Merge remote-tracking branch 'origin/master'

# Conflicts:
#	main.cpp

.gitignore

@@ -11,3 +11,4 @@ others/MV-UB31-Group0.config
 .DS_Store
 gimbal_video
 chassis_video
+test_video

energy/src/energy/calibrate/structing.cpp

@@ -99,24 +99,30 @@ void Energy::FlowStripFanStruct(cv::Mat &src) {
 // ---------------------------------------------------------------------------------------------------------------------
 void Energy::FlowStripStruct(cv::Mat &src) {
     Mat element_dilate_1 = getStructuringElement(MORPH_RECT, Size(5, 5));
-    Mat element_erode_1 = getStructuringElement(MORPH_RECT, Size(3, 3));
+    Mat element_erode_1 = getStructuringElement(MORPH_RECT, Size(5, 5));
-    Mat element_dilate_2 = getStructuringElement(MORPH_RECT, Size(3, 3));
+    Mat element_dilate_2 = getStructuringElement(MORPH_RECT, Size(2, 2));
     Mat element_erode_2 = getStructuringElement(MORPH_RECT, Size(2 , 2));
-    Mat element_dilate_3 = getStructuringElement(MORPH_RECT, Size(3, 3));
+    Mat element_dilate_3 = getStructuringElement(MORPH_RECT, Size(2, 2));
-    Mat element_erode_3 = getStructuringElement(MORPH_RECT, Size(1 , 1));
+    Mat element_erode_3 = getStructuringElement(MORPH_RECT, Size(2 , 2));
+    Mat element_dilate_4 = getStructuringElement(MORPH_RECT, Size(2, 2));
+    Mat element_erode_4 = getStructuringElement(MORPH_RECT, Size(1 , 1));
 
-    dilate(src, src, element_dilate_1);
+//    dilate(src, src, element_dilate_1);
 //    imshow("dilate_1", src);
     erode(src,src, element_erode_1);
-//    imshow("erode_1", src);
+    imshow("erode_1", src);
-    erode(src,src, element_erode_2);
+//    erode(src,src, element_erode_2);
 //    imshow("erode_2", src);
-    erode(src,src, element_erode_3);
+//    erode(src,src, element_erode_3);
 //    imshow("erode_3", src);
-//    dilate(src, src, element_dilate_2);
+    dilate(src, src, element_dilate_1);
-//    imshow("dilate_2", src);
+//    imshow("dilate_1", src);
+    dilate(src, src, element_dilate_2);
+    imshow("dilate_2", src);
 //    dilate(src, src, element_dilate_3);
 //    imshow("dilate_3", src);
+//    dilate(src, src, element_dilate_4);
+//    imshow("dilate_4", src);
 }
 
 

energy/src/energy/clear/clear.cpp

@@ -35,5 +35,5 @@ void Energy::initImage(cv::Mat &src) {
         threshold(src, src, energy_part_param_.BLUE_GRAY_THRESH, 255, THRESH_BINARY);
     }
     if (show_process)imshow("bin", src);
-    if (show_energy)waitKey(1);
+    if (show_energy || show_process)waitKey(1);
 }

energy/src/energy/clear/energy_init.cpp

@@ -83,7 +83,7 @@ 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_.RED_GRAY_THRESH = 180;//game
+    gimbal_energy_part_param_.RED_GRAY_THRESH = 150;//game
     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;
@@ -143,9 +143,11 @@ void Energy::initEnergyPartParam() {
     gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_LENGTH_MIN = 32;
     gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_LENGTH_MAX = 55;
     gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_WIDTH_MIN = 4;
-    gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_WIDTH_MAX = 20;
+//    gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_WIDTH_MAX = 20;
+    gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_WIDTH_MAX = 40;
     gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_HW_RATIO_MAX = 7;
-    gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_HW_RATIO_MIN = 3;
+//    gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_HW_RATIO_MIN = 3;
+    gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_HW_RATIO_MIN = 1;
     gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_AREA_RATIO_MIN = 0.6;
     gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_INTERSETION_AREA_MIN = 100;
 

energy/src/energy/find/energy_finder.cpp

@@ -417,7 +417,7 @@ bool Energy::findCenterROI(const cv::Mat src) {
                 flow_strip.center.y - target_point.y);
     p2p = p2p / pointDistance(flow_strip.center, target_point);//单位化
     center_ROI = cv::RotatedRect(cv::Point2f(flow_strip.center + p2p * length * 1.7),
-                                 Size2f(length * 1.4, length * 1.4), -90);
+                                 Size2f(length * 1.7, length * 1.7), -90);
     return true;
 
 }

energy/src/energy/find/target_finder.cpp

@@ -76,7 +76,7 @@ bool Energy::findTargetInFlowStripFan() {
 //    waitKey();
 //    cout << "target armor cnt: " << target_armors.size() << endl;
     if (target_armors.empty()) {
-        if (show_info)cout << "t6find target armor false" << endl;
+        if (show_info)cout << "find target armor false" << endl;
         return false;
     } else {
         return true;

main.cpp

@@ -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(PROJECT_DIR"/gimbal_video/1.avi");
+            video_gimbal = new VideoWrapper(PROJECT_DIR"/8-7-NO7.avi");
-            video_chassis = new VideoWrapper(PROJECT_DIR"/gimbal_video/1.avi");
+            video_chassis = new VideoWrapper(PROJECT_DIR"/8-7-NO7.avi");
         }
         if (video_gimbal->init()) {
             LOGM("video_gimbal source initialization successfully.");