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energy change

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sun
2019-07-18 20:53:56 +08:00
parent aff8d1a0d8
commit e1c7e04138
8 changed files with 42 additions and 36 deletions
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4
energy/src/energy/clear/clear.cpp
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@@ -23,8 +23,8 @@ void Energy::clearAll(){
// 此函数用于图像预处理
// ---------------------------------------------------------------------------------------------------------------------
void Energy::initImage(cv::Mat &src){
imagePreprocess(src);
if(show_process)imshow("img_preprocess", src);
// imagePreprocess(src);
// if(show_process)imshow("img_preprocess", src);
if (src.type() == CV_8UC3)cvtColor(src, src, COLOR_BGR2GRAY);
threshold(src, src, energy_part_param_.GRAY_THRESH, 255, THRESH_BINARY);
if (show_process)imshow("bin", src);

18
energy/src/energy/clear/energy_init.cpp
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@@ -125,15 +125,15 @@ void Energy::initEnergyPartParam() {
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 = 40;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_LENGTH_MAX = 65;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_WIDTH_MIN = 8;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_WIDTH_MAX = 20;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_LENGTH_MIN = 45;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_LENGTH_MAX = 70;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_WIDTH_MIN = 12;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_WIDTH_MAX = 24;
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_HW_RATIO_MIN = 2.7;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_AREA_RATIO_MIN = 0.5;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_INTERSETION_AREA_MIN = 117;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_HW_RATIO_MIN = 2.5;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_AREA_RATIO_MIN = 0.6;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_INTERSETION_AREA_MIN = 100;
gimbal_energy_part_param_.TWIN_ANGEL_MAX = 10;
gimbal_energy_part_param_.TARGET_INTERSETION_CONTOUR_AREA_MIN = 40;
@@ -229,11 +229,11 @@ void Energy::initRotation() {
else if (target_polar_angle > last_target_polar_angle) anticlockwise_rotation_init_cnt++;
}
//由于刚开始圆心判断不准，角度变化可能计算有误，因此需要在角度正向或逆向变化足够大时才可确定是否为顺逆时针
if (clockwise_rotation_init_cnt == 30) {
if (clockwise_rotation_init_cnt == 15) {
energy_rotation_direction = CLOCKWISE;//顺时针变化30次，确定为顺时针
cout << "rotation: " << energy_rotation_direction << endl;
energy_rotation_init = false;
} else if (anticlockwise_rotation_init_cnt == 30) {
} else if (anticlockwise_rotation_init_cnt == 15) {
energy_rotation_direction = ANTICLOCKWISE;//逆时针变化30次，确定为顺时针
cout << "rotation: " << energy_rotation_direction << endl;
energy_rotation_init = false;

4
energy/src/energy/find/energy_finder.cpp
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@@ -228,7 +228,7 @@ bool Energy::findFlowStrip(const cv::Mat src) {
// Size2f cur_size = cur_rect.size;
// 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;
// if (length / width > 4 && width > 7 && width<30) {
// if (length / width > 2.5 && width > 7 && width<40) {
// cout << cur_rect.center << endl;
// flow_strip = cv::minAreaRect(flow_strip_contour);
// cout << "flow strip area: " << length << '\t' << width << endl;
@@ -252,7 +252,7 @@ bool Energy::findCenterROI(const cv::Mat src) {
vector<Point2f> mask_rect;
target_armor.points(vertices); //计算矩形的4个顶点
for (int i = 0; i < 4; i++)
line(src_mask, vertices[i], vertices[(i + 1) % 4], Scalar(0, 0, 0), 15);
line(src_mask, vertices[i], vertices[(i + 1) % 4], Scalar(0, 0, 0), 20);
// imshow("fill", src_mask);
if (!findFlowStrip(src_mask))return false;
float length = target_armor.size.height > target_armor.size.width ?

4
energy/src/energy/get/aim_point_get.cpp
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@@ -13,8 +13,8 @@ using namespace cv;
// ---------------------------------------------------------------------------------------------------------------------
void Energy::getAimPoint(cv::Point target_point) {
//五号车
double dx = -(target_point.x - 320 - 10);
double dy = -(target_point.y - 240 - 22);
double dx = -(target_point.x - 320 - 3);
double dy = -(target_point.y - 240 - 74);
//四号车
// double dx = -(target_point.x - 320 + 16);
// double dy = -(target_point.y - 240 - 82);

8
energy/src/energy/get/origin_get.cpp
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@@ -13,8 +13,12 @@ using namespace cv;
// ---------------------------------------------------------------------------------------------------------------------
bool Energy::getOrigin() {
if (!auto_mark && !manual_mark) {
double dx = -(circle_center_point.x - 320 - 10);
double dy = -(circle_center_point.y - 240 - 22);
//五号车
// double dx = -(circle_center_point.x - 320 - 10);
// double dy = -(circle_center_point.y - 240 - 22);
//四号车
double dx = -(circle_center_point.x - 320 - 3);
double dy = -(circle_center_point.y - 240 - 74);
center_delta_yaw = static_cast<float>(atan(dx / FOCUS_PIXAL) * 180 / PI);
center_delta_pitch = static_cast<float>(atan(dy / FOCUS_PIXAL) * 180 / PI);
if (abs(center_delta_yaw) > 0.3 || abs(center_delta_pitch) > 0.3) {

1
energy/src/energy/judge/judge_contour.cpp
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@@ -204,6 +204,7 @@ bool Energy::isValidFlowStripContour(const vector<cv::Point> &flow_strip_contour
length > energy_part_param_.FLOW_STRIP_CONTOUR_LENGTH_MAX ||
width > energy_part_param_.FLOW_STRIP_CONTOUR_WIDTH_MAX) {
// cout<<"length width fail."<<endl;
// cout << "length: " << length << '\t' << "width: " << width << endl;
return false;
//矩形边长不合适
}

37
energy/src/energy/run.cpp
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@@ -101,9 +101,11 @@ void Energy::runBig(cv::Mat &gimbal_src) {
if (show_energy)showCenterR("R", gimbal_src);
changeTarget();
getTargetPolarAngle();
// cout << circle_center_point<< endl;
// judgeMode();
// if (energy_mode_init)return;
if (!getOrigin())return;
// if (!getOrigin())return;
if (energy_rotation_init) {
initRotation();
return;
@@ -112,9 +114,8 @@ void Energy::runBig(cv::Mat &gimbal_src) {
if (is_predicting) {
getPredictPoint(target_point);
getAimPoint(predict_point);
cout << yaw_rotation << '\t' << pitch_rotation << endl;
// cout << yaw_rotation << '\t' << pitch_rotation << endl;
judgeShootInGimbal();
sendTarget(serial, yaw_rotation, pitch_rotation, shoot);
} else if (is_guessing && stayGuessing()) {
findFans(gimbal_src);
@@ -127,21 +128,21 @@ void Energy::runBig(cv::Mat &gimbal_src) {
sendTarget(serial, yaw_rotation, pitch_rotation, 5);
}
// if (is_predicting) {
// getPredictPoint(target_point);
// gimbalRotation();
// judgeShootInWorld();
// sendTarget(serial, yaw_rotation, pitch_rotation, shoot);
// } else if (is_guessing && stayGuessing()) {
// findFans(gimbal_src);
// if (show_energy)showFans("fans", gimbal_src);
// if (save_mark)writeDownMark();
// guessTarget();
// if (show_energy)showGuessTarget("guess", gimbal_src);
// getPredictPoint(guess_point);
// gimbalRotation();
// sendTarget(serial, yaw_rotation, pitch_rotation, 5);
// }
if (is_predicting) {
getPredictPoint(target_point);
gimbalRotation();
judgeShootInWorld();
sendTarget(serial, yaw_rotation, pitch_rotation, shoot);
} else if (is_guessing && stayGuessing()) {
findFans(gimbal_src);
if (show_energy)showFans("fans", gimbal_src);
if (save_mark)writeDownMark();
guessTarget();
if (show_energy)showGuessTarget("guess", gimbal_src);
getPredictPoint(guess_point);
gimbalRotation();
sendTarget(serial, yaw_rotation, pitch_rotation, 5);
}
}

2
others/src/additions/additions.cpp
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@@ -37,7 +37,7 @@ void uartReceive(Serial *pSerial) {
pSerial->ReadData((uint8_t *) buffer, sizeof(mcuData)+1);
if (buffer[sizeof(mcuData)] == '\n') {
memcpy(&mcuData, buffer, sizeof(mcuData));
// LOGM("Get, state:%c, mark:%d!", mcuData.state, (int) mcuData.mark);
LOGM("Get, state:%c, mark:%d!", mcuData.state, (int) mcuData.mark);
// LOGM("Get yaw: %f, pitch: %f!", mcuData.curr_yaw, mcuData.curr_pitch);
// static int t = time(nullptr);
// static int cnt = 0;