energy changed

energy/include/energy/energy.h

@@ -92,7 +92,6 @@ private:
     float sum_yaw, sum_pitch;//yaw和pitch的累计误差，即PID中积分项
 
     systime time_start_guess;
-    systime time_start_energy;
 
     cv::RotatedRect centerR;//风车中心字母R的可能候选区
     cv::RotatedRect flow_strip;//图像中所有流动条（理论上只有一个）

energy/include/energy/param_struct_define.h

@@ -17,7 +17,8 @@ using std::vector;
 // ---------------------------------------------------------------------------------------------------------------------
 struct EnergyPartParam {
 	int GRAY_THRESH;//二值化阈值
-	int SUB_GRAY_THRESH;//备用二值化阈值
+	int RED_GRAY_THRESH;//红方二值化阈值
+	int BLUE_GRAY_THRESH;//蓝方二值化阈值
 	int SPLIT_GRAY_THRESH;//通道分离二值化阈值
 	int FAN_GRAY_THRESH;//扇叶识别二值化阈值
 	int ARMOR_GRAY_THRESH;//装甲板识别二值化阈值

energy/src/energy/clear/clear.cpp

@@ -7,6 +7,8 @@
 using namespace std;
 using namespace cv;
 
+extern McuData mcu_data;
+
 
 //----------------------------------------------------------------------------------------------------------------------
 // 此函数用于清空各vector
@@ -26,15 +28,11 @@ void Energy::clearAll() {
 void Energy::initImage(cv::Mat &src) {
 //    imagePreprocess(src);
 //    if(show_process)imshow("img_preprocess", src);
-    systime cur_time;
-    getsystime(cur_time);
-    float interval = getTimeIntervalms(cur_time, time_start_energy);
-
     if (src.type() == CV_8UC3)cvtColor(src, src, COLOR_BGR2GRAY);
-    if(interval > 3000 && !is_find_target){
+    if (mcu_data.enemy_color == ENEMY_BLUE){
-        threshold(src, src, energy_part_param_.SUB_GRAY_THRESH, 255, THRESH_BINARY);
+        threshold(src, src, energy_part_param_.RED_GRAY_THRESH, 255, THRESH_BINARY);
-    }else{
+    } else if(mcu_data.enemy_color == ENEMY_RED){
-        threshold(src, src, energy_part_param_.GRAY_THRESH, 255, THRESH_BINARY);
+        threshold(src, src, energy_part_param_.BLUE_GRAY_THRESH, 255, THRESH_BINARY);
     }
     if (show_process)imshow("bin", src);
     if (show_energy)waitKey(1);

energy/src/energy/clear/energy_init.cpp

@@ -83,16 +83,16 @@ void Energy::initEnergy() {
 void Energy::initEnergyPartParam() {
 //    gimbal_energy_part_param_.GRAY_THRESH = 120;//home
 //    gimbal_energy_part_param_.GRAY_THRESH = 200;//official
-    gimbal_energy_part_param_.GRAY_THRESH = 180;//game
+    gimbal_energy_part_param_.RED_GRAY_THRESH = 180;//game
-    gimbal_energy_part_param_.SUB_GRAY_THRESH = 100;
+    gimbal_energy_part_param_.BLUE_GRAY_THRESH = 100;//game
     gimbal_energy_part_param_.SPLIT_GRAY_THRESH = 180;
     gimbal_energy_part_param_.FAN_GRAY_THRESH = 75;
     gimbal_energy_part_param_.ARMOR_GRAY_THRESH = 80;
 
-    gimbal_energy_part_param_.FAN_CONTOUR_AREA_MAX = 3000;
+    gimbal_energy_part_param_.FAN_CONTOUR_AREA_MAX = 5000;
-    gimbal_energy_part_param_.FAN_CONTOUR_AREA_MIN = 500;
+    gimbal_energy_part_param_.FAN_CONTOUR_AREA_MIN = 1500;
     gimbal_energy_part_param_.FAN_CONTOUR_LENGTH_MIN = 55;
-    gimbal_energy_part_param_.FAN_CONTOUR_LENGTH_MAX = 95;
+    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_MAX = 52;
     gimbal_energy_part_param_.FAN_CONTOUR_HW_RATIO_MAX = 3.5;

energy/src/energy/energy.cpp

@@ -53,8 +53,6 @@ void Energy::setBigEnergyInit() {
     initEnergy();
     initEnergyPartParam();
 
-    getsystime(time_start_energy);
-
     is_big = true;
     is_small = false;
     is_gimbal = true;

energy/src/energy/run.cpp

@@ -79,22 +79,12 @@ void Energy::runBig(cv::Mat &gimbal_src) {
     if (findArmors(gimbal_src) < 1)return;
     if (show_energy)showArmors("armor", gimbal_src);
     if (!findFlowStripFan(gimbal_src)) {
-        if (!findFlowStripWeak(gimbal_src)){
+        if (!findFlowStripWeak(gimbal_src)) return;
-            is_find_target = false;
-            return;
-        }
     } else {
         if (show_energy)showFlowStripFan("strip fan", gimbal_src);
-        if (!findTargetInFlowStripFan()) {
+        if (!findTargetInFlowStripFan()) return;
-            is_find_target = false;
+        if (!findFlowStrip(gimbal_src))return;
-            return;
-        }
-        if (!findFlowStrip(gimbal_src)){
-            is_find_target = false;
-            return;
-        }
     }
-    is_find_target = true;
     if (!findCenterROI(gimbal_src))return;
     if (show_energy)showFlowStrip("strip", gimbal_src);
     if (!findCenterR(gimbal_src))return;
@@ -135,22 +125,12 @@ void Energy::runSmall(cv::Mat &gimbal_src) {
     if (findArmors(gimbal_src) < 1)return;
     if (show_energy)showArmors("armor", gimbal_src);
     if (!findFlowStripFan(gimbal_src)) {
-        if (!findFlowStripWeak(gimbal_src)){
+        if (!findFlowStripWeak(gimbal_src)) return;
-            is_find_target = false;
-            return;
-        }
     } else {
         if (show_energy)showFlowStripFan("strip fan", gimbal_src);
-        if (!findTargetInFlowStripFan()) {
+        if (!findTargetInFlowStripFan()) return;
-            is_find_target = false;
+        if (!findFlowStrip(gimbal_src)) return;
-            return;
-        }
-        if (!findFlowStrip(gimbal_src)){
-            is_find_target = false;
-            return;
-        }
     }
-    is_find_target = true;
     if (show_energy)showTarget("target", gimbal_src);
     fans_cnt = findFans(gimbal_src);
     if (show_energy)showFans("fans", gimbal_src);

main.cpp

@@ -30,7 +30,7 @@ using namespace std;
 McuData mcu_data = {    // 单片机端回传结构体
         0,              // 当前云台yaw角
         0,              // 当前云台pitch角
-        SMALL_ENERGY_STATE,    // 当前状态，自瞄-大符-小符
+        BIG_ENERGY_STATE,    // 当前状态，自瞄-大符-小符
         0,              // 云台角度标记位
         1,              // 是否启用数字识别
         ENEMY_RED,      // 敌方颜色
@@ -66,8 +66,8 @@ int main(int argc, char *argv[]) {
             video_gimbal = new CameraWrapper(ARMOR_CAMERA_EXPOSURE, ARMOR_CAMERA_GAIN, 2/*, "armor"*/);
             video_chassis = new CameraWrapper(ENERGY_CAMERA_EXPOSURE, ENERGY_CAMERA_GAIN, 2/*, "energy"*/);
         } else {
-            video_gimbal = new VideoWrapper("/home/sun/桌面/video_8.7/round1-8-5-7-small.avi");
+            video_gimbal = new VideoWrapper("/home/sun/桌面/video_8.8/8.7.4-big.avi");
-            video_chassis = new VideoWrapper("/home/sun/桌面/video_8.7/round1-8-5-7-small.avi");
+            video_chassis = new VideoWrapper("/home/sun/桌面/video_8.8/8.7.4-big.avi");
         }
         if (video_gimbal->init()) {
             LOGM("video_gimbal source initialization successfully.");
@@ -108,23 +108,26 @@ int main(int argc, char *argv[]) {
                             LOGW("video_gimbal source unavailable!");
                         }
                     }
-                    checkReconnect(video_chassis->read(chassis_src));
+//                    checkReconnect(video_chassis->read(chassis_src));
                     energy.setBigEnergyInit();
                 }
                 last_state = curr_state;//更新上一帧状态
                 ok = checkReconnect(video_gimbal->read(gimbal_src));
-                video_chassis->read(chassis_src);
+//                video_chassis->read(chassis_src);
 #ifdef GIMBAL_FLIP_MODE
                 flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
 #endif
-#ifdef CHASSIS_FLIP_MODE
+//#ifdef CHASSIS_FLIP_MODE
-                flip(chassis_src, chassis_src, CHASSIS_FLIP_MODE);
+//                flip(chassis_src, chassis_src, CHASSIS_FLIP_MODE);
-#endif
+//#endif
-                if (!from_camera) extract(gimbal_src, chassis_src);
+//                if (!from_camera) extract(gimbal_src, chassis_src);
-                if (save_video) saveVideos(gimbal_src, chassis_src);//保存视频
+//                if (save_video) saveVideos(gimbal_src, chassis_src);//保存视频
-                if (show_origin) showOrigin(gimbal_src, chassis_src);//显示原始图像
+//                if (show_origin) showOrigin(gimbal_src, chassis_src);//显示原始图像
-                energy.runBig(gimbal_src, chassis_src);
+                if (!from_camera) extract(gimbal_src);
-//                energy.runBig(gimbal_src);
+                if (save_video) saveVideos(gimbal_src);//保存视频
+                if (show_origin) showOrigin(gimbal_src);//显示原始图像
+//                energy.runBig(gimbal_src, chassis_src);
+                energy.runBig(gimbal_src);
             } else if (curr_state == SMALL_ENERGY_STATE) {
                 if (last_state != SMALL_ENERGY_STATE) {
                     LOGM(STR_CTR(WORD_GREEN, "Start Small Energy!"));