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energy changed

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sun
2019-07-05 14:06:40 +08:00
parent f9fcde55ac
commit 1a20133ca1
17 changed files with 325 additions and 796 deletions
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177
energy/include/energy/energy.h
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@@ -23,130 +23,93 @@ using std::vector;
class Energy {
public:
Energy(Serial &u, uint8_t &color);
~Energy();
Energy(Serial &u, uint8_t &color);//构造函数，参数为串口和敌方颜色
~Energy();//默认析构函数
int run(cv::Mat &src);
cv::Point2f uart_hit_point;
clock_t start;
Serial &serial;
// void setAllyColor(int color);
void setRotation(int rotation);
void setEnergyRotationInit();
void extract(cv::Mat &src);
void sendTargetByUart(float x, float y, float z);
Serial &serial;//串口
void setEnergyRotationInit();//判断顺逆时针函数
void extract(cv::Mat &src);//框取图像中的一块区域进行处理
void sendTargetByUart(float x, float y, float z);//向主控板发送数据
private:
EnergyPartParam energy_part_param_;//能量机关的参数设置
bool isMark;//若操作手正在手动标定，则为true
int fans_cnt;//图像中的扇叶个数
int armors_cnt;//图像中的装甲板个数
int centerRs_cnt;//图像中可能的风车中心字母R选区个数
int last_fans_cnt;//上一帧的扇叶个数
int last_armors_cnt;//上一帧的装甲板个数
double radius;//大风车半径
float target_polar_angle;//待击打装甲板的极坐标角度
float last_target_polar_angle;//上一帧待击打装甲板的极坐标角度
uint8_t &ally_color;//我方颜色
int energy_rotation_direction;//风车旋转方向
float attack_distance;//步兵与风车平面距离
int send_cnt;//向主控板发送的数据总次数
float yaw_rotation;//云台yaw轴应该转到的角度
float pitch_rotation;//云台pitch轴应该转到的角度
uint8_t last_mark;//用于记录上一帧操作手是否进行标定
double predict_rad;//预测提前角
bool energy_rotation_init;//若仍在判断风车旋转方向，则为true
int clockwise_rotation_init_cnt;//装甲板顺时针旋转次数
int anticlockwise_rotation_init_cnt;//装甲板逆时针旋转次数
float red_origin_yaw, red_origin_pitch;//红方的初始云台对心角度设定值
float blue_origin_yaw, blue_origin_pitch;//蓝方的初始云台对心角度设定值
float origin_yaw, origin_pitch;//初始的云台角度设定值
float target_cnt;//用于记录寻找到的装甲板总数，该值变化则立即中断主控板发射进程，防止重复击打已点亮的装甲板
bool save_new_mark;//若操作手进行过手动标定，则为true
EnergyPartParam energy_part_param_;
LiftHeight lift_height_;
bool isSendTarget;
bool isMark;
int fans_cnt;
int armors_cnt;
int centerRs_cnt;
int count;
int last_fans_cnt;
int last_armors_cnt;
double radius;
double target_position;
double last_target_position;
double last_hit_position;
float target_armor;
float last_target_armor;
uint8_t &ally_color;
int energy_part_rotation;
float attack_distance;
int send_cnt;
double rectified_focal_length;
double theta;//电机pitch轴应旋转的角度
double phi;//电机yaw轴应旋转的角度
float yaw_rotation;
float pitch_rotation;
uint8_t last_mark;
int position_mode;
int last_position_mode;
int isLeftVertexFound, isTopVertexFound, isRightVertexFound, isBottomVertexFound;
bool energy_rotation_init;
int clockwise_rotation_init_cnt;
int anticlockwise_rotation_init_cnt;
float red_origin_yaw, red_origin_pitch;
float blue_origin_yaw, blue_origin_pitch;
float origin_yaw, origin_pitch;
float target_cnt;
bool target_cnt_flag;
bool save_new_mark;
std::vector<EnergyPart> fans;//图像中所有扇叶
std::vector<EnergyPart> armors;//图像中所有装甲板
std::vector<EnergyPart> centerRs;//风车中心字母R的可能候选区
std::vector<EnergyPart> fans;
std::vector<EnergyPart> armors;
std::vector<EnergyPart> centerRs;
// std::vector<EnergyPart> gimble_zero_points;
cv::Point circle_center_point;//风车圆心坐标
cv::Point target_point;//目标装甲板中心坐标
cv::Point predict_point;//预测的击打点坐标
std::vector<float>fan_polar_angle;//当前帧所有扇叶的极坐标角度
std::vector<float>armor_polar_angle;//当前帧所有装甲板的极坐标角度
std::vector<cv::Point> all_armor_centers;//记录全部的装甲板中心，用于风车圆心和半径的计算
cv::Mat src_blue, src_red, src_green;//通道分离中的三个图像通道
cv::Point cycle_center;
cv::Point target_center;
cv::Point last_target_center;
cv::Point hit_point;
std::vector<float>fanPosition;
std::vector<float>armorPosition;
std::vector<cv::Point> Armor_center;
std::vector<cv::Point> first_armor_centers;
std::vector<cv::Point> all_armor_centers;
cv::Point left, right, top, bottom;
cv::Mat src_blue, src_red, src_green;
void initEnergy();
void initEnergyPartParam();
void initRotation();
void initEnergy();//能量机关初始化
void initEnergyPartParam();//能量机关参数初始化
void initRotation();//顺逆时针初始化
int findFan(const cv::Mat src, int &last_fans_cnt);
int findArmor(const cv::Mat src, int &last_armors_cnt);
int findCenterR(const cv::Mat src);
int findFan(const cv::Mat src, int &last_fans_cnt);//寻找图中所有扇叶
int findArmor(const cv::Mat src, int &last_armors_cnt);//寻找图中所有装甲板
int findCenterR(const cv::Mat src);//寻找图中可能的风车中心字母R
void showFanContours(std::string windows_name, const cv::Mat &src, const std::vector<EnergyPart> &fans);
void showArmorContours(std::string windows_name, const cv::Mat &src, const std::vector<EnergyPart> &armors);
void showBothContours(std::string windows_name, const cv::Mat src);
void showCenterRContours(std::string windows_name, const cv::Mat src);
bool isValidFanContour(const vector<cv::Point> fan_contour);//扇叶矩形尺寸要求
bool isValidArmorContour(const vector<cv::Point> armor_contour);//装甲板矩形尺寸要求
bool isValidCenterRContour(const vector<cv::Point> center_R_contour);//风车中心选区尺寸要求
bool isValidFanContour(const vector<cv::Point> fan_contour);
bool isValidArmorContour(const vector<cv::Point> armor_contour);
bool isValidCenterRContour(const vector<cv::Point> center_R_contour);
void showFanContours(std::string windows_name, const cv::Mat src);//显示扇叶
void showArmorContours(std::string windows_name, const cv::Mat src);//显示装甲板
void showBothContours(std::string windows_name, const cv::Mat src);//显示扇叶和装甲板
void showCenterRContours(std::string windows_name, const cv::Mat src);//显示风车中心候选区R
void getFanPosition(std::vector<float> &fanPosition, const std::vector<EnergyPart> &fans, cv::Point cycle_center, double radius);
void getArmorPosition(std::vector<float> &armorPosition, const std::vector<EnergyPart> &armors, cv::Point cycle_center, double radius);
void getFirstArmorCenters(vector<EnergyPart> &armors, std::vector<cv::Point> &first_armor_centers);
void getAllArmorCenters();
void getPosition(cv::Point point, double &angle);
void getFanPosition();//获取扇叶极坐标角度
void getArmorPosition();//获取装甲板极坐标角度
void getAllArmorCenters();//记录所有装甲板中心坐标
void cycleQuickCalculate(std::vector<cv::Point> &first_armor_centers, cv::Point &cycle_center, double &radius);
void cycleDefaultCalculateConst(cv::Point &cycle_center, double &radius);
void cycleCalculate();
void cycleLeastFit();
void cycleLeastFit();//利用所有记录的装甲板中心最小二乘法计算圆心和半径
void findTarget(const std::vector<float>fanPosition, const std::vector<float>armorPosition, float &target_armor);
void findTarget();//获取目标装甲板的极坐标角度和装甲板中心坐标
void findWholeCycle(const std::vector<cv::Point>&first_armor_centers);
void rotate();//获取预测点位
void stretch(cv::Point point_1, cv::Point2f &point_2);//将像素差转换为实际距离差
void saveFourPoints(std::vector<cv::Point> &FourPoints, cv::Point point_1, cv::Point point_2, cv::Point point_3, cv::Point point_4);
void savePoint2f(std::vector<cv::Point2f> &point_save, cv::Point point);
double pointDistance(cv::Point point_1, cv::Point point_2);
void rotate(double rad, double radius, cv::Point center, cv::Point point_old, cv::Point &point_new);
void stretch(cv::Point point_1, cv::Point2f &point_2);
void cycle(cv::Point p1, cv::Point p2, cv::Point p3, cv::Point &center, double &radius);
void getPredictPoint();//获取预测点位
bool changeTarget();//判断目标是否改变
void changeMark();//操作手手动修改标定值
void gimbleRotation();//计算云台旋转角度
void getHitPoint();
bool changeTarget();
void changeMark();
void gimbleRotation();
void splitBayerBG(cv::Mat src, cv::Mat &blue, cv::Mat &red);//拜耳阵列分离
void imagePreprocess(cv::Mat &src);//图像通道分离
void splitBayerBG(cv::Mat &src, cv::Mat &blue, cv::Mat &red);
void imagePreprocess(cv::Mat &src);
void StructingElementClose(cv::Mat &src,int length, int width);
void StructingElementErodeDilate(cv::Mat &src);
void StructingElementClose(cv::Mat &src,int length, int width);//闭运算
void StructingElementErodeDilate(cv::Mat &src);//腐蚀和膨胀
};

10
energy/include/energy/param_struct_define.h
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@@ -60,16 +60,6 @@ struct EnergyPartParam {
float TWIN_ANGEL_MAX;
};
struct LiftHeight{
float LIFT_0;
float LIFT_30;
float LIFT_60;
float LIFT_90;
float LIFT_minus_30;
float LIFT_minus_60;
float LIFT_minus_90;
};
typedef struct GMAngle_t{
float yaw;
float pitch;