fix bug.

2019-07-12 12:47:15 +08:00
parent 1c295e14ac
commit eefee82f18
14 changed files with 12531 additions and 12524 deletions
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -27,7 +27,7 @@ INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR}/armor/include)
 INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR}/others/include)

 FILE(GLOB_RECURSE sourcefiles "others/src/*.cpp" "energy/src/*cpp" "armor/src/*.cpp")
-ADD_EXECUTABLE(${BIN_NAME} main.cpp ${sourcefiles} others/include/constants.h armor/src/armor_finder/searching_state/find_light_blobs.cpp armor/src/armor_finder/searching_state/find_armor_boxes.cpp)
+ADD_EXECUTABLE(${BIN_NAME} main.cpp ${sourcefiles})

 TARGET_LINK_LIBRARIES(${BIN_NAME} ${CMAKE_THREAD_LIBS_INIT})
 TARGET_LINK_LIBRARIES(${BIN_NAME} ${OpenCV_LIBS})
--- a/armor/src/armor_finder/armor_finder.cpp
+++ b/armor/src/armor_finder/armor_finder.cpp
@@ -86,43 +86,3 @@ void ArmorFinder::run(cv::Mat &src) {
    }
 }

-bool sendTarget(Serial &serial, double x, double y, double z) {
-    static short x_tmp, y_tmp, z_tmp;
-    static time_t last_time = time(nullptr);
-    static int fps;
-    uint8_t buff[8];
-
-    time_t t = time(nullptr);
-    if (last_time != t) {
-        last_time = t;
-        cout << "fps:" << fps << ", (" << x << "," << y << "," << z << ")" << endl;
-        fps = 0;
-    }
-    fps += 1;
-
-    x_tmp = static_cast<short>(x * (32768 - 1) / 100);
-    y_tmp = static_cast<short>(y * (32768 - 1) / 100);
-    z_tmp = static_cast<short>(z * (32768 - 1) / 1000);
-
-    buff[0] = 's';
-    buff[1] = static_cast<char>((x_tmp >> 8) & 0xFF);
-    buff[2] = static_cast<char>((x_tmp >> 0) & 0xFF);
-    buff[3] = static_cast<char>((y_tmp >> 8) & 0xFF);
-    buff[4] = static_cast<char>((y_tmp >> 0) & 0xFF);
-    buff[5] = static_cast<char>((z_tmp >> 8) & 0xFF);
-    buff[6] = static_cast<char>((z_tmp >> 0) & 0xFF);
-    buff[7] = 'e';
-
-    return serial.WriteData(buff, sizeof(buff));
-}
-
-bool ArmorFinder::sendBoxPosition() {
-    auto rect = armor_box;
-    double dx = rect.x + rect.width / 2 - 320;
-    double dy = rect.y + rect.height / 2 - 240 - 20;
-    double yaw = atan(dx / FOCUS_PIXAL) * 180 / PI;
-    double pitch = atan(dy / FOCUS_PIXAL) * 180 / PI;
-    double dist = DISTANCE_HEIGHT / armor_box.height;
-//    cout << yaw << endl;
-    return sendTarget(serial, yaw, -pitch, dist);
-}
--- a/armor/src/armor_finder/searching_state/find_light_blobs.cpp
+++ b/armor/src/armor_finder/searching_state/find_light_blobs.cpp
@@ -21,7 +21,7 @@ bool rectangleContainPoint(cv::RotatedRect rectangle, cv::Point2f point) {
    return indicator >= 0;
 }

-/// Todo: 下面的函数可以有性能优化，暂时未做。
+// 下面的函数可以有性能优化，暂时未做。
 static double nonZeroRateOfRotateRect(const cv::Mat &bin, const cv::RotatedRect &rotrect) {
    auto rect = rotrect.boundingRect();
    if (rect.x < 0 || rect.y < 0 || rect.x + rect.width > bin.cols || rect.y + rect.height > bin.rows) {
@@ -45,7 +45,7 @@ int linePointX(const cv::Point2f &p1, const cv::Point2f &p2, int y) {
    return (p2.x - p1.x) / (p2.y - p1.y) * (y - p1.y) + p1.x;
 }

-///Todo: 性能优化后的函数。(暂时还有点问题)
+// 性能优化后的函数
 static double nonZeroRateOfRotateRect_opt(const cv::Mat &bin, const cv::RotatedRect &rotrect) {
    int cnt = 0;
    cv::Point2f corners[4];
--- a/armor/src/armor_finder/send_target/send_target.cpp
+++ b/armor/src/armor_finder/send_target/send_target.cpp
@@ -0,0 +1,46 @@
+//
+// Created by xinyang on 19-7-11.
+//
+
+#include <armor_finder/armor_finder.h>
+
+static bool sendTarget(Serial &serial, double x, double y, double z) {
+    static short x_tmp, y_tmp, z_tmp;
+    static time_t last_time = time(nullptr);
+    static int fps;
+    uint8_t buff[8];
+
+    time_t t = time(nullptr);
+    if (last_time != t) {
+        last_time = t;
+        cout << "fps:" << fps << ", (" << x << "," << y << "," << z << ")" << endl;
+        fps = 0;
+    }
+    fps += 1;
+
+    x_tmp = static_cast<short>(x * (32768 - 1) / 100);
+    y_tmp = static_cast<short>(y * (32768 - 1) / 100);
+    z_tmp = static_cast<short>(z * (32768 - 1) / 1000);
+
+    buff[0] = 's';
+    buff[1] = static_cast<char>((x_tmp >> 8) & 0xFF);
+    buff[2] = static_cast<char>((x_tmp >> 0) & 0xFF);
+    buff[3] = static_cast<char>((y_tmp >> 8) & 0xFF);
+    buff[4] = static_cast<char>((y_tmp >> 0) & 0xFF);
+    buff[5] = static_cast<char>((z_tmp >> 8) & 0xFF);
+    buff[6] = static_cast<char>((z_tmp >> 0) & 0xFF);
+    buff[7] = 'e';
+
+    return serial.WriteData(buff, sizeof(buff));
+}
+
+bool ArmorFinder::sendBoxPosition() {
+    auto rect = armor_box;
+    double dx = rect.x + rect.width / 2 - 320;
+    double dy = rect.y + rect.height / 2 - 240 - 20;
+    double yaw = atan(dx / FOCUS_PIXAL) * 180 / PI;
+    double pitch = atan(dy / FOCUS_PIXAL) * 180 / PI;
+    double dist = DISTANCE_HEIGHT / rect.height;
+//    cout << yaw << endl;
+    return sendTarget(serial, yaw, -pitch, dist);
+}
--- a/main.cpp
+++ b/main.cpp
@@ -29,17 +29,17 @@ using namespace std;
 mcu_data mcuData = {    // 单片机端回传结构体
        0,              // 当前云台yaw角
        0,              // 当前云台pitch角
-        SMALL_ENERGY_STATE,    // 当前状态，自瞄-大符-小符
+        ARMOR_STATE,    // 当前状态，自瞄-大符-小符
        0,              // 云台角度标记位
        1,              // 是否启用数字识别
-        ENEMY_RED,      // 敌方颜色
+        ENEMY_BLUE,      // 敌方颜色
 };

 WrapperHead *video_gimble = nullptr;    // 云台摄像头视频源
 WrapperHead *video_chassis = nullptr;   // 底盘摄像头视频源

 Serial serial(115200);                  // 串口对象
-uint8_t last_state = ARMOR_STATE;     // 上次状态，用于初始化
+uint8_t last_state = INIT_STATE;     // 上次状态，用于初始化
 // 自瞄主程序对象
 ArmorFinder armorFinder(mcuData.enemy_color, serial, PROJECT_DIR"/tools/para/", mcuData.use_classifier);
 // 能量机关主程序对象
@@ -123,7 +123,7 @@ int main(int argc, char *argv[]) {
 //                    chassis_src = chassis_src(Rect(106, 0, 640, 480));
                } else {                                         // 自瞄模式
                    if (last_state != ARMOR_STATE) {
-                        ((CameraWrapper *) video_gimble)->changeBrightness(40);
+                        ((CameraWrapper *) video_gimble)->changeBrightness(30);
                    }
                    last_state = mcuData.state;
                    ok = checkReconnect(video_gimble->read(gimble_src));
--- a/others/include/constants.h
+++ b/others/include/constants.h
@@ -16,6 +16,7 @@
 #define BIG_ENERGY_STATE   'b'
 #define SMALL_ENERGY_STATE 's'
 #define ARMOR_STATE        'a'
+#define INIT_STATE          0

 #define FOCUS_PIXAL_8MM  (1488)
 #define FOCUS_PIXAL_5MM  (917)
--- a/tools/para/conv1_b
+++ b/tools/para/conv1_b
@@ -1,7 +1,7 @@
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--- a/tools/para/conv1_w
+++ b/tools/para/conv1_w
@@ -2,453 +2,453 @@
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--- a/tools/para/conv2_b
+++ b/tools/para/conv2_b
@@ -1,11 +1,11 @@
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--- a/tools/para/conv2_w
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--- a/tools/para/fc1_b
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--- a/tools/para/fc1_w
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--- a/tools/para/fc2_b
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--- a/tools/para/fc2_w
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