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This commit is contained in:
JiatongSun
2019-04-28 21:08:30 +08:00
parent 2dad2d864a
commit 306afc0ccd
11 changed files with 106 additions and 68 deletions
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3
energy/include/energy/energy.h
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@@ -49,6 +49,7 @@ private:
double radius;
double target_position;
double last_target_position;
double last_hit_position;
float target_armor;
int ally_color_;
int energy_part_rotation;
@@ -122,7 +123,7 @@ private:
void splitBayerBG(cv::Mat &src, cv::Mat &blue, cv::Mat &red);
void imagePreprocess(cv::Mat &src);
void StructingElementClose(cv::Mat &src);
void StructingElementClose(cv::Mat &src,int length, int width);
void StructingElementErodeDilate(cv::Mat &src);
};

4
energy/src/energy/calculate/cycle_calculate.cpp
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@@ -101,6 +101,6 @@ void Energy::cycleLeastFit()
cycle_center.y = static_cast<int>(b / (-2));
radius = sqrt(a * a + b * b - 4 * c) / 2;
cout << "The cycle center is: " << cycle_center << endl;
cout << "The radius is: " << radius << endl;
// cout << "The cycle center is: " << cycle_center << endl;
// cout << "The radius is: " << radius << endl;
}

26
energy/src/energy/calibrate/structing.cpp
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@@ -8,19 +8,29 @@ using std::cout;
using std::endl;
using std::vector;
void Energy::StructingElementClose(cv::Mat &src){
void Energy::StructingElementClose(cv::Mat &src,int length, int width){
if (src.empty())return;
//threshold(src, src, energy_part_param_.CAMERA_GRAY_THRESH, 255, THRESH_BINARY);
Mat element = getStructuringElement(MORPH_RECT, Size(10, 10));
Mat element = getStructuringElement(MORPH_RECT, Size(length, width));
morphologyEx(src, src, MORPH_CLOSE, element);
}
void Energy::StructingElementErodeDilate(cv::Mat &src) {
cv::Mat src_out, src_out_out;
Mat element_erode = getStructuringElement(MORPH_RECT, Size(4, 4));
Mat element_dilate = getStructuringElement(MORPH_RECT, Size(20, 20));
erode(src,src_out, element_erode);
imshow("erode", src_out);
dilate(src_out, src_out_out, element_dilate);
imshow("dilate", src_out_out);
Mat element_erode_1 = getStructuringElement(MORPH_RECT, Size(6, 6));
Mat element_dilate_1 = getStructuringElement(MORPH_RECT, Size(10, 10));
Mat element_erode_2 = getStructuringElement(MORPH_RECT, Size(2, 2));
Mat element_dilate_2 = getStructuringElement(MORPH_RECT, Size(3, 3));
dilate(src, src, element_dilate_1);
imshow("dilate_1", src);
erode(src,src, element_erode_1);
imshow("erode_1", src);
// dilate(src, src, element_dilate_2);
// imshow("dilate_2", src);
//
// erode(src,src, element_erode_2);
// imshow("erode_2", src);
}

1
energy/src/energy/energy.cpp
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@@ -22,6 +22,7 @@ Energy::Energy(Uart &u):uart(u),
hit_point = Point(0,0);
target_position = -1;
last_target_position = -1;
last_hit_position = 20000;
target_armor = -1;
radius = 0;

12
energy/src/energy/find/energy_finder.cpp
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@@ -18,8 +18,8 @@ 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);
StructingElementClose(src_bin,6,6);
imshow("fan struct",src_bin);
findContours(src_bin, fan_contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE);
@@ -36,7 +36,7 @@ int Energy::findFan(const cv::Mat &src, vector<EnergyPart> &fans, int &last_fans
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;
cout<<"fan area: "<<length<<'\t'<<width<<endl;
// cout<<"fan area: "<<length<<'\t'<<width<<endl;
// if(length>20&&width>20){
// cout<<cur_rect.center;
@@ -70,8 +70,8 @@ int Energy::findArmor(const cv::Mat &src, vector<EnergyPart> &armors, int &last_
std::vector<vector<Point> > armor_contours;
std::vector<vector<Point> > armor_contours_external;//用总轮廓减去外轮廓，只保留内轮廓，除去流动条的影响。
StructingElementClose(src_bin);
// imshow("armor struct",src_bin);
StructingElementErodeDilate(src_bin);
imshow("armor struct",src_bin);
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);
@@ -105,12 +105,12 @@ int Energy::findArmor(const cv::Mat &src, vector<EnergyPart> &armors, int &last_
// if(length>10&&width>5){
// armors.emplace_back(armor_contour);
// cout<<"armor area: "<<length<<'\t'<<width<<'\t'<<cur_rect.center<<endl;
// armors.emplace_back(armor_contour);
// }
armors.emplace_back(armor_contour);
// cout<<"armor area: "<<length<<'\t'<<width<<endl;
}
// cout<<armors.size()<<endl;
if(armors.size() < last_armors_cnt){
last_armors_cnt = static_cast<int>(armors.size());
return -1;

2
energy/src/energy/get/gimble_rotation_get.cpp
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@@ -24,7 +24,7 @@ void Energy::gimbleRotation(){
// pitch_rotation = static_cast<float>(180 / PI * atan2((ATTACK_DISTANCE*tan(PITCH_ORIGIN_RAD)-real_hit_point.y), ATTACK_DISTANCE));
yaw_rotation = static_cast<float>(180 / PI * atan2((attack_distance*tan(mark_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 = 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));

89
energy/src/energy/get/hit_point_get.cpp
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@@ -12,41 +12,44 @@ using std::vector;
void Energy::getHitPoint(){
int hit_position = 1000;
int limit_angle = 3;
int limit_angle = 6;
int angle_interval = 60;
if(energy_part_rotation==1){ //顺时针
if(target_armor>=0 && target_armor<=limit_angle){
if(target_armor>=15 && target_armor<=15+limit_angle){
hit_point.x = cycle_center.x + static_cast<int>(radius / 2);
hit_point.y = cycle_center.y + static_cast<int>(radius * sqrt(3) / 2);
hit_position = -1*angle_interval;
}
if(target_armor>=angle_interval && target_armor<angle_interval+limit_angle){
hit_point.x = cycle_center.x + static_cast<int>(radius);
hit_point.y = cycle_center.y;
hit_position = 0;
// if(target_armor>=angle_interval && target_armor<angle_interval+limit_angle){
// hit_point.x = cycle_center.x + static_cast<int>(radius);
// hit_point.y = cycle_center.y;
// hit_position = 0;
// }
// if(target_armor>=angle_interval*2 && target_armor<=angle_interval*2+limit_angle){
// hit_point.x = cycle_center.x + static_cast<int>(radius / 2);
// hit_point.y = cycle_center.y - static_cast<int>(radius * sqrt(3) / 2);
// hit_position = angle_interval;
// }
// if(target_armor>=-180 && target_armor<-180+limit_angle){
// hit_point.x = cycle_center.x - static_cast<int>(radius / 2);
// hit_point.y = cycle_center.y - static_cast<int>(radius * sqrt(3) / 2);
// hit_position = 2*angle_interval;
// }
// if(target_armor>=-2*angle_interval&&target_armor<-2*angle_interval+limit_angle){
// hit_point.x = cycle_center.x - static_cast<int>(radius);
// hit_point.y = cycle_center.y;
// hit_position = 180;
// }
// if(target_armor>=-1*angle_interval&&target_armor<-1*angle_interval+limit_angle) {
// hit_point.x = cycle_center.x - static_cast<int>(radius / 2);
// hit_point.y = cycle_center.y + static_cast<int>(radius * sqrt(3) / 2);
// hit_position = -2 * angle_interval;
// }
else{
last_hit_position = 2000;
return;
}
if(target_armor>=angle_interval*2 && target_armor<=angle_interval*2+limit_angle){
hit_point.x = cycle_center.x + static_cast<int>(radius / 2);
hit_point.y = cycle_center.y - static_cast<int>(radius * sqrt(3) / 2);
hit_position = angle_interval;
}
if(target_armor>=-180 && target_armor<-180+limit_angle){
hit_point.x = cycle_center.x - static_cast<int>(radius / 2);
hit_point.y = cycle_center.y - static_cast<int>(radius * sqrt(3) / 2);
hit_position = 2*angle_interval;
}
if(target_armor>=-2*angle_interval&&target_armor<-2*angle_interval+limit_angle){
hit_point.x = cycle_center.x - static_cast<int>(radius);
hit_point.y = cycle_center.y;
hit_position = 180;
}
if(target_armor>=-1*angle_interval&&target_armor<-1*angle_interval+limit_angle) {
hit_point.x = cycle_center.x - static_cast<int>(radius / 2);
hit_point.y = cycle_center.y + static_cast<int>(radius * sqrt(3) / 2);
hit_position = -2 * angle_interval;
}
else return;
}
if(energy_part_rotation==-1){ //逆时针
@@ -80,12 +83,28 @@ void Energy::getHitPoint(){
hit_point.y = cycle_center.y - static_cast<int>(radius * sqrt(3) / 2);
hit_position = angle_interval;
}
else return;
else{
last_hit_position = 2000;
return;
}
}
cout<<"hit position: "<<hit_position<<endl;
if(hit_position>360&&last_hit_position>360){
isSendTarget = false;
return;
}
isSendTarget = true;
if(fabs(hit_position - last_hit_position) < 30||fabs(hit_position - last_hit_position) > 330 && fabs(hit_position - last_hit_position) <= 360){
last_hit_position = hit_position;
isSendTarget = false;
return;
}
else{
last_hit_position = hit_position;
isSendTarget = true;
cout<<"hit position: "<<hit_position<<endl;
return;
}
// double rad = static_cast<double>(energy_part_rotation * energy_part_param_.RPM
// * energy_part_param_.HIT_TIME * 360 / 60);
@@ -93,6 +112,12 @@ void Energy::getHitPoint(){
}
bool Energy::changeTarget(){
return !(pointDistance(target_center, last_target_center) < 25 || fabs(target_position - last_target_position) < 30
||fabs(target_position - last_target_position) > 330);
if(fabs(target_position - last_target_position) < 30||fabs(target_position - last_target_position) > 330){
last_target_position = target_position;
return false;
}
else{
last_target_position = target_position;
return true;
}
}

4
energy/src/energy/get/position_get.cpp
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@@ -15,7 +15,7 @@ void Energy::getFanPosition(std::vector<float> &fanPosition, const std::vector<E
float angle = static_cast<float>(180 / PI * atan2(-1 * (fan.rect.center.y - cycle_center.y), (fan.rect.center.x - cycle_center.x)));
fanPosition.push_back(angle);
}
cout << "fanPosition.size() = " << fanPosition.size() << '\t' << endl;
// cout << "fanPosition.size() = " << fanPosition.size() << '\t' << endl;
}
void Energy::getArmorPosition(std::vector<float> &armorPosition, const std::vector<EnergyPart> &armors, cv::Point cycle_center, double radius) {
@@ -26,7 +26,7 @@ void Energy::getArmorPosition(std::vector<float> &armorPosition, const std::vect
armorPosition.push_back(angle);
}
cout << "armorPosition.size() = " << armorPosition.size() << '\t' << endl;
// cout << "armorPosition.size() = " << armorPosition.size() << '\t' << endl;
}
void Energy::getFirstArmorCenters(vector<EnergyPart> &armors, std::vector<cv::Point> &first_armor_centers)

8
energy/src/energy/param_init.cpp
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@@ -13,7 +13,7 @@ void Energy::initEnergyPartParam() {
energy_part_param_.RPM = 10;
energy_part_param_.HIT_TIME = 1.14;
energy_part_param_.GRAY_THRESH = 220;
energy_part_param_.GRAY_THRESH = 240;
energy_part_param_.SPLIT_GRAY_THRESH = 60;
energy_part_param_.FAN_GRAY_THRESH = 75;
energy_part_param_.ARMOR_GRAY_THRESH = 80;
@@ -30,9 +30,9 @@ void Energy::initEnergyPartParam() {
energy_part_param_.ARMOR_CONTOUR_AREA_MAX = 100000;
energy_part_param_.ARMOR_CONTOUR_AREA_MIN = 0;
energy_part_param_.ARMOR_CONTOUR_LENGTH_MIN = 30;
energy_part_param_.ARMOR_CONTOUR_WIDTH_MIN = 20;
energy_part_param_.ARMOR_CONTOUR_LENGTH_MAX = 60;
energy_part_param_.ARMOR_CONTOUR_WIDTH_MAX = 50;
energy_part_param_.ARMOR_CONTOUR_WIDTH_MIN = 15;
energy_part_param_.ARMOR_CONTOUR_LENGTH_MAX = 50;
energy_part_param_.ARMOR_CONTOUR_WIDTH_MAX = 45;
energy_part_param_.ARMOR_CONTOUR_HW_RATIO_MAX = 3;
energy_part_param_.ARMOR_CONTOUR_HW_RATIO_MIN = 1;

19
energy/src/energy/run.cpp
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@@ -18,6 +18,7 @@ int Energy::run(cv::Mat &src){
fanPosition.clear();
armorPosition.clear();
gimble_zero_points.clear();
isSendTarget = false;
if(mark==0)return 0;
@@ -48,26 +49,26 @@ int Energy::run(cv::Mat &src){
if(armors_cnt != fans_cnt+1) return 0;
getAllArmorCenters();
cout<<"all_armor_centers.size(): "<<all_armor_centers.size()<<endl;
// cout<<"all_armor_centers.size(): "<<all_armor_centers.size()<<endl;
cycleLeastFit();
cycle_center = cv::Point(214,305);
radius = 114.695;
attack_distance = ATTACK_DISTANCE * 123.323 / radius;
// cycle_center = cv::Point(338,296);
// radius = 119.22;
attack_distance = ATTACK_DISTANCE * 130 / radius;
getFanPosition(fanPosition, fans, cycle_center, radius);
getArmorPosition(armorPosition, armors, cycle_center, radius);
findTarget(fanPosition, armorPosition, target_armor);
cout << "The target armor's position is " << target_armor << endl;
cout<<"The target armor center is: "<<target_center<<endl;
// cout<<"The target armor center is: "<<target_center<<endl;
getHitPoint();
hit_point = target_center;
cout << "The hit point position is " << hit_point << endl;
// hit_point = cycle_center;
// hit_point = target_center;
// cout << "The hit point position is " << hit_point << endl;
// if(!isSendTarget)return 0;
if(!isSendTarget)return 0;
cout<<"send"<<endl;
gimbleRotation();