149 lines
5.2 KiB
C++
149 lines
5.2 KiB
C++
//
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// Created by xixiliadorabarry on 3/5/19.
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//
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#include "energy/energy.h"
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#include "log.h"
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#include "config/setconfig.h"
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#include "options.h"
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using namespace std;
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using namespace cv;
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//----------------------------------------------------------------------------------------------------------------------
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// 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
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// ---------------------------------------------------------------------------------------------------------------------
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void Energy::runBig(cv::Mat &gimbal_src, cv::Mat &chassis_src) {
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if (chassis_src.empty())
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runBig(gimbal_src);//仅拥有云台摄像头则调用单摄像头的run函数
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else if (is_gimbal) {
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energy_part_param_ = gimbal_energy_part_param_;
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clearAll();
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initImage(gimbal_src);
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camera_cnt = 2;
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if (findArmors(gimbal_src) < 1)return;
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if (show_energy)showArmors("armor", gimbal_src);
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if (!findFlowStripFan(gimbal_src))return;
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if (!findTargetInFlowStripFan()) return;
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if (!findFlowStrip(gimbal_src))return;
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if (!findCenterROI(gimbal_src))return;
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if (show_energy)showFlowStripFan("strip", gimbal_src);
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if (!findCenterR(gimbal_src))return;
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if (show_energy)showCenterR("R", gimbal_src);
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if (!getOrigin())return;
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startChassis();
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initEnergy();
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destroyAllWindows();
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} else if (is_chassis) {
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energy_part_param_ = chassis_energy_part_param_;
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clearAll();
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initImage(chassis_src);
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changeMark();
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if (is_mark)return;//操作手强制手动标定origin_yaw和origin_pitch
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if (findArmors(chassis_src) < 1)return;
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if (show_energy)showArmors("armor", chassis_src);
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if (!findFlowStripFan(chassis_src))return;
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if (!findTargetInFlowStripFan()) return;
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if (!findFlowStrip(gimbal_src))return;
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if (!findCenterROI(chassis_src))return;
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if (show_energy)showFlowStripFan("strip", chassis_src);
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if (!findCenterR(chassis_src))return;
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if (show_energy)showCenterR("R", chassis_src);
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getTargetPolarAngle();
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changeTarget();
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if (is_big && energy_rotation_init) {
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initRotation();
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return;
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}
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if (save_mark)writeDownMark(chassis_src);
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getPredictPoint(target_point);
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gimbalRotation();
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judgeShootInWorld();
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sendEnergy();
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}
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}
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//----------------------------------------------------------------------------------------------------------------------
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// 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
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// ---------------------------------------------------------------------------------------------------------------------
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void Energy::runBig(cv::Mat &gimbal_src) {
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energy_part_param_ = gimbal_energy_part_param_;
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clearAll();
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initImage(gimbal_src);
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if (show_process)imshow("bin", gimbal_src);
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if (findArmors(gimbal_src) < 1)return;
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if (show_energy)showArmors("armor", gimbal_src);
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if (!findFlowStripFan(gimbal_src)) {
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if (!findFlowStripWeak(gimbal_src))return;
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} else {
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if (show_energy)showFlowStripFan("strip fan", gimbal_src);
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if (!findTargetInFlowStripFan()) return;
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if (!findFlowStrip(gimbal_src))return;
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}
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if (!findCenterROI(gimbal_src))return;
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if (show_energy)showFlowStrip("strip", gimbal_src);
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if (!findCenterR(gimbal_src))return;
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if (show_energy)showCenterR("R", gimbal_src);
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fans_cnt = findFans(gimbal_src);
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if (show_energy)showFans("fans", gimbal_src);
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// getCenter();
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// sendEnergy();
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// return;
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changeTarget();
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getTargetPolarAngle();
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if (energy_rotation_init) {
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initRotation();
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return;
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}
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if (save_mark)writeDownSlightChange(gimbal_src);
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getPredictPoint(target_point);
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getAimPoint(predict_point);
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judgeShootInGimbal();
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sendEnergy();
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}
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//----------------------------------------------------------------------------------------------------------------------
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// 此函数为小能量机关模式主控制流函数，击打小符只需要拥有云台摄像头
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// ---------------------------------------------------------------------------------------------------------------------
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void Energy::runSmall(cv::Mat &gimbal_src) {
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energy_part_param_ = gimbal_energy_part_param_;
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clearAll();
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initImage(gimbal_src);
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if (show_process)imshow("bin", gimbal_src);
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if (findArmors(gimbal_src) < 1)return;
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if (show_energy)showArmors("armor", gimbal_src);
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if (!findFlowStripFan(gimbal_src)) {
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if (!findFlowStripWeak(gimbal_src))return;
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} else {
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if (show_energy)showFlowStripFan("strip fan", gimbal_src);
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if (!findTargetInFlowStripFan()) return;
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if (!findFlowStrip(gimbal_src))return;
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}
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if (show_energy)showTarget("target", gimbal_src);
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fans_cnt = findFans(gimbal_src);
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if (show_energy)showFans("fans", gimbal_src);
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// getCenter();
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// sendEnergy();
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// return;
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changeTarget();
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if (save_mark)writeDownSlightChange(gimbal_src);
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getPredictPoint(target_point);
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getAimPoint(predict_point);
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judgeShootInGimbal();
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sendEnergy();
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}
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