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

armor/src/armor_finder/anti_top/anti_top.cpp

@@ -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;
+}
 

armor/src/armor_finder/classifier/classifier.cpp

@@ -324,7 +324,7 @@ 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;

energy/src/energy/calibrate/structing.cpp

@@ -53,9 +53,9 @@ void Energy::ArmorStruct(cv::Mat &src) {
 //    imshow("dilate_1", src);
     erode(src,src, element_erode_1);
 //    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);

energy/src/energy/find/target_finder.cpp

@@ -54,7 +54,12 @@ void Energy::findTargetByIntersection() {
 // 此函数在流动条区域内寻找装甲板
 // ---------------------------------------------------------------------------------------------------------------------
 bool Energy::findTargetInFlowStripFan() {
+//    Mat draw(480,640,CV_8UC3,Scalar(0,0,0));
     for (auto &candidate_flow_strip_fan: flow_strip_fans) {
+//        Point2f vertices[4];      //定义矩形的4个顶点
+//        candidate_flow_strip_fan.points(vertices);   //计算矩形的4个顶点
+//        for (int i = 0; i < 4; i++)
+//            line(draw, vertices[i], vertices[(i + 1) % 4], Scalar(0, 0, 255), 2);
         int i = 0;
         for (i = 0; i < armors.size(); ++i) {
             std::vector<cv::Point2f> intersection;
@@ -67,9 +72,11 @@ bool Energy::findTargetInFlowStripFan() {
             }
         }
     }
+//    imshow("draw",draw);
+//    waitKey();
 //    cout << "target armor cnt: " << target_armors.size() << endl;
     if (target_armors.empty()) {
-        if (show_info)cout << "find target armor false" << endl;
+        if (show_info)cout << "t6find target armor false" << endl;
         return false;
     } else {
         return true;