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optimize anti-top

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This commit is contained in:
wanpiqiu123
2019-07-28 21:23:35 +08:00
parent 270daa8672
commit 550d51049d
4 changed files with 13 additions and 180 deletions
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12
armor/src/armor_finder/anti_top/anti_top.cpp
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@@ -6,9 +6,17 @@
#include <additions/additions.h>
#include <log.h>
static double boxDistance(const cv::Rect2d &a, const cv::Rect2d &b){
cv::Point2d centerA(a.x+a.width/2, a.y+a.height/2);
cv::Point2d centerB(b.x+b.width/2, b.y+b.height/2);
auto dist = centerA-centerB;
return sqrt(dist.x*dist.x + dist.y*dist.y);
}
void ArmorFinder::antiTop() {
static double top_periodms = 0;
static double last_top_periodms = 0;
static cv::Rect2d last_pos;
uint16_t shoot_delay = 0;
timeval curr_time;
// if(anti_top_state == ANTI_TOP){
@@ -31,8 +39,8 @@ void ArmorFinder::antiTop() {
return;
}
if(orientation!=last_orient && orientation==ArmorBox::FRONT){
auto dist = boxDistance(last_pos, armor_box.rect);
if(orientation!=last_orient && orientation==ArmorBox::FRONT && dist>=6){
last_front_time = curr_time;
if(150<interval && interval<700){
if(anti_top_state == ANTI_TOP){