energy changed

energy/include/energy/param_struct_define.h

@@ -64,6 +64,8 @@ struct EnergyPartParam {
     float CENTER_R_CONTOUR_HW_RATIO_MAX;//风车中心R长宽比最大值
     float CENTER_R_CONTOUR_HW_RATIO_MIN;//风车中心R长宽比最小值
 
+    long FLOW_LIGHT_CONTOUR_HW_RATIO_MIN;//流动条长宽比最小值_
+
 	float TWIN_ANGEL_MAX;//扇叶和装甲板匹配时极坐标角度差的最大值
 	long INTERSETION_CONTOUR_AREA_MIN;//扇叶与装甲板匹配时的最小重合面积
 

energy/src/energy/param_init.cpp

@@ -99,6 +99,8 @@ void Energy::initEnergyPartParam() {
     energy_part_param_.CENTER_R_CONTOUR_HW_RATIO_MAX = 3;
     energy_part_param_.CENTER_R_CONTOUR_HW_RATIO_MIN = 1;
 
+    energy_part_param_.FLOW_LIGHT_CONTOUR_HW_RATIO_MIN = 6;
+
 	energy_part_param_.TWIN_ANGEL_MAX = 10;
 	energy_part_param_.INTERSETION_CONTOUR_AREA_MIN = 60;
 

energy/src/energy/run.cpp

@@ -82,8 +82,8 @@ int Energy::runBig(cv::Mat &gimble_src){
 
     changeMark();
     if (isMark)return 0;
-//    imagePreprocess(gimble_src);
+    imagePreprocess(gimble_src);
-//    imshow("img_preprocess", gimble_src);
+    imshow("img_preprocess", gimble_src);
 
     threshold(gimble_src, gimble_src, energy_part_param_.GRAY_THRESH, 255, THRESH_BINARY);
     imshow("bin",gimble_src);

main.cpp

@@ -114,10 +114,11 @@ int main(int argc, char *argv[]) {
                         });
                     }
                     else if(mcuData.state == SMALL_ENERGY_STATE){
-                        energy.runSmall(gimble_src);
+//                        energy.runSmall(gimble_src);
+                        energy.runBig(gimble_src);
                     }
                 }
-//                cv::waitKey(1);
+                cv::waitKey(100);
             });
         } while (ok);