VSAG/amadeus_26_fb
3
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

energy changed

Browse Source
This commit is contained in:
sun
2019-07-05 16:34:03 +08:00
parent da45e62806
commit ba85a1e27f
7 changed files with 105 additions and 69 deletions
Download Patch File Download Diff File Expand all files Collapse all files

16
energy/include/energy/constant.h
View File

@@ -18,28 +18,12 @@ const double PI = 3.1415926;
const int CLOCKWISE = 1;
const int ANTICLOCKWISE = -1;
const float ATTACK_DISTANCE = 718;//cm
const double WHOLE_FAN = 80;//cm
const double ARMOR_CENTER_TO_CYCLE_CENTER = 75;//cm
//const double ARMOR_CENTER_TO_CYCLE_CENTER = 71;//cm
const int EXTRACT_POINT_X = 120;
const int EXTRACT_POINT_Y = 0;
const int EXTRACT_WIDTH = 400;
const int EXTRACT_HEIGHT = 300;
//以摄像头正方向位y轴
const int GM_L = 14;//云台摄像头z方向
const int GM_X = 15;//云台摄像头x方向
const int GM_H = 16;//云台摄像头y方向
//const double STRETCH = 231.0/640.0;//实际距离与图像伸缩比
const double STRETCH = 0.34;
const int ZERO_POINT_X = 281;
const int ZERO_POINT_Y = 188;
const double YAW_ORIGIN_RAD = PI/180*2.25;
const double PITCH_ORIGIN_RAD = PI/180*14.85;
const double LIFT_HEIGHT = 20;//云台抬升高度
#endif //CONSTANT_H

2
energy/include/energy/energy.h
View File

@@ -25,7 +25,7 @@ class Energy {
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
int run(cv::Mat &src);
int run(cv::Mat &gimble_src, cv::Mat &base_src);
Serial &serial;//串口
void setEnergyRotationInit();//判断顺逆时针函数
void extract(cv::Mat &src);//框取图像中的一块区域进行处理

68
energy/include/energy/param_struct_define.h
View File

@@ -10,6 +10,11 @@
using std::vector;
//----------------------------------------------------------------------------------------------------------------------
// 此结构体为能量机关模块的结构体，用于寻找矩形轮廓
// ---------------------------------------------------------------------------------------------------------------------
struct EnergyPart {
cv::RotatedRect rect;
float angle;
@@ -21,40 +26,45 @@ struct EnergyPart {
};
};
//----------------------------------------------------------------------------------------------------------------------
// 此结构体包括能量机关参数
// ---------------------------------------------------------------------------------------------------------------------
struct EnergyPartParam {
int GRAY_THRESH;
int SPLIT_GRAY_THRESH;
int FAN_GRAY_THRESH;
int ARMOR_GRAY_THRESH;
int GRAY_THRESH;//二值化阈值
int SPLIT_GRAY_THRESH;//通道分离二值化阈值
int FAN_GRAY_THRESH;//扇叶识别二值化阈值
int ARMOR_GRAY_THRESH;//装甲板识别二值化阈值
long FAN_CONTOUR_AREA_MAX;
long FAN_CONTOUR_AREA_MIN;
long FAN_CONTOUR_LENGTH_MIN;
long FAN_CONTOUR_LENGTH_MAX;
long FAN_CONTOUR_WIDTH_MIN;
long FAN_CONTOUR_WIDTH_MAX;
float FAN_CONTOUR_HW_RATIO_MAX;
float FAN_CONTOUR_HW_RATIO_MIN;
long FAN_CONTOUR_AREA_MAX;//扇叶面积最大值
long FAN_CONTOUR_AREA_MIN;//扇叶面积最小值
long FAN_CONTOUR_LENGTH_MIN;//扇叶长边长度最小值
long FAN_CONTOUR_LENGTH_MAX;//扇叶长边长度最大值
long FAN_CONTOUR_WIDTH_MIN;//扇叶宽边长度最小值
long FAN_CONTOUR_WIDTH_MAX;//扇叶宽边长度最大值
float FAN_CONTOUR_HW_RATIO_MAX;//扇叶长宽比最大值
float FAN_CONTOUR_HW_RATIO_MIN;//扇叶长宽比最小值
long ARMOR_CONTOUR_AREA_MAX;
long ARMOR_CONTOUR_AREA_MIN;
long ARMOR_CONTOUR_LENGTH_MIN;
long ARMOR_CONTOUR_WIDTH_MIN;
long ARMOR_CONTOUR_LENGTH_MAX;
long ARMOR_CONTOUR_WIDTH_MAX;
float ARMOR_CONTOUR_HW_RATIO_MAX;
float ARMOR_CONTOUR_HW_RATIO_MIN;
long ARMOR_CONTOUR_AREA_MAX;//装甲板面积最大值
long ARMOR_CONTOUR_AREA_MIN;//装甲板面积最小值
long ARMOR_CONTOUR_LENGTH_MIN;//装甲板长边长度最小值
long ARMOR_CONTOUR_WIDTH_MIN;//装甲板长边长度最大值
long ARMOR_CONTOUR_LENGTH_MAX;//装甲板宽边长度最小值
long ARMOR_CONTOUR_WIDTH_MAX;//装甲板宽边长度最大值
float ARMOR_CONTOUR_HW_RATIO_MAX;//装甲板长宽比最大值
float ARMOR_CONTOUR_HW_RATIO_MIN;//装甲板长宽比最小值
long CENTER_R_CONTOUR_AREA_MAX;
long CENTER_R_CONTOUR_AREA_MIN;
long CENTER_R_CONTOUR_LENGTH_MIN;
long CENTER_R_CONTOUR_WIDTH_MIN;
long CENTER_R_CONTOUR_LENGTH_MAX;
long CENTER_R_CONTOUR_WIDTH_MAX;
float CENTER_R_CONTOUR_HW_RATIO_MAX;
float CENTER_R_CONTOUR_HW_RATIO_MIN;
long CENTER_R_CONTOUR_AREA_MAX;//风车中心R面积最大值
long CENTER_R_CONTOUR_AREA_MIN;//风车中心R面积最小值
long CENTER_R_CONTOUR_LENGTH_MIN;//风车中心R长边长度最小值
long CENTER_R_CONTOUR_WIDTH_MIN;//风车中心R长边长度最大值
long CENTER_R_CONTOUR_LENGTH_MAX;//风车中心R宽边长度最小值
long CENTER_R_CONTOUR_WIDTH_MAX;//风车中心R宽边长度最大值
float CENTER_R_CONTOUR_HW_RATIO_MAX;//风车中心R长宽比最大值
float CENTER_R_CONTOUR_HW_RATIO_MIN;//风车中心R长宽比最小值
float TWIN_ANGEL_MAX;
float TWIN_ANGEL_MAX;//扇叶和装甲板匹配时极坐标角度差的最大值
};

5
energy/src/energy/run.cpp
View File

@@ -14,7 +14,10 @@ using std::vector;
//----------------------------------------------------------------------------------------------------------------------
// 此函数为能量机关模式主控制流函数
// ---------------------------------------------------------------------------------------------------------------------
int Energy::run(cv::Mat &src){
int Energy::run(cv::Mat &gimble_src, cv::Mat &base_src){
cv::Mat src = gimble_src;
// imshow("src",src);
fans.clear();
armors.clear();