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Merge remote-tracking branch 'origin/anti-top' into anti-top

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xinyang
2019-07-19 13:05:33 +08:00
parent ad036071b0 cdc58c8e67
commit 3de13a62ab
10 changed files with 82 additions and 76 deletions
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6
energy/src/energy/calibrate/structing.cpp
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@@ -125,7 +125,7 @@ void Energy::FlowStripStruct(cv::Mat &src) {
// 此函数对图像进行腐蚀与膨胀操作 // 此函数对图像进行腐蚀与膨胀操作
// --------------------------------------------------------------------------------------------------------------------- // ---------------------------------------------------------------------------------------------------------------------
void Energy::CenterRStruct(cv::Mat &src) { void Energy::CenterRStruct(cv::Mat &src) {
Mat element_dilate_1 = getStructuringElement(MORPH_RECT, Size(8, 6)); Mat element_dilate_1 = getStructuringElement(MORPH_RECT, Size(4, 4));
Mat element_erode_1 = getStructuringElement(MORPH_RECT, Size(2, 1)); Mat element_erode_1 = getStructuringElement(MORPH_RECT, Size(2, 1));
Mat element_dilate_2 = getStructuringElement(MORPH_RECT, Size(3, 3)); Mat element_dilate_2 = getStructuringElement(MORPH_RECT, Size(3, 3));
Mat element_erode_2 = getStructuringElement(MORPH_RECT, Size(4 , 4)); Mat element_erode_2 = getStructuringElement(MORPH_RECT, Size(4 , 4));
@@ -134,8 +134,8 @@ void Energy::CenterRStruct(cv::Mat &src) {
// imshow("erode_1", src); // imshow("erode_1", src);
dilate(src, src, element_dilate_1); dilate(src, src, element_dilate_1);
// imshow("dilate_1", src); // imshow("dilate_1", src);
dilate(src, src, element_dilate_2); // dilate(src, src, element_dilate_2);
// imshow("dilate_2", src); // imshow("dilate_2", src);
erode(src,src, element_erode_2); // erode(src,src, element_erode_2);
// imshow("erode_2", src); // imshow("erode_2", src);
} }

20
energy/src/energy/clear/energy_init.cpp
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@@ -79,7 +79,7 @@ void Energy::initEnergyPartParam() {
gimbal_energy_part_param_.FAN_CONTOUR_LENGTH_MIN = 80; gimbal_energy_part_param_.FAN_CONTOUR_LENGTH_MIN = 80;
gimbal_energy_part_param_.FAN_CONTOUR_LENGTH_MAX = 100; gimbal_energy_part_param_.FAN_CONTOUR_LENGTH_MAX = 100;
gimbal_energy_part_param_.FAN_CONTOUR_WIDTH_MIN = 20; gimbal_energy_part_param_.FAN_CONTOUR_WIDTH_MIN = 20;
gimbal_energy_part_param_.FAN_CONTOUR_WIDTH_MAX = 50; gimbal_energy_part_param_.FAN_CONTOUR_WIDTH_MAX = 52;
gimbal_energy_part_param_.FAN_CONTOUR_HW_RATIO_MAX = 4; gimbal_energy_part_param_.FAN_CONTOUR_HW_RATIO_MAX = 4;
gimbal_energy_part_param_.FAN_CONTOUR_HW_RATIO_MIN = 1; gimbal_energy_part_param_.FAN_CONTOUR_HW_RATIO_MIN = 1;
gimbal_energy_part_param_.FAN_CONTOUR_AREA_RATIO_MIN = 0.65; gimbal_energy_part_param_.FAN_CONTOUR_AREA_RATIO_MIN = 0.65;
@@ -105,7 +105,7 @@ void Energy::initEnergyPartParam() {
gimbal_energy_part_param_.CENTER_R_CONTOUR_WIDTH_MAX = 25; gimbal_energy_part_param_.CENTER_R_CONTOUR_WIDTH_MAX = 25;
gimbal_energy_part_param_.CENTER_R_CONTOUR_HW_RATIO_MAX = 3; gimbal_energy_part_param_.CENTER_R_CONTOUR_HW_RATIO_MAX = 3;
gimbal_energy_part_param_.CENTER_R_CONTOUR_HW_RATIO_MIN = 1; gimbal_energy_part_param_.CENTER_R_CONTOUR_HW_RATIO_MIN = 1;
gimbal_energy_part_param_.CENTER_R_CONTOUR_AREA_RATIO_MIN = 0.7; gimbal_energy_part_param_.CENTER_R_CONTOUR_AREA_RATIO_MIN = 0.5;
gimbal_energy_part_param_.CENTER_R_CONTOUR_INTERSETION_AREA_MIN = 10; gimbal_energy_part_param_.CENTER_R_CONTOUR_INTERSETION_AREA_MIN = 10;
gimbal_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_AREA_MAX = 3000; gimbal_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_AREA_MAX = 3000;
@@ -113,7 +113,7 @@ void Energy::initEnergyPartParam() {
gimbal_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_LENGTH_MIN = 60; gimbal_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_LENGTH_MIN = 60;
gimbal_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_LENGTH_MAX = 100; gimbal_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_LENGTH_MAX = 100;
gimbal_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_WIDTH_MIN = 20; gimbal_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_WIDTH_MIN = 20;
gimbal_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_WIDTH_MAX = 50; gimbal_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_WIDTH_MAX = 52;
gimbal_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_HW_RATIO_MAX = 3; gimbal_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_HW_RATIO_MAX = 3;
gimbal_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_HW_RATIO_MIN = 1; gimbal_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_HW_RATIO_MIN = 1;
gimbal_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_AREA_RATIO_MAX = 0.65; gimbal_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_AREA_RATIO_MAX = 0.65;
@@ -125,14 +125,14 @@ 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 = 45; gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_LENGTH_MIN = 38;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_LENGTH_MAX = 70; gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_LENGTH_MAX = 60;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_WIDTH_MIN = 12; gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_WIDTH_MIN = 8;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_WIDTH_MAX = 24; gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_WIDTH_MAX = 32;
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 = 2.5; gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_HW_RATIO_MIN = 1.8;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_AREA_RATIO_MIN = 0.6; 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;
gimbal_energy_part_param_.TWIN_ANGEL_MAX = 10; gimbal_energy_part_param_.TWIN_ANGEL_MAX = 10;
@@ -187,7 +187,7 @@ void Energy::initEnergyPartParam() {
chassis_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_LENGTH_MIN = 90; chassis_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_LENGTH_MIN = 90;
chassis_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_LENGTH_MAX = 140; chassis_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_LENGTH_MAX = 140;
chassis_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_WIDTH_MIN = 35; chassis_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_WIDTH_MIN = 35;
chassis_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_WIDTH_MAX = 60; chassis_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_WIDTH_MAX = 65;
chassis_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_HW_RATIO_MAX = 3; chassis_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_HW_RATIO_MAX = 3;
chassis_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_HW_RATIO_MIN = 1; chassis_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_HW_RATIO_MIN = 1;
chassis_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_AREA_RATIO_MAX = 0.55; chassis_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_AREA_RATIO_MAX = 0.55;

14
energy/src/energy/find/energy_finder.cpp
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@@ -133,7 +133,7 @@ bool Energy::findCenterR(const cv::Mat src) {
circle_center_point = centerR.center; circle_center_point = centerR.center;
circle_center_point.y += target_length / 7.5;//实际最小二乘得到的中心在R的下方 circle_center_point.y += target_length / 7.5;//实际最小二乘得到的中心在R的下方
// RotatedRect cur_rect = minAreaRect(center_R_contour); RotatedRect cur_rect = minAreaRect(center_R_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;
// float width = 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;
@@ -148,10 +148,11 @@ bool Energy::findCenterR(const cv::Mat src) {
// cout << "R intersection: " << contourArea(intersection) << endl; // cout << "R intersection: " << contourArea(intersection) << endl;
// return true; // return true;
// } // }
// cout << cur_rect.center << endl;
return true; return true;
} }
cout << "find center R false!" << endl; cout << "find center R false!" << endl;
// cv::waitKey(0);
return false; return false;
} }
@@ -160,7 +161,7 @@ bool Energy::findCenterR(const cv::Mat src) {
//---------------------------------------------------------------------------------------------------------------------- //----------------------------------------------------------------------------------------------------------------------
// 此函数用于判断找到的矩形候选区是否为含流动条的扇叶 // 此函数用于判断找到的矩形候选区是否为含流动条的扇叶
// --------------------------------------------------------------------------------------------------------------------- // ---------------------------------------------------------------------------------------------------------------------
bool Energy:: findFlowStripFan(const cv::Mat src) { bool Energy::findFlowStripFan(const cv::Mat src) {
if (src.empty())return false; if (src.empty())return false;
static Mat src_bin; static Mat src_bin;
static Mat src_copy; static Mat src_copy;
@@ -171,7 +172,7 @@ bool Energy:: findFlowStripFan(const cv::Mat src) {
} }
std::vector<vector<Point> > flow_strip_fan_contours; std::vector<vector<Point> > flow_strip_fan_contours;
FlowStripFanStruct(src_bin);//图像膨胀，防止图像断开并更方便寻找 FlowStripFanStruct(src_bin);//图像膨胀，防止图像断开并更方便寻找
// imshow("flow strip fan struct", src_bin); imshow("flow strip fan struct", src_bin);
findContours(src_bin, flow_strip_fan_contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE); findContours(src_bin, flow_strip_fan_contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE);
@@ -194,11 +195,12 @@ bool Energy:: findFlowStripFan(const cv::Mat src) {
// cout << "non zero: " << non_zero_rate << endl; // cout << "non zero: " << non_zero_rate << endl;
// cout<<cur_contour_area / cur_size.area()<<endl; // cout<<cur_contour_area / cur_size.area()<<endl;
// } // }
// cout << cur_rect.center << endl;
return true; return true;
} }
// showFlowStripFan("strip fan", src_bin); // showFlowStripFan("strip fan", src_bin);
cout << "flow strip fan false!" << endl; cout << "flow strip fan false!" << endl;
// waitKey(0);
return false; return false;
} }
@@ -233,9 +235,11 @@ bool Energy::findFlowStrip(const cv::Mat src) {
// flow_strip = cv::minAreaRect(flow_strip_contour); // flow_strip = cv::minAreaRect(flow_strip_contour);
// cout << "flow strip area: " << length << '\t' << width << endl; // cout << "flow strip area: " << length << '\t' << width << endl;
// } // }
// cout << cur_rect.center << endl;
return true; return true;
} }
cout << "flow strip false!" << endl; cout << "flow strip false!" << endl;
// waitKey(0);
return false; return false;
} }

9
energy/src/energy/get/aim_point_get.cpp
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@@ -13,11 +13,12 @@ using namespace cv;
// --------------------------------------------------------------------------------------------------------------------- // ---------------------------------------------------------------------------------------------------------------------
void Energy::getAimPoint(cv::Point target_point) { void Energy::getAimPoint(cv::Point target_point) {
//五号车 //五号车
double dx = -(target_point.x - 320 - 3); // double dx = -(target_point.x - 320 - 10);
double dy = -(target_point.y - 240 - 74); // double dy = -(target_point.y - 240 - 22);
//四号车 //四号车
// double dx = -(target_point.x - 320 + 16); double dx = -(target_point.x - 320 - 0);
// double dy = -(target_point.y - 240 - 82); double dy = -(target_point.y - 240 - 69);
yaw_rotation = atan(dx / FOCUS_PIXAL) * 180 / PI; yaw_rotation = atan(dx / FOCUS_PIXAL) * 180 / PI;
pitch_rotation = atan(dy / FOCUS_PIXAL) * 180 / PI; pitch_rotation = atan(dy / FOCUS_PIXAL) * 180 / PI;
cout << "yaw: " << yaw_rotation << '\t' << "pitch: " << pitch_rotation << endl;
} }

4
energy/src/energy/get/origin_get.cpp
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@@ -17,8 +17,8 @@ bool Energy::getOrigin() {
// double dx = -(circle_center_point.x - 320 - 10); // double dx = -(circle_center_point.x - 320 - 10);
// double dy = -(circle_center_point.y - 240 - 22); // double dy = -(circle_center_point.y - 240 - 22);
//四号车 //四号车
double dx = -(circle_center_point.x - 320 - 3); double dx = -(circle_center_point.x - 320 - 7);
double dy = -(circle_center_point.y - 240 - 74); double dy = -(circle_center_point.y - 240 - 64);
center_delta_yaw = static_cast<float>(atan(dx / FOCUS_PIXAL) * 180 / PI); center_delta_yaw = static_cast<float>(atan(dx / FOCUS_PIXAL) * 180 / PI);
center_delta_pitch = static_cast<float>(atan(dy / FOCUS_PIXAL) * 180 / PI); center_delta_pitch = static_cast<float>(atan(dy / FOCUS_PIXAL) * 180 / PI);
if (abs(center_delta_yaw) > 0.3 || abs(center_delta_pitch) > 0.3) { if (abs(center_delta_yaw) > 0.3 || abs(center_delta_pitch) > 0.3) {

37
energy/src/energy/judge/judge_contour.cpp
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@@ -27,6 +27,7 @@ bool Energy::isValidFanContour(cv::Mat &src, const vector<cv::Point> &fan_contou
if (length < energy_part_param_.FAN_CONTOUR_LENGTH_MIN || width < energy_part_param_.FAN_CONTOUR_WIDTH_MIN || if (length < energy_part_param_.FAN_CONTOUR_LENGTH_MIN || width < energy_part_param_.FAN_CONTOUR_WIDTH_MIN ||
length > energy_part_param_.FAN_CONTOUR_LENGTH_MAX || width > energy_part_param_.FAN_CONTOUR_WIDTH_MAX) { length > energy_part_param_.FAN_CONTOUR_LENGTH_MAX || width > energy_part_param_.FAN_CONTOUR_WIDTH_MAX) {
//cout<<"length width fail."<<endl; //cout<<"length width fail."<<endl;
// 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
} }
@@ -34,12 +35,14 @@ bool Energy::isValidFanContour(cv::Mat &src, const vector<cv::Point> &fan_contou
if (length_width_ratio > energy_part_param_.FAN_CONTOUR_HW_RATIO_MAX || if (length_width_ratio > energy_part_param_.FAN_CONTOUR_HW_RATIO_MAX ||
length_width_ratio < energy_part_param_.FAN_CONTOUR_HW_RATIO_MIN) { length_width_ratio < energy_part_param_.FAN_CONTOUR_HW_RATIO_MIN) {
//cout<<"length width ratio fail."<<endl; //cout<<"length width ratio fail."<<endl;
// 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
} }
// cout << cur_contour_area / cur_size.area() << endl; // cout << cur_contour_area / cur_size.area() << endl;
if (cur_contour_area / cur_size.area() < energy_part_param_.FAN_CONTOUR_AREA_RATIO_MIN) { if (cur_contour_area / cur_size.area() < energy_part_param_.FAN_CONTOUR_AREA_RATIO_MIN) {
// cout << cur_contour_area / cur_size.area() << endl; // cout << cur_contour_area / cur_size.area() << endl;
// 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
} }
double non_zero_rate = nonZeroRateOfRotateRect(src, cur_rect); double non_zero_rate = nonZeroRateOfRotateRect(src, cur_rect);
@@ -71,6 +74,7 @@ bool Energy::isValidArmorContour(const vector<cv::Point> &armor_contour) {
if (length < energy_part_param_.ARMOR_CONTOUR_LENGTH_MIN || width < energy_part_param_.ARMOR_CONTOUR_WIDTH_MIN || if (length < energy_part_param_.ARMOR_CONTOUR_LENGTH_MIN || width < energy_part_param_.ARMOR_CONTOUR_WIDTH_MIN ||
length > energy_part_param_.ARMOR_CONTOUR_LENGTH_MAX || width > energy_part_param_.ARMOR_CONTOUR_WIDTH_MAX) { length > energy_part_param_.ARMOR_CONTOUR_LENGTH_MAX || width > energy_part_param_.ARMOR_CONTOUR_WIDTH_MAX) {
//cout<<"length width fail."<<endl; //cout<<"length width fail."<<endl;
// 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
} }
@@ -79,11 +83,14 @@ bool Energy::isValidArmorContour(const vector<cv::Point> &armor_contour) {
if (length_width_ratio > energy_part_param_.ARMOR_CONTOUR_HW_RATIO_MAX || if (length_width_ratio > energy_part_param_.ARMOR_CONTOUR_HW_RATIO_MAX ||
length_width_ratio < energy_part_param_.ARMOR_CONTOUR_HW_RATIO_MIN) { length_width_ratio < energy_part_param_.ARMOR_CONTOUR_HW_RATIO_MIN) {
//cout<<"length width ratio fail."<<endl; //cout<<"length width ratio fail."<<endl;
// 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_.ARMOR_CONTOUR_AREA_RATIO_MIN) if (cur_contour_area / cur_size.area() < energy_part_param_.ARMOR_CONTOUR_AREA_RATIO_MIN) {
// 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;
} }
@@ -108,6 +115,7 @@ bool Energy::isValidCenterRContour(const vector<cv::Point> &center_R_contour) {
|| length > energy_part_param_.CENTER_R_CONTOUR_LENGTH_MAX || || length > energy_part_param_.CENTER_R_CONTOUR_LENGTH_MAX ||
width > energy_part_param_.CENTER_R_CONTOUR_WIDTH_MAX) { width > energy_part_param_.CENTER_R_CONTOUR_WIDTH_MAX) {
//cout<<"length width fail."<<endl; //cout<<"length width fail."<<endl;
// 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
} }
@@ -115,16 +123,19 @@ bool Energy::isValidCenterRContour(const vector<cv::Point> &center_R_contour) {
if (length_width_ratio > energy_part_param_.CENTER_R_CONTOUR_HW_RATIO_MAX || if (length_width_ratio > energy_part_param_.CENTER_R_CONTOUR_HW_RATIO_MAX ||
length_width_ratio < energy_part_param_.CENTER_R_CONTOUR_HW_RATIO_MIN) { length_width_ratio < energy_part_param_.CENTER_R_CONTOUR_HW_RATIO_MIN) {
//cout<<"length width ratio fail."<<endl; //cout<<"length width ratio fail."<<endl;
// 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_.CENTER_R_CONTOUR_AREA_RATIO_MIN) if (cur_contour_area / cur_size.area() < energy_part_param_.CENTER_R_CONTOUR_AREA_RATIO_MIN) {
// 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
}
std::vector<cv::Point2f> intersection; std::vector<cv::Point2f> intersection;
if (rotatedRectangleIntersection(cur_rect, center_ROI, intersection) == 0) { if (rotatedRectangleIntersection(cur_rect, center_ROI, intersection) == 0) {
return false; return false;
} else if (contourArea(intersection) < energy_part_param_.CENTER_R_CONTOUR_INTERSETION_AREA_MIN) { } else if (contourArea(intersection) < energy_part_param_.CENTER_R_CONTOUR_INTERSETION_AREA_MIN) {
cout << "R intersection: " << contourArea(intersection) << endl; // cout << "R intersection: " << contourArea(intersection) << '\t' << cur_rect.center << endl;
return false; return false;
} }
return true; return true;
@@ -138,8 +149,8 @@ bool Energy::isValidFlowStripFanContour(cv::Mat &src, const vector<cv::Point> &f
double cur_contour_area = contourArea(flow_strip_fan_contour); double cur_contour_area = contourArea(flow_strip_fan_contour);
if (cur_contour_area > energy_part_param_.FLOW_STRIP_FAN_CONTOUR_AREA_MAX || if (cur_contour_area > energy_part_param_.FLOW_STRIP_FAN_CONTOUR_AREA_MAX ||
cur_contour_area < energy_part_param_.FLOW_STRIP_FAN_CONTOUR_AREA_MIN) { cur_contour_area < energy_part_param_.FLOW_STRIP_FAN_CONTOUR_AREA_MIN) {
//cout<<cur_contour_area<<" "<<energy_fan_param_.CONTOUR_AREA_MIN<<" "<<energy_fan_param_.CONTOUR_AREA_MAX<<endl;
//cout<<"area fail."<<endl; //cout<<"area fail."<<endl;
// cout << "area: " << cur_contour_area << '\t' << endl;
return false; return false;
//选区面积大小不合适 //选区面积大小不合适
} }
@@ -153,7 +164,7 @@ bool Energy::isValidFlowStripFanContour(cv::Mat &src, const vector<cv::Point> &f
|| length > energy_part_param_.FLOW_STRIP_FAN_CONTOUR_LENGTH_MAX || length > energy_part_param_.FLOW_STRIP_FAN_CONTOUR_LENGTH_MAX
|| width > energy_part_param_.FLOW_STRIP_FAN_CONTOUR_WIDTH_MAX) { || width > energy_part_param_.FLOW_STRIP_FAN_CONTOUR_WIDTH_MAX) {
// cout<<"length width fail."<<endl; // cout<<"length width fail."<<endl;
// cout << "length: " << length << '\t' << "width: " << width << endl; // 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
} }
@@ -161,13 +172,14 @@ bool Energy::isValidFlowStripFanContour(cv::Mat &src, const vector<cv::Point> &f
if (length_width_ratio > energy_part_param_.FLOW_STRIP_FAN_CONTOUR_HW_RATIO_MAX || if (length_width_ratio > energy_part_param_.FLOW_STRIP_FAN_CONTOUR_HW_RATIO_MAX ||
length_width_ratio < energy_part_param_.FLOW_STRIP_FAN_CONTOUR_HW_RATIO_MIN) { length_width_ratio < energy_part_param_.FLOW_STRIP_FAN_CONTOUR_HW_RATIO_MIN) {
//cout<<"length width ratio fail."<<endl; //cout<<"length width ratio fail."<<endl;
// 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
} }
// cout << cur_contour_area / cur_size.area() << endl; // cout << cur_contour_area / cur_size.area() << endl;
if (cur_contour_area / cur_size.area() < energy_part_param_.FLOW_STRIP_FAN_CONTOUR_AREA_RATIO_MIN if (cur_contour_area / cur_size.area() < energy_part_param_.FLOW_STRIP_FAN_CONTOUR_AREA_RATIO_MIN
|| cur_contour_area / cur_size.area() > energy_part_param_.FLOW_STRIP_FAN_CONTOUR_AREA_RATIO_MAX) { || cur_contour_area / cur_size.area() > energy_part_param_.FLOW_STRIP_FAN_CONTOUR_AREA_RATIO_MAX) {
// cout << "rate: " << cur_contour_area / cur_size.area() << endl; // cout << "area ratio: " << cur_contour_area / cur_size.area() << '\t' << cur_rect.center << endl;
return false; return false;
} }
// 轮廓对矩形的面积占有率不合适 // 轮廓对矩形的面积占有率不合适
@@ -204,7 +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 << endl; // 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
} }
@@ -213,14 +225,19 @@ 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;
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;
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
}
std::vector<cv::Point2f> intersection; std::vector<cv::Point2f> intersection;
if (rotatedRectangleIntersection(cur_rect, flow_strip_fan, intersection) == 0 || if (rotatedRectangleIntersection(cur_rect, flow_strip_fan, intersection) == 0) {
contourArea(intersection) < energy_part_param_.FLOW_STRIP_CONTOUR_INTERSETION_AREA_MIN) { return false;
} else if (contourArea(intersection) < energy_part_param_.FLOW_STRIP_CONTOUR_INTERSETION_AREA_MIN) {
// cout << "intersection: " << contourArea(intersection) << '\t' << cur_rect.center << endl;
return false; return false;
} }
return true; return true;

6
energy/src/energy/judge/judge_shoot.cpp
View File

@@ -29,7 +29,7 @@ void Energy::judgeShootInWorld(){
// 此函数用于判断云台坐标系下是否可以发弹 // 此函数用于判断云台坐标系下是否可以发弹
// --------------------------------------------------------------------------------------------------------------------- // ---------------------------------------------------------------------------------------------------------------------
void Energy::judgeShootInGimbal(){ void Energy::judgeShootInGimbal(){
if (abs(yaw_rotation) < 0.3 && fabs(pitch_rotation) < 0.3) { if (abs(yaw_rotation) < 0.5 && fabs(pitch_rotation) < 0.5) {
shoot = 4; shoot = 4;
is_predicting = false; is_predicting = false;
is_guessing = true; is_guessing = true;
@@ -43,6 +43,6 @@ void Energy::judgeShootInGimbal(){
static float sum_pitch = 0; static float sum_pitch = 0;
sum_yaw += yaw_rotation; sum_yaw += yaw_rotation;
sum_pitch += pitch_rotation; sum_pitch += pitch_rotation;
yaw_rotation = 2.5 * yaw_rotation + 0.1 * sum_yaw; yaw_rotation = 6 * yaw_rotation + 0.1 * sum_yaw;
pitch_rotation = 2.5 * pitch_rotation + 0.1 * sum_pitch; pitch_rotation = 6 * pitch_rotation + 0.1 * sum_pitch;
} }

54
energy/src/energy/run.cpp
View File

@@ -31,7 +31,7 @@ void Energy::runBig(cv::Mat &gimbal_src, cv::Mat &chassis_src) {
if (!findCenterR(gimbal_src))return; if (!findCenterR(gimbal_src))return;
if (show_energy)showCenterR("R", gimbal_src); if (show_energy)showCenterR("R", gimbal_src);
if (!getOrigin())return; // if (!getOrigin())return;
startChassis(); startChassis();
initEnergy(); initEnergy();
destroyAllWindows(); destroyAllWindows();
@@ -60,21 +60,21 @@ void Energy::runBig(cv::Mat &gimbal_src, cv::Mat &chassis_src) {
initRotation(); initRotation();
return; return;
} }
if (is_predicting) { // if (is_predicting) {
getPredictPoint(target_point); // getPredictPoint(target_point);
gimbalRotation(); // gimbalRotation();
judgeShootInWorld(); // judgeShootInWorld();
sendTarget(serial, yaw_rotation, pitch_rotation, shoot); // sendTarget(serial, yaw_rotation, pitch_rotation, shoot);
} else if (is_guessing && stayGuessing()) { // } else if (is_guessing && stayGuessing()) {
findFans(chassis_src); // findFans(chassis_src);
if (show_energy)showFans("fans", chassis_src); // if (show_energy)showFans("fans", chassis_src);
if (save_mark)writeDownMark(); // if (save_mark)writeDownMark();
if (!guessTarget()) return; // if (!guessTarget()) return;
if (show_energy)showGuessTarget("guess", chassis_src); // if (show_energy)showGuessTarget("guess", chassis_src);
getPredictPoint(guess_point); // getPredictPoint(guess_point);
gimbalRotation(); // gimbalRotation();
sendTarget(serial, yaw_rotation, pitch_rotation, 5); // sendTarget(serial, yaw_rotation, pitch_rotation, 5);
} // }
} }
} }
@@ -101,11 +101,12 @@ void Energy::runBig(cv::Mat &gimbal_src) {
if (show_energy)showCenterR("R", gimbal_src); if (show_energy)showCenterR("R", gimbal_src);
changeTarget(); changeTarget();
getTargetPolarAngle(); getTargetPolarAngle();
// cout << target_point << '\t' << target_polar_angle << endl;
// cout << circle_center_point<< endl; // cout << circle_center_point<< endl;
// judgeMode(); // judgeMode();
// if (energy_mode_init)return; // if (energy_mode_init)return;
// if (!getOrigin())return; if (!getOrigin())return;
if (energy_rotation_init) { if (energy_rotation_init) {
initRotation(); initRotation();
return; return;
@@ -127,23 +128,6 @@ void Energy::runBig(cv::Mat &gimbal_src) {
getAimPoint(predict_point); getAimPoint(predict_point);
sendTarget(serial, yaw_rotation, pitch_rotation, 5); sendTarget(serial, yaw_rotation, pitch_rotation, 5);
} }
if (is_predicting) {
getPredictPoint(target_point);
gimbalRotation();
judgeShootInWorld();
sendTarget(serial, yaw_rotation, pitch_rotation, shoot);
} else if (is_guessing && stayGuessing()) {
findFans(gimbal_src);
if (show_energy)showFans("fans", gimbal_src);
if (save_mark)writeDownMark();
guessTarget();
if (show_energy)showGuessTarget("guess", gimbal_src);
getPredictPoint(guess_point);
gimbalRotation();
sendTarget(serial, yaw_rotation, pitch_rotation, 5);
}
} }
@@ -163,7 +147,7 @@ void Energy::runSmall(cv::Mat &gimbal_src) {
if (show_energy)showFlowStripFan("strip", gimbal_src); if (show_energy)showFlowStripFan("strip", gimbal_src);
changeTarget(); changeTarget();
cout << "target point: " << target_point << endl; // cout << "target point: " << target_point << endl;
if (is_predicting) { if (is_predicting) {
getAimPoint(target_point); getAimPoint(target_point);

6
main.cpp
View File

@@ -64,8 +64,8 @@ int main(int argc, char *argv[]) {
video_gimbal = new CameraWrapper(0/*, "armor"*/); video_gimbal = new CameraWrapper(0/*, "armor"*/);
video_chassis = new CameraWrapper(1/*, "energy"*/); video_chassis = new CameraWrapper(1/*, "energy"*/);
} else { } else {
video_gimbal = new VideoWrapper("/home/sun/项目/energy_video/gimble3.avi"); video_gimbal = new VideoWrapper("/home/sun/项目/energy_video/gimbal106.avi");
video_chassis = new VideoWrapper("/home/sun/项目/energy_video/gimble3.avi"); video_chassis = new VideoWrapper("/home/sun/项目/energy_video/gimbal106.avi");
} }
if (video_gimbal->init()) { if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully."); LOGM("video_gimbal source initialization successfully.");
@@ -144,7 +144,7 @@ int main(int argc, char *argv[]) {
armorFinder.run(gimbal_src); armorFinder.run(gimbal_src);
}); });
} }
// cv::waitKey(1); // cv::waitKey(0);
// }); // });
} while (ok); } while (ok);
delete video_gimbal; delete video_gimbal;

2
others/src/additions/additions.cpp
View File

@@ -37,7 +37,7 @@ void uartReceive(Serial *pSerial) {
pSerial->ReadData((uint8_t *) buffer, sizeof(mcuData)+1); pSerial->ReadData((uint8_t *) buffer, sizeof(mcuData)+1);
if (buffer[sizeof(mcuData)] == '\n') { if (buffer[sizeof(mcuData)] == '\n') {
memcpy(&mcuData, buffer, sizeof(mcuData)); memcpy(&mcuData, buffer, sizeof(mcuData));
LOGM("Get, state:%c, mark:%d!", mcuData.state, (int) mcuData.mark); // LOGM("Get, state:%c, mark:%d!", mcuData.state, (int) mcuData.mark);
// LOGM("Get yaw: %f, pitch: %f!", mcuData.curr_yaw, mcuData.curr_pitch); // LOGM("Get yaw: %f, pitch: %f!", mcuData.curr_yaw, mcuData.curr_pitch);
// static int t = time(nullptr); // static int t = time(nullptr);
// static int cnt = 0; // static int cnt = 0;