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energy changed

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sun
2019-08-03 16:27:21 +08:00
parent b6f3f04b03
commit 199feb3ba9
7 changed files with 42 additions and 17 deletions
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16
energy/src/energy/clear/energy_init.cpp
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@@ -79,10 +79,10 @@ void Energy::initEnergy() {
// 此函数对能量机关参数进行初始化 // 此函数对能量机关参数进行初始化
// --------------------------------------------------------------------------------------------------------------------- // ---------------------------------------------------------------------------------------------------------------------
void Energy::initEnergyPartParam() { void Energy::initEnergyPartParam() {
gimbal_energy_part_param_.GRAY_THRESH = 120;//home // gimbal_energy_part_param_.GRAY_THRESH = 120;//home
// gimbal_energy_part_param_.GRAY_THRESH = 200;//official // gimbal_energy_part_param_.GRAY_THRESH = 200;//official
// gimbal_energy_part_param_.GRAY_THRESH = 225; gimbal_energy_part_param_.GRAY_THRESH = 180;
gimbal_energy_part_param_.SPLIT_GRAY_THRESH = 230; gimbal_energy_part_param_.SPLIT_GRAY_THRESH = 180;
gimbal_energy_part_param_.FAN_GRAY_THRESH = 75; gimbal_energy_part_param_.FAN_GRAY_THRESH = 75;
gimbal_energy_part_param_.ARMOR_GRAY_THRESH = 80; gimbal_energy_part_param_.ARMOR_GRAY_THRESH = 80;
@@ -137,13 +137,13 @@ void Energy::initEnergyPartParam() {
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_AREA_MAX = 100000; 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_AREA_MIN = 0;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_LENGTH_MIN = 38; gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_LENGTH_MIN = 30;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_LENGTH_MAX = 60; gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_LENGTH_MAX = 55;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_WIDTH_MIN = 8; gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_WIDTH_MIN = 4;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_WIDTH_MAX = 32; gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_WIDTH_MAX = 20;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_HW_RATIO_MAX = 12; 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 = 4;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_HW_RATIO_MIN = 1.8; gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_HW_RATIO_MIN = 1.5;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_AREA_RATIO_MIN = 0.5; gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_AREA_RATIO_MIN = 0.5;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_INTERSETION_AREA_MIN = 100; gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_INTERSETION_AREA_MIN = 100;

13
energy/src/energy/find/energy_finder.cpp
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@@ -258,15 +258,28 @@ bool Energy::findFlowStrip(const cv::Mat src) {
if (!isValidFlowStripContour(flow_strip_contour)) { if (!isValidFlowStripContour(flow_strip_contour)) {
continue; continue;
} }
std::vector<cv::Point2f> intersection; std::vector<cv::Point2f> intersection;
RotatedRect cur_rect = minAreaRect(flow_strip_contour); RotatedRect cur_rect = minAreaRect(flow_strip_contour);
if (rotatedRectangleIntersection(cur_rect, candidate_flow_strip_fan, intersection) == 0) { if (rotatedRectangleIntersection(cur_rect, candidate_flow_strip_fan, intersection) == 0) {
continue; continue;
} else if (contourArea(intersection) > energy_part_param_.FLOW_STRIP_CONTOUR_INTERSETION_AREA_MIN) { } else if (contourArea(intersection) > energy_part_param_.FLOW_STRIP_CONTOUR_INTERSETION_AREA_MIN) {
flow_strips.emplace_back(cv::minAreaRect(flow_strip_contour)); flow_strips.emplace_back(cv::minAreaRect(flow_strip_contour));
// cout << "intersection: " << contourArea(intersection) << '\t' << cur_rect.center << endl; // cout << "intersection: " << contourArea(intersection) << '\t' << cur_rect.center << endl;
} else {
continue;
} }
// 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;
// float length_width_ratio = length / width;//计算矩形长宽比
// double cur_contour_area = contourArea(flow_strip_contour);
// cout << "length: " << length << '\t' << "width: " << width << '\t' << cur_rect.center << endl;
// cout << "HW: " << length_width_ratio << '\t' << cur_rect.center << endl;
// cout << "area ratio: " << cur_contour_area / cur_size.area() << '\t' << cur_rect.center << endl;
// RotatedRect cur_rect = minAreaRect(flow_strip_contour); // RotatedRect cur_rect = minAreaRect(flow_strip_contour);
// Size2f cur_size = cur_rect.size; // Size2f cur_size = cur_rect.size;
// float length = cur_size.height > cur_size.width ? cur_size.height : cur_size.width; // float length = cur_size.height > cur_size.width ? cur_size.height : cur_size.width;

5
energy/src/energy/get/predict_point_get.cpp
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@@ -17,7 +17,10 @@ using std::vector;
void Energy::getPredictPoint(cv::Point target_point) { void Energy::getPredictPoint(cv::Point target_point) {
if (is_big) { if (is_big) {
if (energy_rotation_direction == 1) rotate(target_point); if (energy_rotation_direction == 1) rotate(target_point);
if (energy_rotation_direction == -1) rotate(target_point); if (energy_rotation_direction == -1) {
predict_rad = -25;
rotate(target_point);
}
} else if (is_small) predict_point = target_point; } else if (is_small) predict_point = target_point;
} }

6
energy/src/energy/judge/judge_contour.cpp
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@@ -216,7 +216,7 @@ bool Energy::isValidFlowStripContour(const vector<cv::Point> &flow_strip_contour
length > energy_part_param_.FLOW_STRIP_CONTOUR_LENGTH_MAX || length > energy_part_param_.FLOW_STRIP_CONTOUR_LENGTH_MAX ||
width > energy_part_param_.FLOW_STRIP_CONTOUR_WIDTH_MAX) { width > energy_part_param_.FLOW_STRIP_CONTOUR_WIDTH_MAX) {
// cout<<"length width fail."<<endl; // cout<<"length width fail."<<endl;
// cout << "length: " << length << '\t' << "width: " << width << '\t' << cur_rect.center << endl; // if(length>30)cout << "length: " << length << '\t' << "width: " << width << '\t' << cur_rect.center << endl;
return false; return false;
//矩形边长不合适 //矩形边长不合适
} }
@@ -225,12 +225,12 @@ bool Energy::isValidFlowStripContour(const vector<cv::Point> &flow_strip_contour
if (length_width_ratio > energy_part_param_.FLOW_STRIP_CONTOUR_HW_RATIO_MAX || if (length_width_ratio > energy_part_param_.FLOW_STRIP_CONTOUR_HW_RATIO_MAX ||
length_width_ratio < energy_part_param_.FLOW_STRIP_CONTOUR_HW_RATIO_MIN) { length_width_ratio < energy_part_param_.FLOW_STRIP_CONTOUR_HW_RATIO_MIN) {
// cout<<"hw fail."<<endl; // cout<<"hw fail."<<endl;
// cout << "HW: " << length_width_ratio << '\t' << cur_rect.center << endl; // if(length_width_ratio>3.5)cout << "HW: " << length_width_ratio << '\t' << cur_rect.center << endl;
return false; return false;
//长宽比不合适 //长宽比不合适
} }
if (cur_contour_area / cur_size.area() < energy_part_param_.FLOW_STRIP_CONTOUR_AREA_RATIO_MIN) { if (cur_contour_area / cur_size.area() < energy_part_param_.FLOW_STRIP_CONTOUR_AREA_RATIO_MIN) {
// cout << "area ratio: " << cur_contour_area / cur_size.area() << '\t' << cur_rect.center << endl; // if(cur_contour_area / cur_size.area()>0.5)cout << "area ratio: " << cur_contour_area / cur_size.area() << '\t' << cur_rect.center << endl;
return false;//轮廓对矩形的面积占有率不合适 return false;//轮廓对矩形的面积占有率不合适
} }
return true; return true;

1
energy/src/energy/run.cpp
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@@ -92,6 +92,7 @@ void Energy::runBig(cv::Mat &gimbal_src) {
changeTarget(); changeTarget();
getTargetPolarAngle(); getTargetPolarAngle();
if (energy_rotation_init) { if (energy_rotation_init) {
initRotation(); initRotation();
return; return;

8
energy/src/energy/send/send.cpp
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@@ -33,6 +33,14 @@ void Energy::sendEnergy() {
yaw_rotation = YAW_AIM_KP * (yaw_rotation - mcuData.curr_yaw) + YAW_AIM_KI * sum_yaw; yaw_rotation = YAW_AIM_KP * (yaw_rotation - mcuData.curr_yaw) + YAW_AIM_KI * sum_yaw;
pitch_rotation = PITCH_AIM_KP * (pitch_rotation - mcuData.curr_pitch) + PITCH_AIM_KI * sum_pitch; pitch_rotation = PITCH_AIM_KP * (pitch_rotation - mcuData.curr_pitch) + PITCH_AIM_KI * sum_pitch;
} }
} else if (is_small){
sum_yaw += yaw_rotation;
sum_pitch += pitch_rotation;
MINMAX(sum_yaw, -100, 100);
MINMAX(sum_pitch, -100, 100);
yaw_rotation = 2.5 * yaw_rotation + 0.08 * sum_yaw + 1.5 * (yaw_rotation - last_yaw);
pitch_rotation = 2.4 * pitch_rotation + 0.07 * sum_pitch +
1.3 * (pitch_rotation - last_pitch);
} }
if (change_target) { if (change_target) {

10
main.cpp
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@@ -30,7 +30,7 @@ using namespace std;
mcu_data mcuData = { // 单片机端回传结构体 mcu_data mcuData = { // 单片机端回传结构体
0, // 当前云台yaw角 0, // 当前云台yaw角
0, // 当前云台pitch角 0, // 当前云台pitch角
ARMOR_STATE, // 当前状态，自瞄-大符-小符 BIG_ENERGY_STATE, // 当前状态，自瞄-大符-小符
0, // 云台角度标记位 0, // 云台角度标记位
1, // 是否启用数字识别 1, // 是否启用数字识别
ENEMY_RED, // 敌方颜色 ENEMY_RED, // 敌方颜色
@@ -66,8 +66,8 @@ int main(int argc, char *argv[]) {
video_gimbal = new CameraWrapper(ARMOR_CAMERA_GAIN, 2/*, "armor"*/); video_gimbal = new CameraWrapper(ARMOR_CAMERA_GAIN, 2/*, "armor"*/);
video_chassis = new CameraWrapper(ENERGY_CAMERA_GAIN, 2/*, "energy"*/); video_chassis = new CameraWrapper(ENERGY_CAMERA_GAIN, 2/*, "energy"*/);
} else { } else {
video_gimbal = new VideoWrapper("/home/sun/项目/energy_video/7.27.avi"); video_gimbal = new VideoWrapper("/home/sun/项目/energy_video/new/5.avi");
video_chassis = new VideoWrapper("/home/sun/项目/energy_video/7.27.avi"); video_chassis = new VideoWrapper("/home/sun/项目/energy_video/new/5.avi");
} }
if (video_gimbal->init()) { if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully."); LOGM("video_gimbal source initialization successfully.");
@@ -122,8 +122,8 @@ int main(int argc, char *argv[]) {
if (!from_camera) extract(gimbal_src, chassis_src); if (!from_camera) extract(gimbal_src, chassis_src);
if (save_video) saveVideos(gimbal_src, chassis_src);//保存视频 if (save_video) saveVideos(gimbal_src, chassis_src);//保存视频
if (show_origin) showOrigin(gimbal_src, chassis_src);//显示原始图像 if (show_origin) showOrigin(gimbal_src, chassis_src);//显示原始图像
energy.runBig(gimbal_src, chassis_src); // energy.runBig(gimbal_src, chassis_src);
// energy.runBig(gimbal_src); energy.runBig(gimbal_src);
} else if (mcuData.state == SMALL_ENERGY_STATE) { } else if (mcuData.state == SMALL_ENERGY_STATE) {
if (last_state != SMALL_ENERGY_STATE) { if (last_state != SMALL_ENERGY_STATE) {
LOGM(STR_CTR(WORD_GREEN, "Start Small Energy!")); LOGM(STR_CTR(WORD_GREEN, "Start Small Energy!"));