VSAG/vision_sjtu_19
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JiatongSun
2019-04-15 20:03:39 +08:00
parent be4df07199
commit 3d29bd73c2
2 changed files with 7 additions and 7 deletions
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6
energy/src/energy/run.cpp
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@@ -61,8 +61,8 @@ int Energy::run(cv::Mat &src){
cout<<"all_armor_centers.size(): "<<all_armor_centers.size()<<endl; cout<<"all_armor_centers.size(): "<<all_armor_centers.size()<<endl;
cycleLeastFit(); cycleLeastFit();
cycle_center = cv::Point(416,227); cycle_center = cv::Point(414,227);
radius = 203.665; radius = 203.728;
getFanPosition(fanPosition, fans, cycle_center, radius); getFanPosition(fanPosition, fans, cycle_center, radius);
getArmorPosition(armorPosition, armors, cycle_center, radius); getArmorPosition(armorPosition, armors, cycle_center, radius);
findTarget(fanPosition, armorPosition, target_armor); findTarget(fanPosition, armorPosition, target_armor);
@@ -81,7 +81,7 @@ int Energy::run(cv::Mat &src){
cout<<"curr_yaw: "<<curr_yaw<<'\t'<<"curr_pitch: "<<curr_pitch<<endl; cout<<"curr_yaw: "<<curr_yaw<<'\t'<<"curr_pitch: "<<curr_pitch<<endl;
cout<<"mark_yaw: "<<mark_yaw<<'\t'<<"mark_pitch: "<<mark_pitch<<endl; cout<<"mark_yaw: "<<mark_yaw<<'\t'<<"mark_pitch: "<<mark_pitch<<endl;
cout<<"send_cnt: "<<send_cnt<<endl; // cout<<"send_cnt: "<<send_cnt<<endl;
} }

8
main.cpp
View File

@@ -114,10 +114,10 @@ void uartReceive(Uart* uart){
memcpy(&curr_yaw, buffer, 4); memcpy(&curr_yaw, buffer, 4);
memcpy(&curr_pitch, buffer+4, 4); memcpy(&curr_pitch, buffer+4, 4);
// LOGM("Get yaw:%f pitch:%f", curr_yaw, curr_pitch); // LOGM("Get yaw:%f pitch:%f", curr_yaw, curr_pitch);
if(buffer[9] == 1){ if(buffer[9] == 1 && mark == 0){
mark = 1; mark = 1;
mark_yaw = curr_yaw; mark_yaw = curr_yaw;
mark_pitch = curr_pitch; mark_pitch = curr_pitch;
// LOGM("Marked"); // LOGM("Marked");
} }
} }