VSAG/vision_sjtu_19
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Merge remote-tracking branch 'origin/master'

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xinyang
2019-08-05 19:38:46 +08:00
parent e5ddc15d86 92493a4447
commit 540ddfa0a4
4 changed files with 100 additions and 98 deletions
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2
energy/src/energy/clear/energy_init.cpp
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@@ -82,7 +82,7 @@ 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_.GRAY_THRESH =180;//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;

30
energy/src/energy/send/send.cpp
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@@ -18,34 +18,36 @@ void Energy::sendEnergy() {
if (camera_cnt == 1) {
sum_yaw += yaw_rotation;
sum_pitch += pitch_rotation;
MINMAX(sum_yaw, -100, 100);
MINMAX(sum_pitch, -100, 100);
float yaw_I_component = BIG_YAW_AIM_KI * sum_yaw;
float pitch_I_component = BIG_PITCH_AIM_KI * sum_pitch;
MINMAX(yaw_I_component, -2, 2);
MINMAX(pitch_I_component, -2, 2);
double tmp_yaw = yaw_rotation;
double tmp_pitch = pitch_rotation;
yaw_rotation = BIG_YAW_AIM_KP * yaw_rotation + BIG_YAW_AIM_KI * sum_yaw + BIG_YAW_AIM_KD * (yaw_rotation - last_yaw);
pitch_rotation = BIG_PITCH_AIM_KP * pitch_rotation + BIG_PITCH_AIM_KI * sum_pitch +
BIG_PITCH_AIM_KD * (pitch_rotation - last_pitch);
MINMAX(yaw_rotation, -6, 6);
MINMAX(pitch_rotation, -6, 6);
last_yaw = tmp_yaw;
last_pitch = tmp_pitch;
} else if (is_chassis) {
sum_yaw += yaw_rotation - mcu_data.curr_yaw;
sum_pitch += pitch_rotation - mcu_data.curr_pitch;
double tmp_yaw = yaw_rotation;
double tmp_pitch = pitch_rotation;
yaw_rotation = BIG_YAW_AIM_KP * (yaw_rotation - mcu_data.curr_yaw) + BIG_YAW_AIM_KI * sum_yaw;
pitch_rotation = BIG_PITCH_AIM_KP * (pitch_rotation - mcu_data.curr_pitch) + BIG_PITCH_AIM_KI * sum_pitch;
last_yaw = tmp_yaw;
last_pitch = tmp_pitch;
// sum_yaw += yaw_rotation - mcu_data.curr_yaw;
// sum_pitch += pitch_rotation - mcu_data.curr_pitch;
// double tmp_yaw = yaw_rotation;
// double tmp_pitch = pitch_rotation;
// yaw_rotation = BIG_YAW_AIM_KP * (yaw_rotation - mcu_data.curr_yaw) + BIG_YAW_AIM_KI * sum_yaw;
// pitch_rotation = BIG_PITCH_AIM_KP * (pitch_rotation - mcu_data.curr_pitch) + BIG_PITCH_AIM_KI * sum_pitch;
// last_yaw = tmp_yaw;
// last_pitch = tmp_pitch;
}
} else if (is_small){
sum_yaw += yaw_rotation;
sum_pitch += pitch_rotation;
MINMAX(sum_yaw, -100, 100);
MINMAX(sum_pitch, -100, 100);
double tmp_yaw = yaw_rotation;
double tmp_pitch = pitch_rotation;
yaw_rotation = SMALL_YAW_AIM_KP * yaw_rotation + SMALL_YAW_AIM_KD * (yaw_rotation - last_yaw);
pitch_rotation = SMALL_PITCH_AIM_KP * pitch_rotation + SMALL_PITCH_AIM_KD * (pitch_rotation - last_pitch);
MINMAX(yaw_rotation, -6, 6);
MINMAX(pitch_rotation, -6, 6);
last_yaw = tmp_yaw;
last_pitch = tmp_pitch;
}

144
main.cpp
View File

@@ -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
ARMOR_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_GAIN, 2/*, "armor"*/);
video_chassis = new CameraWrapper(ENERGY_CAMERA_GAIN, 2/*, "energy"*/);
} else {
video_gimbal = new VideoWrapper(PROJECT_DIR"/gimbal_video/0.avi");
video_chassis = new VideoWrapper(PROJECT_DIR"/gimbal_video/0.avi");
video_gimbal = new VideoWrapper("/home/sun/桌面/shiying/18.avi");
video_chassis = new VideoWrapper("/home/sun/桌面/shiying/18.avi");
}
if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully.");
@@ -94,90 +94,90 @@ int main(int argc, char *argv[]) {
cout << "start running" << endl;
do {
CNT_TIME("Total", {
if (mcu_data.state == BIG_ENERGY_STATE) {//大能量机关模式
if (last_state != BIG_ENERGY_STATE) {//若上一帧不是大能量机关模式，即刚往完成切换，则需要初始化
LOGM(STR_CTR(WORD_BLUE, "Start Big Energy!"));
destroyAllWindows();
if (from_camera) {
delete video_gimbal;
video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 2/*, "armor"*/);
if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully.");
} else {
LOGW("video_gimbal source unavailable!");
if (mcu_data.state == BIG_ENERGY_STATE) {//大能量机关模式
if (last_state != BIG_ENERGY_STATE) {//若上一帧不是大能量机关模式，即刚往完成切换，则需要初始化
LOGM(STR_CTR(WORD_BLUE, "Start Big Energy!"));
destroyAllWindows();
if (from_camera) {
delete video_gimbal;
video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 2/*, "armor"*/);
if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully.");
} else {
LOGW("video_gimbal source unavailable!");
}
}
checkReconnect(video_chassis->read(chassis_src));
energy.setBigEnergyInit();
}
checkReconnect(video_chassis->read(chassis_src));
energy.setBigEnergyInit();
}
last_state = mcu_data.state;//更新上一帧状态
ok = checkReconnect(video_gimbal->read(gimbal_src));
video_chassis->read(chassis_src);
last_state = mcu_data.state;//更新上一帧状态
ok = checkReconnect(video_gimbal->read(gimbal_src));
video_chassis->read(chassis_src);
#ifdef GIMBAL_FLIP_MODE
flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
#endif
#ifdef CHASSIS_FLIP_MODE
flip(chassis_src, chassis_src, CHASSIS_FLIP_MODE);
flip(chassis_src, chassis_src, CHASSIS_FLIP_MODE);
#endif
if (!from_camera) extract(gimbal_src, chassis_src);
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
energy.runBig(gimbal_src, chassis_src);
// energy.runBig(gimbal_src);
} else if (mcu_data.state == SMALL_ENERGY_STATE) {
if (last_state != SMALL_ENERGY_STATE) {
LOGM(STR_CTR(WORD_GREEN, "Start Small Energy!"));
destroyAllWindows();
if (from_camera) {
delete video_gimbal;
video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 2/*, "armor"*/);
if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully.");
} else {
LOGW("video_gimbal source unavailable!");
if (!from_camera) extract(gimbal_src, chassis_src);
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
// energy.runBig(gimbal_src, chassis_src);
energy.runBig(gimbal_src);
} else if (mcu_data.state == SMALL_ENERGY_STATE) {
if (last_state != SMALL_ENERGY_STATE) {
LOGM(STR_CTR(WORD_GREEN, "Start Small Energy!"));
destroyAllWindows();
if (from_camera) {
delete video_gimbal;
video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 2/*, "armor"*/);
if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully.");
} else {
LOGW("video_gimbal source unavailable!");
}
}
energy.setSmallEnergyInit();
}
last_state = mcu_data.state;//更新上一帧状态
ok = checkReconnect(video_gimbal->read(gimbal_src));
#ifdef GIMBAL_FLIP_MODE
flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
#endif
if (!from_camera) extract(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.runSmall(gimbal_src);
} else { // 自瞄模式
if (last_state != ARMOR_STATE) {
LOGM(STR_CTR(WORD_RED, "Start Armor!"));
destroyAllWindows();
if (from_camera) {
delete video_gimbal;
video_gimbal = new CameraWrapper(ARMOR_CAMERA_GAIN, 2/*, "armor"*/);
if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully.");
} else {
LOGW("video_gimbal source unavailable!");
}
}
}
energy.setSmallEnergyInit();
}
last_state = mcu_data.state;//更新上一帧状态
ok = checkReconnect(video_gimbal->read(gimbal_src));
last_state = mcu_data.state;
CNT_TIME(STR_CTR(WORD_GREEN, "read img"), {
if (!checkReconnect(video_gimbal->read(gimbal_src))) continue;
});
#ifdef GIMBAL_FLIP_MODE
flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
#endif
if (!from_camera) extract(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.runSmall(gimbal_src);
} else { // 自瞄模式
if (last_state != ARMOR_STATE) {
LOGM(STR_CTR(WORD_RED, "Start Armor!"));
destroyAllWindows();
if (from_camera) {
delete video_gimbal;
video_gimbal = new CameraWrapper(ARMOR_CAMERA_GAIN, 2/*, "armor"*/);
if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully.");
} else {
LOGW("video_gimbal source unavailable!");
}
}
}
last_state = mcu_data.state;
CNT_TIME(STR_CTR(WORD_GREEN, "read img"), {
if(!checkReconnect(video_gimbal->read(gimbal_src))) continue;
});
#ifdef GIMBAL_FLIP_MODE
flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
#endif
// CNT_TIME("something whatever", {
if (!from_camera) extract(gimbal_src);
if (save_video) saveVideos(gimbal_src);
if (show_origin) showOrigin(gimbal_src);
// });
CNT_TIME(STR_CTR(WORD_CYAN, "Armor Time"), {
armor_finder.run(gimbal_src);
});
}
CNT_TIME(STR_CTR(WORD_CYAN, "Armor Time"), {
armor_finder.run(gimbal_src);
});
}
// cv::waitKey(0);
});
} while (ok);

22
others/include/config/setconfig.h
View File

@@ -32,34 +32,34 @@
#define ENERGY_CAMERA_GAIN (20)
#endif
#ifndef SMALL_YAW_AIM_KD
#define SMALL_YAW_AIM_KD (0)
#define SMALL_YAW_AIM_KD (0.35)
#endif
#ifndef SMALL_YAW_AIM_KP
#define SMALL_YAW_AIM_KP (4)
#define SMALL_YAW_AIM_KP (0.85)
#endif
#ifndef SMALL_PITCH_AIM_KD
#define SMALL_PITCH_AIM_KD (0)
#define SMALL_PITCH_AIM_KD (0.35)
#endif
#ifndef SMALL_PITCH_AIM_KP
#define SMALL_PITCH_AIM_KP (3.7)
#define SMALL_PITCH_AIM_KP (0.85)
#endif
#ifndef BIG_YAW_AIM_KD
#define BIG_YAW_AIM_KD (0)
#define BIG_YAW_AIM_KD (0.35)
#endif
#ifndef BIG_YAW_AIM_KP
#define BIG_YAW_AIM_KP (6.5)
#define BIG_YAW_AIM_KP (0.85)
#endif
#ifndef BIG_YAW_AIM_KI
#define BIG_YAW_AIM_KI (0.1)
#define BIG_YAW_AIM_KI (0)
#endif
#ifndef BIG_PITCH_AIM_KD
#define BIG_PITCH_AIM_KD (0)
#define BIG_PITCH_AIM_KD (0.35)
#endif
#ifndef BIG_PITCH_AIM_KP
#define BIG_PITCH_AIM_KP (6.5)
#define BIG_PITCH_AIM_KP (0.85)
#endif
#ifndef BIG_PITCH_AIM_KI
#define BIG_PITCH_AIM_KI (0.1)
#define BIG_PITCH_AIM_KI (0)
#endif
#ifndef COMPENSATE_YAW
#define COMPENSATE_YAW (5)
@@ -68,7 +68,7 @@
#define COMPENSATE_PITCH (74)
#endif
#ifndef EXTRA_DELTA_X
#define EXTRA_DELTA_X (10)
#define EXTRA_DELTA_X (0)
#endif
#ifndef EXTRA_DELTA_Y
#define EXTRA_DELTA_Y (10)