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Merge remote-tracking branch 'origin/master'

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JiatongSun
2019-08-08 23:55:26 +08:00
parent aa9f18035e bb2a088d38
commit fcb3c23d7f
7 changed files with 31 additions and 22 deletions
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1
.gitignore vendored
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@@ -11,3 +11,4 @@ others/MV-UB31-Group0.config
.DS_Store
gimbal_video
chassis_video
test_video

26
energy/src/energy/calibrate/structing.cpp
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@@ -99,24 +99,30 @@ void Energy::FlowStripFanStruct(cv::Mat &src) {
// ---------------------------------------------------------------------------------------------------------------------
void Energy::FlowStripStruct(cv::Mat &src) {
Mat element_dilate_1 = getStructuringElement(MORPH_RECT, Size(5, 5));
Mat element_erode_1 = getStructuringElement(MORPH_RECT, Size(3, 3));
Mat element_dilate_2 = getStructuringElement(MORPH_RECT, Size(3, 3));
Mat element_erode_1 = getStructuringElement(MORPH_RECT, Size(5, 5));
Mat element_dilate_2 = getStructuringElement(MORPH_RECT, Size(2, 2));
Mat element_erode_2 = getStructuringElement(MORPH_RECT, Size(2 , 2));
Mat element_dilate_3 = getStructuringElement(MORPH_RECT, Size(3, 3));
Mat element_erode_3 = getStructuringElement(MORPH_RECT, Size(1 , 1));
Mat element_dilate_3 = getStructuringElement(MORPH_RECT, Size(2, 2));
Mat element_erode_3 = getStructuringElement(MORPH_RECT, Size(2 , 2));
Mat element_dilate_4 = getStructuringElement(MORPH_RECT, Size(2, 2));
Mat element_erode_4 = getStructuringElement(MORPH_RECT, Size(1 , 1));
dilate(src, src, element_dilate_1);
// dilate(src, src, element_dilate_1);
// imshow("dilate_1", src);
erode(src,src, element_erode_1);
// imshow("erode_1", src);
erode(src,src, element_erode_2);
imshow("erode_1", src);
// 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);
// imshow("dilate_2", src);
dilate(src, src, element_dilate_1);
// imshow("dilate_1", src);
dilate(src, src, element_dilate_2);
imshow("dilate_2", src);
// dilate(src, src, element_dilate_3);
// imshow("dilate_3", src);
// dilate(src, src, element_dilate_4);
// imshow("dilate_4", src);
}

2
energy/src/energy/clear/clear.cpp
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@@ -35,5 +35,5 @@ void Energy::initImage(cv::Mat &src) {
threshold(src, src, energy_part_param_.BLUE_GRAY_THRESH, 255, THRESH_BINARY);
}
if (show_process)imshow("bin", src);
if (show_energy)waitKey(1);
if (show_energy || show_process)waitKey(1);
}

8
energy/src/energy/clear/energy_init.cpp
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@@ -83,7 +83,7 @@ void Energy::initEnergy() {
void Energy::initEnergyPartParam() {
// gimbal_energy_part_param_.GRAY_THRESH = 120;//home
// gimbal_energy_part_param_.GRAY_THRESH = 200;//official
gimbal_energy_part_param_.RED_GRAY_THRESH = 180;//game
gimbal_energy_part_param_.RED_GRAY_THRESH = 150;//game
gimbal_energy_part_param_.BLUE_GRAY_THRESH = 100;//game
gimbal_energy_part_param_.SPLIT_GRAY_THRESH = 180;
gimbal_energy_part_param_.FAN_GRAY_THRESH = 75;
@@ -143,9 +143,11 @@ void Energy::initEnergyPartParam() {
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_LENGTH_MIN = 32;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_LENGTH_MAX = 55;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_WIDTH_MIN = 4;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_WIDTH_MAX = 20;
// gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_WIDTH_MAX = 20;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_WIDTH_MAX = 40;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_HW_RATIO_MAX = 7;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_HW_RATIO_MIN = 3;
// gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_HW_RATIO_MIN = 3;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_HW_RATIO_MIN = 1;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_AREA_RATIO_MIN = 0.6;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_INTERSETION_AREA_MIN = 100;

2
energy/src/energy/find/energy_finder.cpp
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@@ -417,7 +417,7 @@ bool Energy::findCenterROI(const cv::Mat src) {
flow_strip.center.y - target_point.y);
p2p = p2p / pointDistance(flow_strip.center, target_point);//单位化
center_ROI = cv::RotatedRect(cv::Point2f(flow_strip.center + p2p * length * 1.7),
Size2f(length * 1.4, length * 1.4), -90);
Size2f(length * 1.7, length * 1.7), -90);
return true;
}

2
energy/src/energy/find/target_finder.cpp
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@@ -76,7 +76,7 @@ bool Energy::findTargetInFlowStripFan() {
// waitKey();
// cout << "target armor cnt: " << target_armors.size() << endl;
if (target_armors.empty()) {
if (show_info)cout << "t6find target armor false" << endl;
if (show_info)cout << "find target armor false" << endl;
return false;
} else {
return true;

10
main.cpp
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@@ -30,10 +30,10 @@ using namespace std;
McuData mcu_data = { // 单片机端回传结构体
0, // 当前云台yaw角
0, // 当前云台pitch角
ARMOR_STATE, // 当前状态，自瞄-大符-小符
BIG_ENERGY_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
0, // 能量机关x轴补偿量
0, // 能量机关y轴补偿量
};
@@ -66,8 +66,8 @@ int main(int argc, char *argv[]) {
video_gimbal = new CameraWrapper(ARMOR_CAMERA_EXPOSURE, ARMOR_CAMERA_GAIN, 2/*, "armor"*/);
video_chassis = new CameraWrapper(ENERGY_CAMERA_EXPOSURE, ENERGY_CAMERA_GAIN, 2/*, "energy"*/);
} else {
video_gimbal = new VideoWrapper(PROJECT_DIR"/8-7-NO7.avi");
video_chassis = new VideoWrapper(PROJECT_DIR"/8-7-NO7.avi");
video_gimbal = new VideoWrapper(PROJECT_DIR"/test_video/red_small.avi");
video_chassis = new VideoWrapper(PROJECT_DIR"/test_video/blue_small.avi");
}
if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully.");
@@ -182,7 +182,7 @@ int main(int argc, char *argv[]) {
armor_finder.run(gimbal_src);
});
}
// cv::waitKey(0);
cv::waitKey(0);
});
} while (ok);
delete video_gimbal;