96 lines
3.3 KiB
C++
96 lines
3.3 KiB
C++
#ifndef OMNIPERCEPTION__DECIDER_HPP
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#define OMNIPERCEPTION__DECIDER_HPP
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#include <Eigen/Dense> // 必须在opencv2/core/eigen.hpp上面
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#include <iostream>
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#include <list>
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#include <unordered_map>
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#include "detection.hpp"
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#include "io/camera.hpp"
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#include "io/command.hpp"
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#include "io/usbcamera/usbcamera.hpp"
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#include "tasks/auto_aim/armor.hpp"
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#include "tasks/auto_aim/target.hpp"
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#include "tasks/auto_aim/yolo.hpp"
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namespace omniperception
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{
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class Decider
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{
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public:
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Decider(const std::string & config_path);
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io::Command decide(
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auto_aim::YOLO & yolo, const Eigen::Vector3d & gimbal_pos, io::USBCamera & usbcam1,
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io::USBCamera & usbcam2, io::Camera & back_cammera);
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io::Command decide(
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auto_aim::YOLO & yolo, const Eigen::Vector3d & gimbal_pos, io::Camera & back_cammera);
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io::Command decide(const std::vector<DetectionResult> & detection_queue);
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Eigen::Vector2d delta_angle(
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const std::list<auto_aim::Armor> & armors, const std::string & camera);
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bool armor_filter(std::list<auto_aim::Armor> & armors);
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void set_priority(std::list<auto_aim::Armor> & armors);
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//对队列中的每一个DetectionResult进行过滤，同时将DetectionResult排序
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void sort(std::vector<DetectionResult> & detection_queue);
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Eigen::Vector4d get_target_info(
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const std::list<auto_aim::Armor> & armors, const std::list<auto_aim::Target> & targets);
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void get_invincible_armor(const std::vector<int8_t> & invincible_enemy_ids);
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void get_auto_aim_target(
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std::list<auto_aim::Armor> & armors, const std::vector<int8_t> & auto_aim_target);
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private:
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int img_width_;
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int img_height_;
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double fov_h_, new_fov_h_;
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double fov_v_, new_fov_v_;
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int mode_;
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int count_;
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auto_aim::Color enemy_color_;
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auto_aim::YOLO detector_;
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std::vector<auto_aim::ArmorName> invincible_armor_; //无敌状态机器人编号,英雄为1，哨兵为6
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// 定义ArmorName到ArmorPriority的映射类型
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using PriorityMap = std::unordered_map<auto_aim::ArmorName, auto_aim::ArmorPriority>;
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const PriorityMap mode1 = {
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{auto_aim::ArmorName::one, auto_aim::ArmorPriority::second},
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{auto_aim::ArmorName::two, auto_aim::ArmorPriority::forth},
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{auto_aim::ArmorName::three, auto_aim::ArmorPriority::first},
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{auto_aim::ArmorName::four, auto_aim::ArmorPriority::first},
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{auto_aim::ArmorName::five, auto_aim::ArmorPriority::third},
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{auto_aim::ArmorName::sentry, auto_aim::ArmorPriority::third},
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{auto_aim::ArmorName::outpost, auto_aim::ArmorPriority::fifth},
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{auto_aim::ArmorName::base, auto_aim::ArmorPriority::fifth},
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{auto_aim::ArmorName::not_armor, auto_aim::ArmorPriority::fifth}};
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const PriorityMap mode2 = {
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{auto_aim::ArmorName::two, auto_aim::ArmorPriority::first},
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{auto_aim::ArmorName::one, auto_aim::ArmorPriority::second},
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{auto_aim::ArmorName::three, auto_aim::ArmorPriority::second},
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{auto_aim::ArmorName::four, auto_aim::ArmorPriority::second},
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{auto_aim::ArmorName::five, auto_aim::ArmorPriority::second},
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{auto_aim::ArmorName::sentry, auto_aim::ArmorPriority::third},
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{auto_aim::ArmorName::outpost, auto_aim::ArmorPriority::third},
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{auto_aim::ArmorName::base, auto_aim::ArmorPriority::third},
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{auto_aim::ArmorName::not_armor, auto_aim::ArmorPriority::third}};
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};
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enum PriorityMode
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{
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MODE_ONE = 1,
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MODE_TWO
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};
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} // namespace omniperception
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#endif |