# 算法组自瞄

**Repository Path**: ucas-sas-robot-team/algorithm-group-self-aiming

## Basic Information

- **Project Name**: 算法组自瞄
- **Description**: 算法组2021-2022年度自瞄相关代码、参考资料、组会记录
- **Primary Language**: C++
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 2
- **Created**: 2022-08-28
- **Last Updated**: 2023-06-14

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# 算法组自瞄程序

## 装甲板模式

```mermaid
flowchart TB
    subgraph MVCamera
    ReadCamera
    end

    subgraph ArmorDetector
    run --> getTargetInfo
    end
    
    subgraph AngleSolverArmor
    solve
    end

    subgraph Serial
    sendTargetData
    end

    ReadCamera -- "(cv::Mat CamImg)" --> run

    getTargetInfo -- "(std::vector&#60cv::point2f&#62(4) contourPoints, cv::Point2f centerPoint)" --> solve

    solve -- "(float pitch, float yaw, float r)" --> sendTargetData;
```

## 能量机关模式

```mermaid
flowchart TB
    subgraph MVCamera
    ReadCamera
    end

    subgraph Kalmanfilter
    correct --> predict
    end
    
    subgraph AngleSolverEnergy
    solve
    end

    subgraph Serial
    sendTargetData
    end

    ReadCamera -- "(cv::Mat ImgSrc)" --> correct

    predict -- "(std::vector&#60cv::point2f&#62(4) armor_Points, cv::Point2f Predict_Pt)" --> solve

    solve -- "(float pitch, float yaw, float r)" --> sendTargetData;
```