Merge pull request #78 from Alex-Beng/dev

修复tp不更新的问题and more
GengGode · Dec 4, 2023 · bd4bbcd · bd4bbcd
2 parents 32c948d + fcd0a7a
commit bd4bbcd
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Showing 3 changed files with 10 additions and 8 deletions.
diff --git a/source/algorithms/algorithms.visual.odometer.h b/source/algorithms/algorithms.visual.odometer.h
@@ -34,7 +34,7 @@ bool control_odometer_calculation(const cv::Mat &giMiniMapRef, cv::Point2d &cont
         // use orb match to get the u, aka offset
         cv::Point2f offset;
         if (orb_match(last_mini_map, curr_mini_map, offset)) {
-            control = cv::Point2d(offset.x * config.scale, offset.y * config.scale);
+            control = cv::Point2d(- offset.x * config.scale, -offset.y * config.scale);
             last_mini_map = curr_mini_map.clone();
             return true;
         }
@@ -51,16 +51,16 @@ bool control_odometer_calculation(const cv::Mat &giMiniMapRef, cv::Point2d &cont
 bool orb_match(cv::Mat &img1, cv::Mat &img2, cv::Point2f &offset)
 {
     // 不crop了，因为上一张会被crop两次。
-    // img1 = TianLi::Utils::crop_border(img1, 0.15);
-    // img2 = TianLi::Utils::crop_border(img2, 0.15);
+    auto img1_cp = TianLi::Utils::crop_border(img1, 0.15);
+    auto img2_cp = TianLi::Utils::crop_border(img2, 0.15);
     // resize 是等比例缩放，就不超了
 
     // 分别计算orb特征点
     cv::Ptr<cv::ORB> orb = cv::ORB::create(5000);
     std::vector<cv::KeyPoint> kp1, kp2;
     cv::Mat desp1, desp2;
-    orb->detectAndCompute(img1, cv::Mat(), kp1, desp1);
-    orb->detectAndCompute(img2, cv::Mat(), kp2, desp2);
+    orb->detectAndCompute(img1_cp, cv::Mat(), kp1, desp1);
+    orb->detectAndCompute(img2_cp, cv::Mat(), kp2, desp2);
 
     if (desp1.empty() || desp2.empty()) {
         return false;
@@ -85,9 +85,9 @@ bool orb_match(cv::Mat &img1, cv::Mat &img2, cv::Point2f &offset)
         return false;
     }
 
-    auto img2_copy = img2.clone();
+    // auto img2_copy = img2_cp.clone();
     // 画出good matches，然后保存
-    // cv::drawMatches(img1, kp1, img2, kp2, good_matches, img2_copy);
+    // cv::drawMatches(img1_cp, kp1, img2_cp, kp2, good_matches, img2_copy);
     // cv::imwrite("good_matches.jpg", img2_copy);
 
     // 计算偏移量，直接取平均

diff --git a/source/filter/kalman/Kalman.cpp b/source/filter/kalman/Kalman.cpp
@@ -85,7 +85,8 @@ cv::Point2d Kalman::re_init_filterting(const cv::Point2d& pos)
 	//!< priori error estimate covariance matrix (P'(k)): P'(k)=A*P(k-1)*At + Q)*/  A代表F: transitionMatrix
 	//预测估计协方差矩阵;
 	// 这啥啊，这不计算中的误差协方差
-	setIdentity(KF.errorCovPost, cv::Scalar::all(1));
+	// 绑架问题不收敛的罪魁祸首，这个协方差会影响K的计算，从而影响后续的预测和更新
+	// setIdentity(KF.errorCovPost, cv::Scalar::all(1));
 
 	//!< corrected state (x(k)): x(k)=x'(k)+K(k)*(z(k)-H*x'(k))
 	//initialize post state of kalman filter at random 

diff --git a/source/genshin/match/position/genshin.match.position.cpp b/source/genshin/match/position/genshin.match.position.cpp
@@ -182,6 +182,7 @@ void TianLi::Genshin::Match::get_avatar_position(const GenshinMinimap& genshin_m
         auto od_valid = control_odometer_calculation(genshin_minimap.img_minimap, u_k, odometer_config());
         if (!od_valid) {
             // TODO：no u_k update
+            cout << "no u_k update" << endl;
             filt_pos = out_genshin_position.config.pos_filter->re_init_filterting(pos);
             set_mini_map(genshin_minimap.img_minimap);
         }