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This commit is contained in:
xinyang
2019-07-09 14:16:01 +08:00
parent 8866f43b56
commit cdef78ddde
7 changed files with 62 additions and 47 deletions
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4
energy/include/energy/constant.h
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@@ -6,10 +6,8 @@
#include "additions/additions.h"
#define d2r (CV_PI / 180.0)
//#define d2r (CV_PI / 180.0)
const int ALLY_BLUE = ENEMY_RED;
const int ALLY_RED = ENEMY_BLUE;
const int SRC_WIDTH_CAMERA = 640;
const int SRC_HEIGHT_CAMERA = 480;
const int SRC_WIDTH = 320;

4
energy/src/energy/get/aim_point_get.cpp
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@@ -8,10 +8,6 @@
using namespace std;
using namespace cv;
#define FOCUS_PIXAL_5MM (917)
#define FOCUS_PIXAL FOCUS_PIXAL_5MM
//----------------------------------------------------------------------------------------------------------------------
// 此函数通过自瞄逻辑击打目标点，用于大符的自动对心和小符直接打击
// ---------------------------------------------------------------------------------------------------------------------

52
energy/src/energy/tool/tool.cpp
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@@ -8,56 +8,56 @@
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
using namespace cv;
using std::cout;
using std::endl;
using std::vector;
//----------------------------------------------------------------------------------------------------------------------
// 此函数选取图像中的一部分进行处理
// ---------------------------------------------------------------------------------------------------------------------
void Energy::extract(cv::Mat &src){
cv::Rect rect(EXTRACT_POINT_X, EXTRACT_POINT_Y, EXTRACT_WIDTH, EXTRACT_HEIGHT);
src = src(rect).clone();
cv::resize(src, src, cv::Size(640, 480), 2);
imshow("extract", src);
void Energy::extract(cv::Mat &src) {
cv::Rect rect(EXTRACT_POINT_X, EXTRACT_POINT_Y, EXTRACT_WIDTH, EXTRACT_HEIGHT);
src = src(rect).clone();
cv::resize(src, src, cv::Size(640, 480), 2);
imshow("extract", src);
}
//----------------------------------------------------------------------------------------------------------------------
// 此函数用于计算预测的击打点坐标
// ---------------------------------------------------------------------------------------------------------------------
void Energy::rotate() {
int x1, x2, y1, y2;
// 为了减小强制转换的误差
x1 = circle_center_point.x * 100;
x2 = target_point.x * 100;
y1 = circle_center_point.y * 100;
y2 = target_point.y * 100;
int x1, x2, y1, y2;
// 为了减小强制转换的误差
x1 = circle_center_point.x * 100;
x2 = target_point.x * 100;
y1 = circle_center_point.y * 100;
y2 = target_point.y * 100;
predict_point.x = static_cast<int>((x1 + (x2 - x1)*cos(-predict_rad * d2r) - (y1 - y2)*sin(-predict_rad * d2r))/100);
predict_point.y = static_cast<int>((y1 - (x2 - x1)*sin(-predict_rad * d2r) - (y1 - y2)*cos(-predict_rad * d2r))/100);
predict_point.x = static_cast<int>(
(x1 + (x2 - x1) * cos(-predict_rad * PI / 180.0) - (y1 - y2) * sin(-predict_rad * PI / 180.0)) / 100);
predict_point.y = static_cast<int>(
(y1 - (x2 - x1) * sin(-predict_rad * PI / 180.0) - (y1 - y2) * cos(-predict_rad * PI / 180.0)) / 100);
}
//----------------------------------------------------------------------------------------------------------------------
// 此函数将像素差转换到实际距离差
// ---------------------------------------------------------------------------------------------------------------------
void Energy::stretch(cv::Point point_1, cv::Point2f &point_2){
if(point_1==circle_center_point){
void Energy::stretch(cv::Point point_1, cv::Point2f &point_2) {
if (point_1 == circle_center_point) {
// cout<<"stretch wrong!"<<endl;
return;
}
double x_0 = point_1.x - circle_center_point.x;
double y_0 = point_1.y - circle_center_point.y;
double r_0 = sqrt(pow(x_0, 2)+ pow(y_0, 2));
double x_0 = point_1.x - circle_center_point.x;
double y_0 = point_1.y - circle_center_point.y;
double r_0 = sqrt(pow(x_0, 2) + pow(y_0, 2));
point_2.x = static_cast<float >( ARMOR_CENTER_TO_CYCLE_CENTER * x_0 / r_0);
point_2.y = static_cast<float >( ARMOR_CENTER_TO_CYCLE_CENTER * y_0 / r_0);
point_2.x = static_cast<float >( ARMOR_CENTER_TO_CYCLE_CENTER * x_0 / r_0);
point_2.y = static_cast<float >( ARMOR_CENTER_TO_CYCLE_CENTER * y_0 / r_0);
}
@@ -65,10 +65,10 @@ void Energy::stretch(cv::Point point_1, cv::Point2f &point_2){
// 此函数用于计算两点距离
// ---------------------------------------------------------------------------------------------------------------------
double Energy::pointDistance(cv::Point point_1, cv::Point point_2){
double Energy::pointDistance(cv::Point point_1, cv::Point point_2) {
double distance = 0;
distance = sqrt(pow(static_cast<double>(point_1.x - point_2.x),2)
+ pow(static_cast<double>(point_1.y - point_2.y),2));
distance = sqrt(pow(static_cast<double>(point_1.x - point_2.x), 2)
+ pow(static_cast<double>(point_1.y - point_2.y), 2));
return distance;
}