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some refactor

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This commit is contained in:
xinyang
2019-05-17 22:52:35 +08:00
parent 77a58511c9
commit 424cc724d8
13 changed files with 212 additions and 197 deletions
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6
energy/include/energy/constant.h
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@@ -4,10 +4,12 @@
#ifndef CONSTANT_H
#define CONSTANT_H
#include "additions/additions.h"
#define d2r (CV_PI / 180.0)
const int ALLY_BLUE = 123;
const int ALLY_RED = 456;
const int ALLY_BLUE = ENEMY_RED;
const int ALLY_RED = ENEMY_BLUE;
const int SRC_WIDTH_CAMERA = 640;
const int SRC_HEIGHT_CAMERA = 480;
const int SRC_WIDTH = 320;

7
energy/include/energy/energy.h
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@@ -15,12 +15,13 @@
#include "energy/constant.h"
#include "energy/param_struct_define.h"
#include "serial/serial.h"
#include "additions/additions.h"
using std::vector;
class Energy {
public:
Energy(Serial &u, int &ally_color);
Energy(Serial &u, uint8_t &enemy_color);
~Energy();
int run(cv::Mat &src);
@@ -28,7 +29,7 @@ public:
clock_t start;
Serial &serial;
void setAllyColor(int color);
// void setAllyColor(int color);
void setRotation(int rotation);
void extract(cv::Mat &src);
@@ -51,7 +52,7 @@ private:
double last_target_position;
double last_hit_position;
float target_armor;
int &ally_color_;
uint8_t &ally_color;
int energy_part_rotation;
float attack_distance;
int send_cnt;

8
energy/src/energy/calibrate/split.cpp
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@@ -28,10 +28,10 @@ void Energy::imagePreprocess(cv::Mat &src) {
if(src.type() == CV_8UC1)
{
splitBayerBG(src, src_blue, src_red);
if(ally_color_ == ALLY_RED)
if(ally_color == ALLY_RED)
{
src = src_red - src_blue;
}else if(ally_color_ == ALLY_BLUE){
}else if(ally_color == ALLY_BLUE){
src = src_blue - src_red;
}
}
@@ -44,11 +44,11 @@ void Energy::imagePreprocess(cv::Mat &src) {
resize(channels.at(0), src_blue, Size(SRC_WIDTH, SRC_HEIGHT));
resize(channels.at(1), src_green, Size(SRC_WIDTH, SRC_HEIGHT));
resize(channels.at(2), src_red, Size(SRC_WIDTH, SRC_HEIGHT));
if(ally_color_ == ALLY_RED)
if(ally_color == ALLY_RED)
{
src = src_red-src_blue;
//src=src_red;
}else if(ally_color_ == ALLY_BLUE){
}else if(ally_color == ALLY_BLUE){
src = src_blue-src_red;
//src=src_blue;
}

14
energy/src/energy/energy.cpp
View File

@@ -8,7 +8,7 @@ using std::cout;
using std::endl;
using std::vector;
Energy::Energy(Serial &u, int &ally_color):serial(u),ally_color_(ally_color),
Energy::Energy(Serial &u, uint8_t &enemy_color):serial(u),ally_color(enemy_color),
src_blue(SRC_HEIGHT, SRC_WIDTH, CV_8UC1),
src_red(SRC_HEIGHT, SRC_WIDTH, CV_8UC1)
{
@@ -26,7 +26,7 @@ Energy::Energy(Serial &u, int &ally_color):serial(u),ally_color_(ally_color),
target_armor = -1;
radius = 0;
ally_color_ = ALLY_RED;
// ally_color = ALLY_RED;
energy_part_rotation = CLOCKWISE;
attack_distance = ATTACK_DISTANCE;
count = 1;
@@ -58,11 +58,11 @@ Energy::Energy(Serial &u, int &ally_color):serial(u),ally_color_(ally_color),
Energy::~Energy() = default;
void Energy::setAllyColor(int color)
{
ally_color_ = color;
}
//
//void Energy::setAllyColor(int color)
//{
// ally_color_ = color;
//}
void Energy::setRotation(int rotation){
energy_part_rotation = rotation;

10
energy/src/energy/run.cpp
View File

@@ -8,8 +8,9 @@ using std::cout;
using std::endl;
using std::vector;
extern float curr_yaw, curr_pitch, mark_yaw, mark_pitch;
extern int mark;
//extern float curr_yaw, curr_pitch, mark_yaw, mark_pitch;
//extern int mark;
int Energy::run(cv::Mat &src){
imshow("src",src);
@@ -78,11 +79,12 @@ int Energy::run(cv::Mat &src){
sendTargetByUart(yaw_rotation, pitch_rotation, attack_distance);
cout<<"yaw: "<<yaw_rotation<<'\t'<<"pitch: "<<pitch_rotation<<endl;
cout<<"curr_yaw: "<<curr_yaw<<'\t'<<"curr_pitch: "<<curr_pitch<<endl;
cout<<"mark_yaw: "<<mark_yaw<<'\t'<<"mark_pitch: "<<mark_pitch<<endl;
cout<<"curr_yaw: "<<mcuData.curr_yaw<<'\t'<<"curr_pitch: "<<mcuData.curr_pitch<<endl;
cout<<"mark_yaw: "<<mcuData.mark_yaw<<'\t'<<"mark_pitch: "<<mcuData.mark_pitch<<endl;
// cout<<"send_cnt: "<<send_cnt<<endl;
}
//-----------------------------------------------------------------------------------