Auto Aim

energy/src/energy/calibrate/structing.cpp

@@ -11,7 +11,7 @@ using std::vector;
 void Energy::StructingElementClose(cv::Mat &src){
     if (src.empty())return;
     //threshold(src, src, energy_part_param_.CAMERA_GRAY_THRESH, 255, THRESH_BINARY);
-    Mat element = getStructuringElement(MORPH_RECT, Size(6, 6));
+    Mat element = getStructuringElement(MORPH_RECT, Size(10, 10));
     morphologyEx(src, src, MORPH_CLOSE, element);
 }
 

energy/src/energy/find/energy_finder.cpp

@@ -36,6 +36,7 @@ int Energy::findFan(const cv::Mat &src, vector<EnergyPart> &fans, int &last_fans
 
         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;
+        cout<<"fan area: "<<length<<'\t'<<width<<endl;
 
 //		if(length>20&&width>20){
 //			cout<<cur_rect.center;

energy/src/energy/param_init.cpp

@@ -13,16 +13,16 @@ void Energy::initEnergyPartParam() {
     energy_part_param_.RPM = 10;
     energy_part_param_.HIT_TIME = 1.14;
 
-	energy_part_param_.GRAY_THRESH = 240;
+	energy_part_param_.GRAY_THRESH = 220;
 	energy_part_param_.SPLIT_GRAY_THRESH = 60;
 	energy_part_param_.FAN_GRAY_THRESH = 75;
 	energy_part_param_.ARMOR_GRAY_THRESH = 80;
 
 	energy_part_param_.FAN_CONTOUR_AREA_MAX = 17000;
 	energy_part_param_.FAN_CONTOUR_AREA_MIN = 0;
-	energy_part_param_.FAN_CONTOUR_LENGTH_MIN = 100;
+	energy_part_param_.FAN_CONTOUR_LENGTH_MIN = 90;
     energy_part_param_.FAN_CONTOUR_LENGTH_MAX = 140;
-	energy_part_param_.FAN_CONTOUR_WIDTH_MIN = 40;
+	energy_part_param_.FAN_CONTOUR_WIDTH_MIN = 35;
     energy_part_param_.FAN_CONTOUR_WIDTH_MAX = 60;
 	energy_part_param_.FAN_CONTOUR_HW_RATIO_MAX = 4;
 	energy_part_param_.FAN_CONTOUR_HW_RATIO_MIN = 1;

energy/src/energy/run.cpp

@@ -12,7 +12,7 @@ extern float curr_yaw, curr_pitch, mark_yaw, mark_pitch;
 extern int mark;
 
 int Energy::run(cv::Mat &src){
-//    imshow("src",src);
+    imshow("src",src);
     fans.clear();
     armors.clear();
     fanPosition.clear();
@@ -25,11 +25,11 @@ int Energy::run(cv::Mat &src){
 //    if(first_armor_centers.size()>200)first_armor_centers.clear();
 //    cout<<"first_armor_centers.size(): "<<first_armor_centers.size()<<endl;
 
-    imagePreprocess(src);
+//    imagePreprocess(src);
 //    imshow("img_preprocess",src);
 
     threshold(src, src, energy_part_param_.GRAY_THRESH, 255, THRESH_BINARY);
-//    imshow("bin",src);
+    imshow("bin",src);
 
 
     fans_cnt = findFan(src, fans, last_fans_cnt);
@@ -51,8 +51,8 @@ int Energy::run(cv::Mat &src){
     cout<<"all_armor_centers.size(): "<<all_armor_centers.size()<<endl;
     cycleLeastFit();
 
-//    cycle_center = cv::Point(212,246);
+    cycle_center = cv::Point(321,319);
-//    radius = 123.942;
+    radius = 109.178;
     attack_distance = ATTACK_DISTANCE * 123.323 / radius;
 
     getFanPosition(fanPosition, fans, cycle_center, radius);

main.cpp

@@ -51,13 +51,13 @@ int main(int argc, char *argv[])
 		WrapperHead *video_armor;
         WrapperHead *video_energy;
 		if(from_camera) {
-            video_armor = new CameraWrapper("armor");
+//            video_armor = new CameraWrapper();
-            video_energy = new CameraWrapper("energy");
+            video_energy = new CameraWrapper();
         }else {
             video_armor = new VideoWrapper("r_l_640.avi");
             video_energy = new VideoWrapper("r_l_640.avi");
         }
-		if (video_energy->init() && video_armor->init()) {
+		if (video_energy->init()) {
 			cout << "Video source initialization successfully." << endl;
 		}
 
@@ -69,7 +69,7 @@ int main(int argc, char *argv[])
         energy.setAllyColor(ally_color);
         energy.setRotation(energy_part_rotation);
 
-		while (video_energy->read(energy_src) && video_armor->read(armor_src))
+		while (video_energy->read(energy_src) && video_energy->read(armor_src))
 		{
 		    if(show_origin) {
                 imshow("enery src", energy_src);
@@ -90,7 +90,7 @@ int main(int argc, char *argv[])
 				break;
 			}
 		}
-		delete video_energy, video_armor;
+		delete video_energy;
 		cout << "Program fails. Restarting" << endl;
 	}
 
@@ -119,7 +119,7 @@ void uartReceive(Uart* uart){
             }
             memcpy(&curr_yaw, buffer, 4);
             memcpy(&curr_pitch, buffer+4, 4);
-//            LOGM("Get yaw:%f pitch:%f", curr_yaw, curr_pitch);
+            LOGM("Get yaw:%f pitch:%f", curr_yaw, curr_pitch);
             if(buffer[9] == 1){
                 if(mark == 0){
                     mark = 1;

others/include/camera/camera_wrapper.h

@@ -19,6 +19,7 @@
 class CameraWrapper: public WrapperHead {
 private:
     const std::string name;
+    int mode;
 
     unsigned char* rgb_buffer;
     int camera_cnts;
@@ -37,6 +38,9 @@ private:
 public:
     CameraWrapper();
     CameraWrapper(const std::string &n);
+    CameraWrapper(int camera_mode);
+    CameraWrapper(const std::string &n,int camera_mode);
+
     ~CameraWrapper() final;
 
     bool init() final;

others/src/camera/camera_wrapper.cpp

@@ -9,16 +9,36 @@ using std::cout;
 using std::endl;
 using namespace cv;
 
-CameraWrapper::CameraWrapper(const std::string &n):
+CameraWrapper::CameraWrapper():
-    name(n),
+        name("NULL"),
+        mode(1),
         camera_cnts(2),
         camera_status(-1),
         iplImage(nullptr),
         channel(3){
 }
 
-CameraWrapper::CameraWrapper():
+CameraWrapper::CameraWrapper(const std::string &n):
+        name(n),
+        mode(1),
+        camera_cnts(2),
+        camera_status(-1),
+        iplImage(nullptr),
+        channel(3){
+}
+
+CameraWrapper::CameraWrapper(int camera_mode):
         name("NULL"),
+        mode(camera_mode),
+        camera_cnts(2),
+        camera_status(-1),
+        iplImage(nullptr),
+        channel(3){
+}
+
+CameraWrapper::CameraWrapper(const std::string &n,int camera_mode):
+        name(n),
+        mode(camera_mode),
         camera_cnts(2),
         camera_status(-1),
         iplImage(nullptr),
@@ -68,7 +88,7 @@ bool CameraWrapper::init() {
 
     rgb_buffer = (unsigned char *)malloc(tCapability.sResolutionRange.iHeightMax *
             tCapability.sResolutionRange.iWidthMax * 3);
-
+    if(mode == 0){
         // 不使用自动曝光
         CameraSetAeState(h_camera, false);
         // 曝光时间10ms
@@ -77,6 +97,13 @@ bool CameraWrapper::init() {
         CameraSetAnalogGain(h_camera, 63);
         // 使用预设LUT表
         CameraSetLutMode(h_camera, LUTMODE_PRESET);
+    }
+    else if(mode == 1){
+        // 使用自动曝光
+        CameraSetAeState(h_camera, true);
+        // 抗频闪
+//        CameraSetAntiFlick(h_camera, true);
+    }
 
     /*让SDK进入工作模式，开始接收来自相机发送的图像
     数据。如果当前相机是触发模式，则需要接收到