTH_MAX = 19; + gimbal_energy_part_param_.CENTER_R_CONTOUR_WIDTH_MIN = 7; + gimbal_energy_part_param_.CENTER_R_CONTOUR_WIDTH_MAX = 19; + 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_AREA_RATIO_MIN = 0.7; + gimbal_energy_part_param_.CENTER_R_CONTOUR_INTERSETION_AREA_MIN = 10; - 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 = 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; - gimble_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_AREA_RATIO_MIN = 0.25; - gimble_energy_part_param_.FLOW_STRIP_FAN_NON_ZERO_RATE_MAX = 0.48; - gimble_energy_part_param_.FLOW_STRIP_FAN_NON_ZERO_RATE_MIN = 0.25; + gimbal_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_AREA_MAX = 17000; + gimbal_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_AREA_MIN = 0; + gimbal_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_LENGTH_MIN = 56; + gimbal_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_LENGTH_MAX = 88; + gimbal_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_WIDTH_MIN = 21; + gimbal_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_WIDTH_MAX = 40; + gimbal_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_HW_RATIO_MAX = 3; + gimbal_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_HW_RATIO_MIN = 1; + gimbal_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_AREA_RATIO_MAX = 0.55; + gimbal_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_AREA_RATIO_MIN = 0.25; + gimbal_energy_part_param_.FLOW_STRIP_FAN_NON_ZERO_RATE_MAX = 0.48; + gimbal_energy_part_param_.FLOW_STRIP_FAN_NON_ZERO_RATE_MIN = 0.25; - 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 = 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 = 117; + gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_AREA_MAX = 100000; + gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_AREA_MIN = 0; + gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_LENGTH_MIN = 31; + gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_LENGTH_MAX = 57; + gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_WIDTH_MIN = 2; + gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_WIDTH_MAX = 13; + gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_HW_RATIO_MAX = 12; + gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_HW_RATIO_MIN = 4; + gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_AREA_RATIO_MIN = 0.5; + gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_INTERSETION_AREA_MIN = 117; - gimble_energy_part_param_.TWIN_ANGEL_MAX = 10; - gimble_energy_part_param_.TARGET_INTERSETION_CONTOUR_AREA_MIN = 24; + gimbal_energy_part_param_.TWIN_ANGEL_MAX = 10; + gimbal_energy_part_param_.TARGET_INTERSETION_CONTOUR_AREA_MIN = 24; diff --git a/energy/src/energy/run.cpp b/energy/src/energy/run.cpp index 38bdd1b..3a72e4c 100644 --- a/energy/src/energy/run.cpp +++ b/energy/src/energy/run.cpp @@ -12,22 +12,22 @@ using namespace cv; //---------------------------------------------------------------------------------------------------------------------- // 此函数为能量机关模式主控制流函数，且步兵需要同时拥有云台摄像头和底盘摄像头 // --------------------------------------------------------------------------------------------------------------------- -void Energy::run(cv::Mat &gimble_src, cv::Mat &chassis_src) { +void Energy::run(cv::Mat &gimbal_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_ = gimble_energy_part_param_; + run(gimbal_src);//仅拥有云台摄像头则调用单摄像头的run函数 + else if (isgimbal) { + energy_part_param_ = gimbal_energy_part_param_; clearAll(); - initImage(gimble_src); + initImage(gimbal_src); - if (findArmors(gimble_src) < 1)return; - if (!findFlowStripFan(gimble_src))return; + if (findArmors(gimbal_src) < 1)return; + if (!findFlowStripFan(gimbal_src))return; if (!findTargetInFlowStripFan()) return; - if (!findCenterROI(gimble_src))return; - if (!findCenterR(gimble_src))return; + if (!findCenterROI(gimbal_src))return; + if (!findCenterR(gimbal_src))return; - if (show_energy)showFlowStripFan("strip", gimble_src); - if (show_energy)showCenterR("R", gimble_src); + if (show_energy)showFlowStripFan("strip", gimbal_src); + if (show_energy)showCenterR("R", gimbal_src); if (!getOrigin())return; startChassis(); @@ -59,7 +59,7 @@ void Energy::run(cv::Mat &gimble_src, cv::Mat &chassis_src) { } if (isPredicting) { getPredictPoint(target_point); - gimbleRotation(); + gimbalRotation(); judgeShoot(); sendTarget(serial, yaw_rotation, pitch_rotation, shoot); } else if (isGuessing && stayGuessing()) { @@ -68,7 +68,7 @@ void Energy::run(cv::Mat &gimble_src, cv::Mat &chassis_src) { if (!guessTarget()) return; if (show_energy)showGuessTarget("guess", chassis_src); getPredictPoint(guess_point); - gimbleRotation(); + gimbalRotation(); sendTarget(serial, yaw_rotation, pitch_rotation, false); } } @@ -78,22 +78,22 @@ void Energy::run(cv::Mat &gimble_src, cv::Mat &chassis_src) { //---------------------------------------------------------------------------------------------------------------------- // 此函数为能量机关模式主控制流函数，且步兵仅拥有云台摄像头 // --------------------------------------------------------------------------------------------------------------------- -void Energy::run(cv::Mat &gimble_src) { - energy_part_param_ = gimble_energy_part_param_; +void Energy::run(cv::Mat &gimbal_src) { + energy_part_param_ = gimbal_energy_part_param_; clearAll(); - initImage(gimble_src); + initImage(gimbal_src); changeMark(); if (isMark)return;//操作手强制手动标定origin_yaw和origin_pitch - if (show_process)imshow("bin", gimble_src); - if (findArmors(gimble_src) < 1)return; - if (!findFlowStripFan(gimble_src))return; + if (show_process)imshow("bin", gimbal_src); + if (findArmors(gimbal_src) < 1)return; + if (!findFlowStripFan(gimbal_src))return; if (!findTargetInFlowStripFan()) return; - if (!findCenterROI(gimble_src))return; - if (show_energy)showFlowStripFan("strip", gimble_src); - if (!findCenterR(gimble_src))return; - if (show_energy)showCenterR("R", gimble_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); getTargetPolarAngle(); JudgeMode(); if (energy_mode_init)return; @@ -104,16 +104,16 @@ void Energy::run(cv::Mat &gimble_src) { } if (isPredicting) { getPredictPoint(target_point); - gimbleRotation(); + gimbalRotation(); judgeShoot(); sendTarget(serial, yaw_rotation, pitch_rotation, shoot); } else if (isGuessing && stayGuessing()) { - findFans(gimble_src); + findFans(gimbal_src); if (save_mark)writeDownMark(); guessTarget(); - if (show_energy)showGuessTarget("guess", gimble_src); + if (show_energy)showGuessTarget("guess", gimbal_src); getPredictPoint(guess_point); - gimbleRotation(); + gimbalRotation(); sendTarget(serial, yaw_rotation, pitch_rotation, false); } } diff --git a/main.cpp b/main.cpp index e3c081e..700eb69 100644 --- a/main.cpp +++ b/main.cpp @@ -18,6 +18,7 @@ #include #include #include +#include #define DO_NOT_CNT_TIME @@ -35,7 +36,7 @@ mcu_data mcuData = { // 单片机端回传结构体 ENEMY_RED, // 敌方颜色 }; -WrapperHead *video_gimble = nullptr; // 云台摄像头视频源 +WrapperHead *video_gimbal = nullptr; // 云台摄像头视频源 WrapperHead *video_chassis = nullptr; // 底盘摄像头视频源 Serial serial(115200); // 串口对象 @@ -60,16 +61,16 @@ int main(int argc, char *argv[]) { while (true) { // 打开视频源 if (from_camera) { - video_gimble = new CameraWrapper(0/*, "armor"*/); + video_gimbal = new CameraWrapper(0/*, "armor"*/); video_chassis = new CameraWrapper(1/*, "energy"*/); } else { - video_gimble = new VideoWrapper("/home/sun/项目/energy_video/energy_test.avi"); + video_gimbal = new VideoWrapper("/home/sun/项目/energy_video/energy_test.avi"); video_chassis = new VideoWrapper("/home/sun/项目/energy_video/energy_test.avi"); } - if (video_gimble->init()) { - LOGM("video_gimble source initialization successfully."); + if (video_gimbal->init()) { + LOGM("video_gimbal source initialization successfully."); } else { - LOGW("video_gimble source unavailable!"); + LOGW("video_gimbal source unavailable!"); } if (video_chassis->init()) { LOGM("video_chassis source initialization successfully."); @@ -78,10 +79,10 @@ int main(int argc, char *argv[]) { } // 跳过前10帧噪声图像。 - Mat gimble_src, chassis_src; + Mat gimbal_src, chassis_src; for (int i = 0; i < 10; i++) { - if (video_gimble) { - video_gimble->read(gimble_src); + if (video_gimbal) { + video_gimbal->read(gimbal_src); } if (video_chassis) { video_chassis->read(chassis_src); @@ -93,35 +94,44 @@ int main(int argc, char *argv[]) { CNT_TIME("Total", { if (mcuData.state != ARMOR_STATE) {//能量机关模式 if (last_state == ARMOR_STATE) {//若上一帧是自瞄模式，即刚往完成切换，则需要初始化 - ((CameraWrapper *) video_gimble)->changeBrightness(20); + ((CameraWrapper *) video_gimbal)->changeBrightness(ENERGY_CAMERA_GAIN); energy.setEnergyInit(); checkReconnect(video_chassis->read(chassis_src)); +#ifdef CHASSIS_FLIP_MODE + flip(chassis_src, chassis_src, CHASSIS_FLIP_MODE); +#endif } - ok = checkReconnect(video_gimble->read(gimble_src)); - if (!from_camera) extract(gimble_src, chassis_src); - if (save_video) saveVideos(gimble_src, chassis_src);//保存视频 - if (show_origin) showOrigin(gimble_src, chassis_src);//显示原始图像 -// energy.run(gimble_src, chassis_src); - energy.run(gimble_src); + ok = checkReconnect(video_gimbal->read(gimbal_src)); +#ifdef GIMBAL_FLIP_MODE + flip(gimbal_src, gimbal_src, CHASSIS_FLIP_MODE); +#endif + 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.run(gimbal_src, chassis_src); + energy.run(gimbal_src); last_state = mcuData.state;//更新上一帧状态 } else { // 自瞄模式 if (last_state != ARMOR_STATE) { - ((CameraWrapper *) video_gimble)->changeBrightness(30); + ((CameraWrapper *) video_gimbal)->changeBrightness(ARMOR_CAMERA_GAIN); } last_state = mcuData.state; - ok = checkReconnect(video_gimble->read(gimble_src)); - if (!from_camera) extract(gimble_src); - if (save_video) saveVideos(gimble_src); - if (show_origin) showOrigin(gimble_src); + ok = checkReconnect(video_gimbal->read(gimbal_src)); +#ifdef GIMBAL_FLIP_MODE + flip(gimbal_src, gimbal_src, CHASSIS_FLIP_MODE); +#endif + if (!from_camera) extract(gimbal_src); + if (save_video) saveVideos(gimbal_src); + if (show_origin) showOrigin(gimbal_src); CNT_TIME("Armor Time", { - armorFinder.run(gimble_src); + armorFinder.run(gimbal_src); }); } // cv::waitKey(0); }); } while (ok); - delete video_gimble; - video_gimble = nullptr; + delete video_gimbal; + video_gimbal = nullptr; delete video_chassis; video_chassis = nullptr; cout << "Program fails. Restarting" << endl; diff --git a/others/include/additions/additions.h b/others/include/additions/additions.h index 7caddae..254e13b 100644 --- a/others/include/additions/additions.h +++ b/others/include/additions/additions.h @@ -22,11 +22,11 @@ extern mcu_data mcuData; void uartReceive(Serial *pSerial); bool checkReconnect(bool is_camera_0_connect, bool is_camera_1_connect); bool checkReconnect(bool is_camera_connect); -void saveVideos(const cv::Mat &gimble_src, const cv::Mat &chassis_src); -void saveVideos(const cv::Mat &gimble_src); -void showOrigin(const cv::Mat &gimble_src, const cv::Mat &chassis_src); -void showOrigin(const cv::Mat &gimble_src); -void extract(cv::Mat &gimble_src, cv::Mat &chassis_src); -void extract(cv::Mat &gimble_src); +void saveVideos(const cv::Mat &gimbal_src, const cv::Mat &chassis_src); +void saveVideos(const cv::Mat &gimbal_src); +void showOrigin(const cv::Mat &gimbal_src, const cv::Mat &chassis_src); +void showOrigin(const cv::Mat &gimbal_src); +void extract(cv::Mat &gimbal_src, cv::Mat &chassis_src); +void extract(cv::Mat &gimbal_src); #endif /* _ADDITIONS_H_ */ diff --git a/others/src/additions/additions.cpp b/others/src/additions/additions.cpp index 937e25c..2661127 100644 --- a/others/src/additions/additions.cpp +++ b/others/src/additions/additions.cpp @@ -20,7 +20,7 @@ using namespace std; using namespace cv; -extern WrapperHead *video_gimble; +extern WrapperHead *video_gimbal; extern WrapperHead *video_chassis; extern Serial serial; @@ -75,9 +75,9 @@ cv::VideoWriter initVideoWriter(const std::string &filename_prefix) { bool checkReconnect(bool is_camera_0_connect, bool is_camera_1_connect) { if (!is_camera_0_connect) { - delete video_gimble; - video_gimble = new CameraWrapper(0, "armor"); - is_camera_0_connect = video_gimble->init(); + delete video_gimbal; + video_gimbal = new CameraWrapper(0, "armor"); + is_camera_0_connect = video_gimbal->init(); } if (!is_camera_1_connect) { delete video_chassis; @@ -89,79 +89,79 @@ bool checkReconnect(bool is_camera_0_connect, bool is_camera_1_connect) { bool checkReconnect(bool is_camera_connect) { if (!is_camera_connect) { - delete video_gimble; - video_gimble = new CameraWrapper(0, "armor"); - is_camera_connect = video_gimble->init(); + delete video_gimbal; + video_gimbal = new CameraWrapper(0, "armor"); + is_camera_connect = video_gimbal->init(); } return is_camera_connect; } -auto gimble_video_writer = initVideoWriter(PROJECT_DIR"/gimble_video/"); +auto gimbal_video_writer = initVideoWriter(PROJECT_DIR"/gimbal_video/"); auto chassis_video_writer = initVideoWriter(PROJECT_DIR"/chassis_video/"); -void saveVideos(const cv::Mat &gimble_src, const cv::Mat &chassis_src) { - if (!gimble_src.empty() && !chassis_src.empty()) { - gimble_video_writer.write(gimble_src); +void saveVideos(const cv::Mat &gimbal_src, const cv::Mat &chassis_src) { + if (!gimbal_src.empty() && !chassis_src.empty()) { + gimbal_video_writer.write(gimbal_src); Mat chassis_save = chassis_src.clone(); cvtColor(chassis_save, chassis_save, COLOR_GRAY2BGR); chassis_video_writer.write(chassis_save); - } else if (!gimble_src.empty() && chassis_src.empty()) { - gimble_video_writer.write(gimble_src); - } else if (gimble_src.empty() && !chassis_src.empty()) { - if (show_origin)imshow("src", gimble_src); + } else if (!gimbal_src.empty() && chassis_src.empty()) { + gimbal_video_writer.write(gimbal_src); + } else if (gimbal_src.empty() && !chassis_src.empty()) { + if (show_origin)imshow("src", gimbal_src); Mat chassis_save = chassis_src.clone(); cvtColor(chassis_save, chassis_save, COLOR_GRAY2BGR); chassis_video_writer.write(chassis_save); } else return; } -void saveVideos(const cv::Mat &gimble_src) { - if (!gimble_src.empty()) { - gimble_video_writer.write(gimble_src); +void saveVideos(const cv::Mat &gimbal_src) { + if (!gimbal_src.empty()) { + gimbal_video_writer.write(gimbal_src); } else return; } -void showOrigin(const cv::Mat &gimble_src, const cv::Mat &chassis_src) { - if (!gimble_src.empty() && !chassis_src.empty()) { - imshow("gimble", gimble_src); +void showOrigin(const cv::Mat &gimbal_src, const cv::Mat &chassis_src) { + if (!gimbal_src.empty() && !chassis_src.empty()) { + imshow("gimbal", gimbal_src); imshow("chassis", chassis_src); - } else if (!gimble_src.empty() && chassis_src.empty()) { - imshow("gimble", gimble_src); - } else if (gimble_src.empty() && !chassis_src.empty()) { + } else if (!gimbal_src.empty() && chassis_src.empty()) { + imshow("gimbal", gimbal_src); + } else if (gimbal_src.empty() && !chassis_src.empty()) { imshow("chassis", chassis_src); } else return; cv::waitKey(1); } -void showOrigin(const cv::Mat &gimble_src) { - if (!gimble_src.empty()) { - imshow("gimble", gimble_src); +void showOrigin(const cv::Mat &gimbal_src) { + if (!gimbal_src.empty()) { + imshow("gimbal", gimbal_src); } else return; cv::waitKey(1); } -void extract(cv::Mat &gimble_src, cv::Mat &chassis_src) { - if (!gimble_src.empty() && !chassis_src.empty()) { - extract(gimble_src); +void extract(cv::Mat &gimbal_src, cv::Mat &chassis_src) { + if (!gimbal_src.empty() && !chassis_src.empty()) { + extract(gimbal_src); extract(chassis_src); - } else if (!gimble_src.empty() && chassis_src.empty()) { - extract(gimble_src); - } else if (gimble_src.empty() && !chassis_src.empty()) { + } else if (!gimbal_src.empty() && chassis_src.empty()) { + extract(gimbal_src); + } else if (gimbal_src.empty() && !chassis_src.empty()) { extract(chassis_src); } else return; } -void extract(cv::Mat &gimble_src) {//图像预处理，将视频切成640×480的大小 - if (gimble_src.empty()) return; - float length = static_cast(gimble_src.cols); - float width = static_cast(gimble_src.rows); +void extract(cv::Mat &gimbal_src) {//图像预处理，将视频切成640×480的大小 + if (gimbal_src.empty()) return; + float length = static_cast(gimbal_src.cols); + float width = static_cast(gimbal_src.rows); if (length / width > 640.0 / 480.0) { length *= 480.0 / width; - resize(gimble_src, gimble_src, cv::Size(length, 480)); - gimble_src = gimble_src(Rect((length - 640) / 2, 0, 640, 480)); + resize(gimbal_src, gimbal_src, cv::Size(length, 480)); + gimbal_src = gimbal_src(Rect((length - 640) / 2, 0, 640, 480)); } else { width *= 640.0 / length; - resize(gimble_src, gimble_src, cv::Size(640, width)); - gimble_src = gimble_src(Rect(0, (width - 480) / 2, 640, 480)); + resize(gimbal_src, gimbal_src, cv::Size(640, width)); + gimbal_src = gimbal_src(Rect(0, (width - 480) / 2, 640, 480)); } } \ No newline at end of file