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This commit is contained in:
JiatongSun
2019-04-27 15:24:59 +08:00
parent 024b718a3b
commit 9cfd26cc23
5 changed files with 95 additions and 31 deletions
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8
energy/include/energy/constant.h
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@@ -19,10 +19,10 @@ const float ATTACK_DISTANCE = 770;//cm
const double WHOLE_FAN = 80;//cm
const double ARMOR_CENTER_TO_CYCLE_CENTER = 75;//cm
//const double ARMOR_CENTER_TO_CYCLE_CENTER = 71;//cm
const int EXTRACT_POINT_X = 200;
const int EXTRACT_POINT_Y = 20;
const int EXTRACT_WIDTH = 240;
const int EXTRACT_HEIGHT = 180;
const int EXTRACT_POINT_X = 120;
const int EXTRACT_POINT_Y = 0;
const int EXTRACT_WIDTH = 400;
const int EXTRACT_HEIGHT = 300;
//以摄像头正方向位y轴
const int GM_L = 14;//云台摄像头z方向

85
energy/src/energy/get/hit_point_get.cpp
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@@ -11,18 +11,79 @@ using std::endl;
using std::vector;
void Energy::getHitPoint(){
// if(!changeTarget()){
// //last_target_center = target_center;
// //last_target_position = target_position;
// return;
// }
// else {
double rad = static_cast<double>(energy_part_rotation * energy_part_param_.RPM
* energy_part_param_.HIT_TIME * 360 / 60);
rotate(rad, radius, cycle_center, target_center, hit_point);
//last_target_center = target_center;
//last_target_position = target_position;
// }
int hit_position = 1000;
if(energy_part_rotation==1){ //顺时针
if(target_armor>=0&&target_armor<60){
hit_point.x = cycle_center.x + static_cast<int>(radius / 2);
hit_point.y = cycle_center.y + static_cast<int>(radius * sqrt(3) / 2);
hit_position = -60;
}
if(target_armor>=60&&target_armor<120){
hit_point.x = cycle_center.x + static_cast<int>(radius);
hit_point.y = cycle_center.y;
hit_position = 0;
}
if(target_armor>=120&&target_armor<=180){
hit_point.x = cycle_center.x + static_cast<int>(radius / 2);
hit_point.y = cycle_center.y - static_cast<int>(radius * sqrt(3) / 2);
hit_position = 60;
}
if(target_armor>=-180&&target_armor<-120){
hit_point.x = cycle_center.x - static_cast<int>(radius / 2);
hit_point.y = cycle_center.y - static_cast<int>(radius * sqrt(3) / 2);
hit_position = 120;
}
if(target_armor>=-120&&target_armor<-60){
hit_point.x = cycle_center.x - static_cast<int>(radius);
hit_point.y = cycle_center.y;
hit_position = 180;
}
if(target_armor>=-60&&target_armor<0){
hit_point.x = cycle_center.x - static_cast<int>(radius / 2);
hit_point.y = cycle_center.y + static_cast<int>(radius * sqrt(3) / 2);
hit_position = -120;
}
}
if(energy_part_rotation==-1){ //逆时针
if(target_armor>=0&&target_armor<60){
hit_point.x = cycle_center.x - static_cast<int>(radius / 2);
hit_point.y = cycle_center.y - static_cast<int>(radius * sqrt(3) / 2);
hit_position = 120;
}
if(target_armor>=60&&target_armor<120){
hit_point.x = cycle_center.x - static_cast<int>(radius);
hit_point.y = cycle_center.y;
hit_position = 180;
}
if(target_armor>=120&&target_armor<=180){
hit_point.x = cycle_center.x - static_cast<int>(radius / 2);
hit_point.y = cycle_center.y + static_cast<int>(radius * sqrt(3) / 2);
hit_position = -120;
}
if(target_armor>=-180&&target_armor<-120){
hit_point.x = cycle_center.x + static_cast<int>(radius / 2);
hit_point.y = cycle_center.y + static_cast<int>(radius * sqrt(3) / 2);
hit_position = -60;
}
if(target_armor>=-120&&target_armor<-60){
hit_point.x = cycle_center.x + static_cast<int>(radius);
hit_point.y = cycle_center.y;
hit_position = 0;
}
if(target_armor>=-60&&target_armor<0){
hit_point.x = cycle_center.x + static_cast<int>(radius / 2);
hit_point.y = cycle_center.y - static_cast<int>(radius * sqrt(3) / 2);
hit_position = 60;
}
}
cout<<"hit position: "<<hit_position<<endl;
// double rad = static_cast<double>(energy_part_rotation * energy_part_param_.RPM
// * energy_part_param_.HIT_TIME * 360 / 60);
// rotate(rad, radius, cycle_center, target_center, hit_point);
}
bool Energy::changeTarget(){

2
energy/src/energy/param_init.cpp
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@@ -14,7 +14,7 @@ void Energy::initEnergyPartParam() {
energy_part_param_.HIT_TIME = 1.14;
energy_part_param_.GRAY_THRESH = 240;
energy_part_param_.SPLIT_GRAY_THRESH = 80;
energy_part_param_.SPLIT_GRAY_THRESH = 60;
energy_part_param_.FAN_GRAY_THRESH = 75;
energy_part_param_.ARMOR_GRAY_THRESH = 80;

28
energy/src/energy/run.cpp
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@@ -19,13 +19,13 @@ int Energy::run(cv::Mat &src){
armorPosition.clear();
gimble_zero_points.clear();
if(mark==0)return 0;
// if(mark==0)return 0;
// if(all_armor_centers.size()>200)all_armor_centers.clear();
// if(first_armor_centers.size()>200)first_armor_centers.clear();
// cout<<"first_armor_centers.size(): "<<first_armor_centers.size()<<endl;
// imagePreprocess(src);
imagePreprocess(src);
// imshow("img_preprocess",src);
threshold(src, src, energy_part_param_.GRAY_THRESH, 255, THRESH_BINARY);
@@ -47,22 +47,10 @@ int Energy::run(cv::Mat &src){
if(armors_cnt != fans_cnt+1) return 0;
/*
//此处用于标定云台在摄像头视频中的零点
findGimbleZeroPoint(src,gimble_zero_points);
cout<<"gimble zero points: :"<<gimble_zero_points.size()<<endl;
showFanContours("zero",src,gimble_zero_points);
cycle_center = cv::Point(291,305);
if(gimble_zero_points.size()>0)hit_point = gimble_zero_points.at(0).rect.center;
*/
getAllArmorCenters();
cout<<"all_armor_centers.size(): "<<all_armor_centers.size()<<endl;
cycleLeastFit();
// cycle_center = cv::Point(212,246);
// radius = 123.942;
attack_distance = ATTACK_DISTANCE * 123.323 / radius;
@@ -89,5 +77,17 @@ int Energy::run(cv::Mat &src){
}
//-----------------------------------------------------------------------------------
/*
//此处用于标定云台在摄像头视频中的零点
findGimbleZeroPoint(src,gimble_zero_points);
cout<<"gimble zero points: :"<<gimble_zero_points.size()<<endl;
showFanContours("zero",src,gimble_zero_points);
cycle_center = cv::Point(291,305);
if(gimble_zero_points.size()>0)hit_point = gimble_zero_points.at(0).rect.center;
*/

3
main.cpp
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@@ -73,6 +73,9 @@ int main(int argc, char *argv[])
imshow("armor src", armor_src);
}
if(state == ENERGY_STATE){
if(from_camera==0){
energy.extract(energy_src);
}
energy.run(energy_src);
}else{
armorFinder.run(armor_src);