删除不必要代码。

armor/include/armor_finder/armor_finder.h

@@ -84,7 +84,6 @@ public:
     double lengthDistanceRatio() const;
     double getBoxDistance() const;
     BoxOrientation getOrientation() const;
-//    double
 
     bool operator<(const ArmorBox &box) const;
 };
@@ -108,10 +107,6 @@ private:
         NORMAL, ANTI_TOP
     } AntiTopState;
 
-    typedef enum{
-        INCREASE, DECREASE, NOCHANGE
-    } BoxRatioChangeType;
-
     systime frame_time;                                 // 当前帧对应时间;
     const uint8_t &enemy_color;                         // 敌方颜色，引用外部变量，自动变化
     State state;                                        // 自瞄状态对象实例
@@ -119,7 +114,7 @@ private:
     int anti_switch_cnt;                                // 防止乱切目标计数器
     cv::Ptr<cv::Tracker> tracker;                       // tracker对象实例
     Classifier classifier;                              // CNN分类器对象实例，用于数字识别
-    int  contour_area;                                  // 装甲区域亮点个数，用于数字识别未启用时判断是否跟丢（已弃用）
+    int contour_area;                                  // 装甲区域亮点个数，用于数字识别未启用时判断是否跟丢（已弃用）
     int tracking_cnt;                                   // 记录追踪帧数，用于定时退出追踪
     Serial &serial;                                     // 串口对象，引用外部变量，用于和能量机关共享同一个变量
     const uint8_t &use_classifier;                      // 标记是否启用CNN分类器，引用外部变量，自动变化
@@ -135,12 +130,11 @@ private:
     bool stateTrackingTarget(cv::Mat &src);             // tracking state主函数
     bool stateStandBy();                                // stand by state主函数（已弃用）
 
-    void antiTop();                                    // 反小陀螺
-    BoxRatioChangeType getRatioChangeType(RoundQueue<double, 5> &vec);
+    void antiTop();                                     // 反小陀螺
 
+    bool sendBoxPosition(uint16_t shoot);               // 和主控板通讯
 public:
     void run(cv::Mat &src);                             // 自瞄主函数
-    bool sendBoxPosition(uint16_t shoot);                             // 和主控板通讯
 };
 
 #endif /* _ARMOR_FINDER_H_ */

armor/src/armor_finder/anti_top/anti_top.cpp

@@ -6,13 +6,6 @@
 #include <additions.h>
 #include <log.h>
 
-static double boxDistance(const cv::Rect2d &a, const cv::Rect2d &b) {
-    cv::Point2d centerA(a.x + a.width / 2, a.y + a.height / 2);
-    cv::Point2d centerB(b.x + b.width / 2, b.y + b.height / 2);
-    auto dist = centerA - centerB;
-    return sqrt(dist.x * dist.x + dist.y * dist.y);
-}
-
 template<int length>
 static double mean(RoundQueue<double, length> &vec) {
     double sum = 0;
@@ -22,63 +15,6 @@ static double mean(RoundQueue<double, length> &vec) {
     return sum / length;
 }
 
-ArmorFinder::BoxRatioChangeType ArmorFinder::getRatioChangeType(RoundQueue<double, 5> &vec) {
-    auto d = (vec[0] - vec[1] + vec[3] + vec[4]);
-    if (d > 0.15) {
-        return INCREASE;
-    } else if (d < -0.15) {
-        return DECREASE;
-    } else {
-        return NOCHANGE;
-    }
-}
-
-/*
-void ArmorFinder::antiTop() {
-    if (target_box.rect == cv::Rect2d()) return;
-    uint16_t shoot_delay = 0;
-    auto interval = getTimeIntervalms(frame_time, last_front_time);
-    box_ratioes.push(target_box.rect.width / target_box.rect.height);
-    auto change_type = getRatioChangeType(box_ratioes);
-    auto orientation = target_box.getOrientation();
-    if (interval > 700) {
-        anti_top_cnt = 0;
-        if (anti_top_state == ANTI_TOP) {
-            anti_top_state = NORMAL;
-            LOGM(STR_CTR(WORD_YELLOW, "switch to normal"));
-        }
-    }
-    if (change_type == INCREASE && last_ratio_type != change_type) {
-        last_front_time = frame_time;
-        if (150 < interval && interval < 700) {
-            if (anti_top_state == ANTI_TOP) {
-                top_periodms.push(interval);
-                LOGM(STR_CTR(WORD_LIGHT_GREEN, "top period: %.1lf ms"), interval);
-                systime curr_time;
-                getsystime(curr_time);
-                auto calculate_time = getTimeIntervalms(curr_time, frame_time);
-                shoot_delay = mean(top_periodms) - calculate_time;
-            } else if (anti_top_state == NORMAL) {
-                if (++anti_top_cnt > 4) {
-                    anti_top_state = ANTI_TOP;
-                    LOGM(STR_CTR(WORD_CYAN, "switch to anti-top"));
-                }
-            }
-        }
-    }
-    if (change_type != NOCHANGE) {
-        last_ratio_type = change_type;
-    }
-    if (anti_top_state == ANTI_TOP) {
-        if (orientation == ArmorBox::FRONT) {
-            sendBoxPosition(shoot_delay);
-        }
-    } else if (anti_top_state == NORMAL) {
-        sendBoxPosition(shoot_delay);
-    }
-}
-*/
-
 void ArmorFinder::antiTop() {
     if (target_box.rect == cv::Rect2d()) return;
     uint16_t shoot_delay = 0;

armor/src/armor_finder/searching_state/searching_state.cpp

@@ -8,10 +8,6 @@
 #include <log.h>
 
 bool ArmorFinder::stateSearchingTarget(cv::Mat &src) {
-//    if(anti_switch_cnt >= 3){
-//        last_box = ArmorBox();
-//        anti_switch_cnt = 0;
-//    }
     if (findArmorBox(src, target_box)) {
         if (last_box.rect != cv::Rect2d() &&
             (getPointLength(last_box.getCenter() - target_box.getCenter()) > last_box.rect.height * 2.0) &&