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This commit is contained in:
JiatongSun
2019-04-28 13:08:32 +08:00
parent c2b4bdf4cd
commit 2dad2d864a
4 changed files with 13 additions and 13 deletions
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2
energy/src/energy/find/energy_finder.cpp
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@@ -19,7 +19,7 @@ int Energy::findFan(const cv::Mat &src, vector<EnergyPart> &fans, int &last_fans
std::vector<vector<Point> > fan_contours;
StructingElementClose(src_bin);
imshow("fan struct",src_bin);
// imshow("fan struct",src_bin);
findContours(src_bin, fan_contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE);

12
energy/src/energy/run.cpp
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@@ -12,14 +12,14 @@ extern float curr_yaw, curr_pitch, mark_yaw, mark_pitch;
extern int mark;
int Energy::run(cv::Mat &src){
imshow("src",src);
// imshow("src",src);
fans.clear();
armors.clear();
fanPosition.clear();
armorPosition.clear();
gimble_zero_points.clear();
// if(mark==0)return 0;
if(mark==0)return 0;
// if(all_armor_centers.size()>200)all_armor_centers.clear();
// if(first_armor_centers.size()>200)first_armor_centers.clear();
@@ -51,8 +51,8 @@ int Energy::run(cv::Mat &src){
cout<<"all_armor_centers.size(): "<<all_armor_centers.size()<<endl;
cycleLeastFit();
cycle_center = cv::Point(321,319);
radius = 109.178;
cycle_center = cv::Point(214,305);
radius = 114.695;
attack_distance = ATTACK_DISTANCE * 123.323 / radius;
getFanPosition(fanPosition, fans, cycle_center, radius);
@@ -62,11 +62,11 @@ int Energy::run(cv::Mat &src){
cout<<"The target armor center is: "<<target_center<<endl;
getHitPoint();
// hit_point = target_center;
hit_point = target_center;
cout << "The hit point position is " << hit_point << endl;
// hit_point = cycle_center;
if(!isSendTarget)return 0;
// if(!isSendTarget)return 0;
gimbleRotation();