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Cross plantform versiongit status !

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This commit is contained in:
xinyang
2019-05-14 22:22:33 +08:00
parent 601bf2a510
commit f9eab62680
30 changed files with 13231 additions and 392 deletions
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10
armor/include/armor_finder/armor_finder.h
View File

@@ -7,7 +7,7 @@
#include <opencv2/core.hpp>
#include <opencv2/tracking.hpp>
#include <uart/uart.h>
#include <serial/serial.h>
#include <armor_finder/classifier/classifier.h>
typedef enum{
@@ -16,7 +16,7 @@ typedef enum{
class ArmorFinder{
public:
ArmorFinder(EnemyColor color, Uart &u, string paras_folder, const bool &use);
ArmorFinder(EnemyColor &color, Serial &u, string paras_folder, const bool &use);
~ArmorFinder() = default;
private:
@@ -26,7 +26,7 @@ private:
SEARCHING_STATE, TRACKING_STATE, STANDBY_STATE
} State;
EnemyColor enemy_color;
const EnemyColor &enemy_color;
State state;
cv::Rect2d armor_box;
cv::Ptr<cv::Tracker> tracker;
@@ -35,7 +35,7 @@ private:
Classifier classifier;
int contour_area;
Uart &uart;
Serial &serial;
const bool &use_classifier;
bool stateSearchingTarget(cv::Mat &src);
@@ -51,7 +51,7 @@ struct LightBlob {
double length;
explicit LightBlob(cv::RotatedRect &r) : rect(r) {
length = std::max(rect.size.height, rect.size.width);
length = max(rect.size.height, rect.size.width);
};
bool operator<(LightBlob &l2) { return this->rect.center.x < l2.rect.center.x; }
bool operator<=(LightBlob &l2) { return this->rect.center.x <= l2.rect.center.x; }

44
armor/src/armor_finder/armor_finder.cpp
View File

@@ -1,15 +1,15 @@
//
// Created by xinyang on 19-3-27.
//
//#define LOG_LEVEL LOG_NONE
#define LOG_LEVEL LOG_NONE
#include <log.h>
#include <options/options.h>
#include <show_images/show_images.h>
#include <opencv2/highgui.hpp>
#include <armor_finder/armor_finder.h>
ArmorFinder::ArmorFinder(EnemyColor color, Uart &u, string paras_folder, const bool &use) :
uart(u),
ArmorFinder::ArmorFinder(EnemyColor &color, Serial &u, string paras_folder, const bool &use) :
serial(u),
enemy_color(color),
state(STANDBY_STATE),
classifier(std::move(paras_folder)),
@@ -62,16 +62,42 @@ void ArmorFinder::run(cv::Mat &src) {
#define FOCUS_PIXAL (600)
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() {
static int dx_add = 0;
auto rect = armor_box;
double dx = rect.x + rect.width/2 - 320 - 8;
dx_add += dx;
dx = dx + dx_add * 0;
double dx = rect.x + rect.width/2 - 320;
double dy = rect.y + rect.height/2 - 240 - 30;
double yaw = atan(dx / FOCUS_PIXAL) * 180 / 3.14159265459;
double pitch = atan(dy / FOCUS_PIXAL) * 180 / 3.14159265459;
// cout << yaw << endl;
uart.sendTarget(yaw, -pitch, 0);
return true;
return sendTarget(serial, yaw, -pitch, 0);
}