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fix bug.

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This commit is contained in:
xinyang
2019-08-03 23:11:42 +08:00
parent 04496ae99b
commit 81ab17afa5
3 changed files with 5 additions and 4 deletions
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7
armor/src/armor_finder/anti_top/anti_top.cpp
View File

@@ -87,7 +87,9 @@ void ArmorFinder::antiTop() {
anti_top_state = NORMAL; anti_top_state = NORMAL;
LOGM(STR_CTR(WORD_YELLOW, "switch to normal")); LOGM(STR_CTR(WORD_YELLOW, "switch to normal"));
} }
if (getPointLength(last_box.getCenter() - target_box.getCenter()) > last_box.rect.height * 3.0) { // cout << getPointLength(last_box.getCenter() - target_box.getCenter()) << endl;
if (getPointLength(last_box.getCenter() - target_box.getCenter()) > last_box.rect.height * 1.0) {
LOGM("switch!");
if (150 < interval && interval < 700) { if (150 < interval && interval < 700) {
if (anti_top_state == ANTI_TOP) { if (anti_top_state == ANTI_TOP) {
top_periodms.push(interval); top_periodms.push(interval);
@@ -96,7 +98,6 @@ void ArmorFinder::antiTop() {
getsystime(curr_time); getsystime(curr_time);
auto calculate_time = getTimeIntervalms(curr_time, frame_time); auto calculate_time = getTimeIntervalms(curr_time, frame_time);
shoot_delay = mean(top_periodms) - calculate_time; shoot_delay = mean(top_periodms) - calculate_time;
} else { } else {
if (++anti_top_cnt > 4) { if (++anti_top_cnt > 4) {
anti_top_state = ANTI_TOP; anti_top_state = ANTI_TOP;
@@ -104,11 +105,13 @@ void ArmorFinder::antiTop() {
} }
} }
} }
last_front_time = frame_time;
} }
if (anti_top_state == NORMAL) { if (anti_top_state == NORMAL) {
sendBoxPosition(0); sendBoxPosition(0);
} else if (interval < top_periodms[-1] * 0.2){ } else if (interval < top_periodms[-1] * 0.2){
sendBoxPosition(shoot_delay); sendBoxPosition(shoot_delay);
} }
last_box = target_box;
} }

1
armor/src/armor_finder/searching_state/searching_state.cpp
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@@ -18,7 +18,6 @@ bool ArmorFinder::stateSearchingTarget(cv::Mat &src) {
target_box = ArmorBox(); target_box = ArmorBox();
return false; return false;
} else { } else {
last_box = target_box;
anti_switch_cnt = 0; anti_switch_cnt = 0;
return true; return true;
} }

1
armor/src/armor_finder/tracking_state/tracking_state.cpp
View File

@@ -62,6 +62,5 @@ bool ArmorFinder::stateTrackingTarget(cv::Mat &src) {
target_box.rect = pos; target_box.rect = pos;
target_box.light_blobs.clear(); target_box.light_blobs.clear();
} }
last_box = target_box;
return true; return true;
} }