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This commit is contained in:
xinyang
2019-05-15 16:32:30 +08:00
parent 6980145e83
commit 0d6aae81b8
7 changed files with 46 additions and 39 deletions
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8
energy/src/energy/calibrate/structing.cpp
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@@ -28,14 +28,14 @@ void Energy::StructingElementErodeDilate(cv::Mat &src) {
// imshow("dilate_1", src); // imshow("dilate_1", src);
erode(src,src, element_erode_1); erode(src,src, element_erode_1);
imshow("erode_1", src); // imshow("erode_1", src);
dilate(src, src, element_dilate_2); dilate(src, src, element_dilate_2);
imshow("dilate_2", src); // imshow("dilate_2", src);
erode(src,src, element_erode_2); erode(src,src, element_erode_2);
imshow("erode_2", src); // imshow("erode_2", src);
dilate(src, src, element_dilate_3); dilate(src, src, element_dilate_3);
imshow("dilate_3", src); // imshow("dilate_3", src);
} }

5
energy/src/energy/find/energy_finder.cpp
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@@ -19,7 +19,8 @@ int Energy::findFan(const cv::Mat &src, vector<EnergyPart> &fans, int &last_fans
std::vector<vector<Point> > fan_contours; std::vector<vector<Point> > fan_contours;
StructingElementClose(src_bin,6,6); StructingElementClose(src_bin,6,6);
imshow("fan struct",src_bin);
// imshow("fan struct",src_bin);
findContours(src_bin, fan_contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE); findContours(src_bin, fan_contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE);
@@ -72,7 +73,7 @@ int Energy::findArmor(const cv::Mat &src, vector<EnergyPart> &armors, int &last_
StructingElementErodeDilate(src_bin); StructingElementErodeDilate(src_bin);
// StructingElementClose(src_bin,10,10); // StructingElementClose(src_bin,10,10);
imshow("armor struct",src_bin); // imshow("armor struct",src_bin);
findContours(src_bin, armor_contours, CV_RETR_LIST, CV_CHAIN_APPROX_NONE); findContours(src_bin, armor_contours, CV_RETR_LIST, CV_CHAIN_APPROX_NONE);
findContours(src_bin, armor_contours_external, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE); findContours(src_bin, armor_contours_external, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE);

34
energy/src/energy/get/gimble_rotation_get.cpp
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@@ -16,38 +16,38 @@ void Energy::gimbleRotation(){
cv::Point2f real_hit_point; cv::Point2f real_hit_point;
stretch(hit_point, real_hit_point); stretch(hit_point, real_hit_point);
float origin_yaw = -0.13;
float origin_pitch = 13.18;
/*origin_yaw = mark_yaw;
origin_pitch = mark_pitch;*/
if(position_mode == 1){ if(position_mode == 1){
yaw_rotation = static_cast<float>(180 / PI * atan2((attack_distance * tan(mark_yaw * PI / 180) - real_hit_point.x), attack_distance)); yaw_rotation = static_cast<float>(180 / PI * atan2((attack_distance * tan(origin_yaw * PI / 180) - real_hit_point.x), attack_distance));
pitch_rotation = static_cast<float>(180 / PI * atan2((attack_distance*tan(mark_pitch*PI/180)-real_hit_point.y), attack_distance)); pitch_rotation = static_cast<float>(180 / PI * atan2((attack_distance*tan(origin_pitch*PI/180)-real_hit_point.y), attack_distance));
} }
else if(position_mode == 2){ else if(position_mode == 2){
yaw_rotation = static_cast<float>(180 / PI * atan2((attack_distance * tan(mark_yaw * PI / 180) - real_hit_point.x), attack_distance)); yaw_rotation = static_cast<float>(180 / PI * atan2((attack_distance * tan(origin_yaw * PI / 180) - real_hit_point.x), attack_distance));
pitch_rotation = static_cast<float>(180 / PI * atan2((attack_distance*tan(mark_pitch*PI/180)-real_hit_point.y), attack_distance)); pitch_rotation = static_cast<float>(180 / PI * atan2((attack_distance*tan(origin_pitch*PI/180)-real_hit_point.y), attack_distance));
} }
else if(position_mode == 3){ else if(position_mode == 3){
yaw_rotation = static_cast<float>(180 / PI * atan2((attack_distance * tan(mark_yaw * PI / 180) - real_hit_point.x), attack_distance)); yaw_rotation = static_cast<float>(180 / PI * atan2((attack_distance * tan(origin_yaw * PI / 180) - real_hit_point.x), attack_distance));
pitch_rotation = static_cast<float>(180 / PI * atan2((attack_distance*tan(mark_pitch*PI/180)-real_hit_point.y), attack_distance)); pitch_rotation = static_cast<float>(180 / PI * atan2((attack_distance*tan(origin_pitch*PI/180)-real_hit_point.y), attack_distance));
} }
else if(position_mode == 4){ else if(position_mode == 4){
yaw_rotation = static_cast<float>(180 / PI * atan2((attack_distance * tan(mark_yaw * PI / 180) - real_hit_point.x), attack_distance)); yaw_rotation = static_cast<float>(180 / PI * atan2((attack_distance * tan(origin_yaw * PI / 180) - real_hit_point.x), attack_distance));
pitch_rotation = static_cast<float>(180 / PI * atan2((attack_distance*tan(mark_pitch*PI/180)-real_hit_point.y), attack_distance)); pitch_rotation = static_cast<float>(180 / PI * atan2((attack_distance*tan(origin_pitch*PI/180)-real_hit_point.y), attack_distance));
} }
else if(position_mode == 5){ else if(position_mode == 5){
yaw_rotation = static_cast<float>(180 / PI * atan2((attack_distance * tan(mark_yaw * PI / 180) - real_hit_point.x), attack_distance)); yaw_rotation = static_cast<float>(180 / PI * atan2((attack_distance * tan(origin_yaw * PI / 180) - real_hit_point.x), attack_distance));
pitch_rotation = static_cast<float>(180 / PI * atan2((attack_distance*tan(mark_pitch*PI/180)-real_hit_point.y), attack_distance)); pitch_rotation = static_cast<float>(180 / PI * atan2((attack_distance*tan(origin_pitch*PI/180)-real_hit_point.y), attack_distance));
} }
else if(position_mode == 6){ else if(position_mode == 6){
yaw_rotation = static_cast<float>(180 / PI * atan2((attack_distance * tan(mark_yaw * PI / 180) - real_hit_point.x), attack_distance)); yaw_rotation = static_cast<float>(180 / PI * atan2((attack_distance * tan(origin_yaw * PI / 180) - real_hit_point.x), attack_distance));
pitch_rotation = static_cast<float>(180 / PI * atan2((attack_distance*tan(mark_pitch*PI/180)-real_hit_point.y), attack_distance)); pitch_rotation = static_cast<float>(180 / PI * atan2((attack_distance*tan(origin_pitch*PI/180)-real_hit_point.y), attack_distance));
} }
// else{ // else{
// pitch_rotation = 5.5+static_cast<float>(180 / PI * atan2((attack_distance*tan(mark_pitch*PI/180)-real_hit_point.y), attack_distance)); // pitch_rotation = 5.5+static_cast<float>(180 / PI * atan2((attack_distance*tan(mark_pitch*PI/180)-real_hit_point.y), attack_distance));
// } // }
// yaw_rotation = static_cast<float>(180 / PI * atan2((ATTACK_DISTANCE*tan(3.5*PI/180)-STRETCH*(hit_point.x-cycle_center.x)), ATTACK_DISTANCE));
// pitch_rotation = static_cast<float>(180 / PI * atan2((ATTACK_DISTANCE*tan(9.1*PI/180)-STRETCH*(hit_point.y-cycle_center.y)), ATTACK_DISTANCE));
// cout<<"cur: "<<curr_yaw<<endl;
// cout<<"hit point: "<<hit_point<<'\t'<<"cycle center: "<<cycle_center<<endl;
} }

9
energy/src/energy/run.cpp
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@@ -20,7 +20,7 @@ int Energy::run(cv::Mat &src){
gimble_zero_points.clear(); gimble_zero_points.clear();
isSendTarget = false; isSendTarget = false;
if(mark==0)return 0; //if(mark==0)return 0;
// if(all_armor_centers.size()>200)all_armor_centers.clear(); // if(all_armor_centers.size()>200)all_armor_centers.clear();
// if(first_armor_centers.size()>200)first_armor_centers.clear(); // if(first_armor_centers.size()>200)first_armor_centers.clear();
@@ -30,7 +30,7 @@ int Energy::run(cv::Mat &src){
// imshow("img_preprocess",src); // imshow("img_preprocess",src);
threshold(src, src, energy_part_param_.GRAY_THRESH, 255, THRESH_BINARY); 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); fans_cnt = findFan(src, fans, last_fans_cnt);
@@ -54,7 +54,10 @@ int Energy::run(cv::Mat &src){
// cycle_center = cv::Point(335, 246); // cycle_center = cv::Point(335, 246);
// radius = 116.936; // radius = 116.936;
attack_distance = ATTACK_DISTANCE * 120/ radius; // attack_distance = ATTACK_DISTANCE * 120/ radius;
attack_distance = 794 + 1245 * 75 * (1/radius - 1/113.9);
// cout << "attack distance: " << attack_distance << endl;
getFanPosition(fanPosition, fans, cycle_center, radius); getFanPosition(fanPosition, fans, cycle_center, radius);
getArmorPosition(armorPosition, armors, cycle_center, radius); getArmorPosition(armorPosition, armors, cycle_center, radius);

24
main.cpp
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@@ -25,7 +25,7 @@ using namespace cv;
using namespace std; using namespace std;
int state = ENERGY_STATE; int state = ARMOR_STATE;
float curr_yaw = 0, curr_pitch = 0; float curr_yaw = 0, curr_pitch = 0;
float mark_yaw = 0, mark_pitch = 0; float mark_yaw = 0, mark_pitch = 0;
int mark = 0; int mark = 0;
@@ -118,7 +118,7 @@ int main(int argc, char *argv[]) {
return 0; return 0;
} }
#define RECEIVE_LOG_LEVEL LOG_NOTHING #define RECEIVE_LOG_LEVEL LOG_MSG
char uartReadByte(Serial &uart) { char uartReadByte(Serial &uart) {
while (uart.GetBytesInCOM() == 0); while (uart.GetBytesInCOM() == 0);
@@ -138,45 +138,45 @@ void uartReceive(Serial* uart) {
while ((data = uartReadByte(*uart)) != '\n') { while ((data = uartReadByte(*uart)) != '\n') {
buffer[cnt++] = data; buffer[cnt++] = data;
if (cnt >= 100) { if (cnt >= 100) {
LOG(RECEIVE_LOG_LEVEL, "data receive over flow!"); //LOG(RECEIVE_LOG_LEVEL, "data receive over flow!");
cnt = 0; cnt = 0;
} }
} }
LOGM("%d", cnt); //LOGM("%d", cnt);
if (cnt == 12) { if (cnt == 12) {
if (buffer[8] == 'e') { if (buffer[8] == 'e') {
state = ENERGY_STATE; state = ENERGY_STATE;
LOG(RECEIVE_LOG_LEVEL, "Energy state"); //LOG(RECEIVE_LOG_LEVEL, "Energy state");
} else if (buffer[8] == 'a') { } else if (buffer[8] == 'a') {
state = ARMOR_STATE; state = ARMOR_STATE;
LOG(RECEIVE_LOG_LEVEL, "Armor state"); //LOG(RECEIVE_LOG_LEVEL, "Armor state");
} }
if (buffer[10] == 0){ if (buffer[10] == 0){
use_classifier = false; use_classifier = false;
LOG(RECEIVE_LOG_LEVEL, "Classifier off!"); //LOG(RECEIVE_LOG_LEVEL, "Classifier off!");
} else if(buffer[10] == 1){ } else if(buffer[10] == 1){
use_classifier = true; use_classifier = true;
LOG(RECEIVE_LOG_LEVEL, "Classifier on!"); //LOG(RECEIVE_LOG_LEVEL, "Classifier on!");
} }
if (buffer[11] == ENEMY_BLUE) { if (buffer[11] == ENEMY_BLUE) {
LOG(RECEIVE_LOG_LEVEL, "ENEMY_BLUE!"); //LOG(RECEIVE_LOG_LEVEL, "ENEMY_BLUE!");
ally_color = ALLY_RED; ally_color = ALLY_RED;
enemy_color = ENEMY_BLUE; enemy_color = ENEMY_BLUE;
} else if (buffer[11] == ENEMY_RED) { } else if (buffer[11] == ENEMY_RED) {
LOG(RECEIVE_LOG_LEVEL, "ENEMY_RED!"); //LOG(RECEIVE_LOG_LEVEL, "ENEMY_RED!");
ally_color = ALLY_BLUE; ally_color = ALLY_BLUE;
enemy_color = ENEMY_RED; enemy_color = ENEMY_RED;
} }
memcpy(&curr_yaw, buffer, 4); memcpy(&curr_yaw, buffer, 4);
memcpy(&curr_pitch, buffer + 4, 4); memcpy(&curr_pitch, buffer + 4, 4);
LOG(RECEIVE_LOG_LEVEL, "Get yaw:%f pitch:%f", curr_yaw, curr_pitch); //LOG(RECEIVE_LOG_LEVEL, "Get yaw:%f pitch:%f", curr_yaw, curr_pitch);
if (buffer[9] == 1) { if (buffer[9] == 1) {
if (mark == 0) { if (mark == 0) {
mark = 1; mark = 1;
mark_yaw = curr_yaw; mark_yaw = curr_yaw;
mark_pitch = curr_pitch; mark_pitch = curr_pitch;
} }
LOG(RECEIVE_LOG_LEVEL, "Marked"); //LOG(RECEIVE_LOG_LEVEL, "Marked");
} }
} }
cnt = 0; cnt = 0;

2
others/energy.Config
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@@ -1,4 +1,4 @@
create_time = "2019-05-14 19:59:50"; create_time = "2019-05-14 20:21:31";
internal_id = "E7FCFFE8999B"; internal_id = "E7FCFFE8999B";
resolution : resolution :
{ {

3
others/src/camera/camera_wrapper.cpp
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@@ -72,6 +72,9 @@ bool CameraWrapper::init() {
return false; return false;
} }
LOGM("successfully loaded %s!", filepath); LOGM("successfully loaded %s!", filepath);
double t;
CameraGetExposureTime(h_camera, &t);
LOGM("Exposure time: %lfms", t / 1000.0);
/* if(mode == 0){ /* if(mode == 0){
// 不使用自动曝光 // 不使用自动曝光
CameraSetAeState(h_camera, false); CameraSetAeState(h_camera, false);