VSAG/vision_sjtu_19
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参数修改，确认 PID

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This commit is contained in:
Huang Haoyu
2026-03-17 18:10:15 +08:00
parent a133dea09a
commit c0ee469118
4 changed files with 17 additions and 17 deletions
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6
others/include/config/setconfig.h
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@@ -50,13 +50,13 @@
#define YAW_AIM_KI (0.01) #define YAW_AIM_KI (0.01)
#endif #endif
#ifndef PITCH_AIM_KD #ifndef PITCH_AIM_KD
#define PITCH_AIM_KD (0.4) #define PITCH_AIM_KD (0)
#endif #endif
#ifndef PITCH_AIM_KP #ifndef PITCH_AIM_KP
#define PITCH_AIM_KP (0.75) #define PITCH_AIM_KP (0)
#endif #endif
#ifndef PITCH_AIM_KI #ifndef PITCH_AIM_KI
#define PITCH_AIM_KI (0.01) #define PITCH_AIM_KI (0)
#endif #endif
#ifndef RED_COMPENSATE_YAW #ifndef RED_COMPENSATE_YAW

2
others/include/constants.h
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@@ -19,6 +19,6 @@
#define FOCUS_PIXAL_8MM (1488) #define FOCUS_PIXAL_8MM (1488)
#define FOCUS_PIXAL_5MM (917) #define FOCUS_PIXAL_5MM (917)
#define FOCUS_PIXAL FOCUS_PIXAL_5MM #define FOCUS_PIXAL FOCUS_PIXAL_8MM
#endif /* _CONSTANTS_H */ #endif /* _CONSTANTS_H */

22
others/src/additions.cpp
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@@ -36,10 +36,10 @@ void uartReceive(Serial *pSerial) {
pSerial->ReadData((uint8_t *) buffer, sizeof(mcu_data)+1); pSerial->ReadData((uint8_t *) buffer, sizeof(mcu_data)+1);
if (buffer[sizeof(mcu_data)] == '\n') { if (buffer[sizeof(mcu_data)] == '\n') {
memcpy(&mcu_data, buffer, sizeof(mcu_data)); memcpy(&mcu_data, buffer, sizeof(mcu_data));
// LOGM("Get, state:%c, mark:%d!", mcu_data.state, (int) mcu_data.mark); LOGM("Get, state:%c, mark:%d!", mcu_data.state, (int) mcu_data.mark);
// LOGM("Get yaw: %f, pitch: %f!", mcu_data.curr_yaw, mcu_data.curr_pitch); LOGM("Get yaw: %f, pitch: %f!", mcu_data.curr_yaw, mcu_data.curr_pitch);
// LOGM("Get delta x: %d, delta y: %d!", mcu_data.delta_x, mcu_data.delta_y); LOGM("Get delta x: %d, delta y: %d!", mcu_data.delta_x, mcu_data.delta_y);
// static int t = time(nullptr); // static int t = time(nullptr);
// static int cnt = 0; // static int cnt = 0;
// if(time(nullptr) > t){ // if(time(nullptr) > t){
// t = time(nullptr); // t = time(nullptr);
@@ -103,14 +103,14 @@ void extract(cv::Mat &src) {//图像预处理，将视频切成640×480的大小
if (src.empty()) return; if (src.empty()) return;
float length = static_cast<float>(src.cols); float length = static_cast<float>(src.cols);
float width = static_cast<float>(src.rows); float width = static_cast<float>(src.rows);
if (length / width > 640.0 / 480.0) { if (length / width > 1280.0 / 1024.0) {
length *= 480.0 / width; length *= 1024 / width;
resize(src, src, cv::Size(length, 480)); resize(src, src, cv::Size(length, 1024));
src = src(Rect((length - 640) / 2, 0, 640, 480)); src = src(Rect((length - 1280) / 2, 0, 1280, 1024));
} else { } else {
width *= 640.0 / length; width *= 1280.0 / length;
resize(src, src, cv::Size(640, width)); resize(src, src, cv::Size(1280, width));
src = src(Rect(0, (width - 480) / 2, 640, 480)); src = src(Rect(0, (width - 1024) / 2, 1280, 1024));
} }
} }

4
others/src/options.cpp
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@@ -14,12 +14,12 @@ bool show_light_blobs = false;
bool show_origin = false; bool show_origin = false;
bool run_with_camera = true; bool run_with_camera = true;
bool save_video = false; bool save_video = false;
bool wait_uart = false; bool wait_uart = true;
bool save_labelled_boxes = false; bool save_labelled_boxes = false;
bool show_process = false; bool show_process = false;
bool show_energy = false; bool show_energy = false;
bool save_mark = false; bool save_mark = false;
bool show_info = false; bool show_info = true;
bool run_by_frame = false; bool run_by_frame = false;
// 使用map保存所有选项及其描述和操作，加快查找速度。 // 使用map保存所有选项及其描述和操作，加快查找速度。