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Merge branch 'master' of /home/sjturm/Desktop/RM_auto-aim with conflicts.

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This commit is contained in:
xinyang
2019-08-04 08:17:38 +08:00
parent a68a051ce7
commit cbadab7f83
5 changed files with 558 additions and 512 deletions
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47
armor/src/armor_finder/anti_top/anti_top.cpp
View File

@@ -13,7 +13,7 @@ static double boxDistance(const cv::Rect2d &a, const cv::Rect2d &b) {
return sqrt(dist.x * dist.x + dist.y * dist.y);
}
template <int length>
template<int length>
static double mean(RoundQueue<double, length> &vec) {
double sum = 0;
for (int i = 0; i < vec.size(); i++) {
@@ -33,13 +33,14 @@ ArmorFinder::BoxRatioChangeType ArmorFinder::getRatioChangeType(RoundQueue<doubl
}
}
/*
void ArmorFinder::antiTop() {
if (armor_box.rect == cv::Rect2d()) return;
if (target_box.rect == cv::Rect2d()) return;
uint16_t shoot_delay = 0;
auto interval = getTimeIntervalms(frame_time, last_front_time);
box_ratioes.push(armor_box.rect.width / armor_box.rect.height);
box_ratioes.push(target_box.rect.width / target_box.rect.height);
auto change_type = getRatioChangeType(box_ratioes);
auto orientation = armor_box.getOrientation();
auto orientation = target_box.getOrientation();
if (interval > 700) {
anti_top_cnt = 0;
if (anti_top_state == ANTI_TOP) {
@@ -76,4 +77,42 @@ void ArmorFinder::antiTop() {
sendBoxPosition(shoot_delay);
}
}
*/
void ArmorFinder::antiTop() {
if (target_box.rect == cv::Rect2d()) return;
uint16_t shoot_delay = 0;
auto interval = getTimeIntervalms(frame_time, last_front_time);
if (anti_top_state == ANTI_TOP && interval > 500) {
anti_top_state = NORMAL;
LOGM(STR_CTR(WORD_YELLOW, "switch to normal"));
}
if (last_box.rect != cv::Rect2d() &&
getPointLength(last_box.getCenter() - target_box.getCenter()) > last_box.rect.height * 1.0) {
LOGM("switch! %lf", getPointLength(last_box.getCenter() - target_box.getCenter()) / last_box.rect.height);
if (150 < interval && interval < 500) {
if (anti_top_state == ANTI_TOP) {
top_periodms.push(interval);
LOGM(STR_CTR(WORD_LIGHT_GREEN, "top period: %.1lf ms"), interval);
systime curr_time;
getsystime(curr_time);
auto calculate_time = getTimeIntervalms(curr_time, frame_time);
shoot_delay = mean(top_periodms) - calculate_time;
sendBoxPosition(shoot_delay);
} else {
if (++anti_top_cnt > 4) {
anti_top_state = ANTI_TOP;
LOGM(STR_CTR(WORD_CYAN, "switch to anti-top"));
}
}
}
last_front_time = frame_time;
}
if (anti_top_state == NORMAL) {
sendBoxPosition(0);
} else if (interval < top_periodms[-1] * 0.10) {
sendBoxPosition(0);
}
last_box = target_box;
}

4
armor/src/armor_finder/classifier/classifier.cpp
View File

@@ -324,9 +324,9 @@ int Classifier::operator()(const cv::Mat &image) {
// cout << result << "==============" <<endl;
MatrixXd::Index minRow, minCol;
result.maxCoeff(&minRow, &minCol);
if(result(minRow, minCol) > 0.90){
if(result(minRow, minCol) > 0.50){
return minRow;
}else{
return 0;
}
}
}