From ad5ced1cff7058bbe33ea43c2ca16cc64f6abd26 Mon Sep 17 00:00:00 2001 From: HelixCopex Date: Wed, 19 Nov 2025 20:21:45 +0800 Subject: [PATCH] =?UTF-8?q?=E5=86=85=E5=AE=B9=E5=A1=AB=E5=85=85?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- ArmorDetector.cpp | 273 ++ ArmorDetector.h | 48 + BallisticPredictor.cpp | 61 + BallisticPredictor.h | 28 + CMakeLists.txt | 42 + Camera.cpp | 90 + Camera.h | 25 + ImagePreprocessor.cpp | 56 + ImagePreprocessor.h | 23 + KalmanFilter.cpp | 66 + KalmanFilter.h | 26 + MindVisionCamera.cpp | 208 + MindVisionCamera.h | 34 + MindVisionMain.cpp | 237 + README.md | 79 +- TTLCommunicator.cpp | 59 + TTLCommunicator.h | 32 + Visualizer.cpp | 93 + Visualizer.h | 30 + .../api/v1/query/client-vscode/query.json | 1 + .../reply/cache-v2-2115554c906a5d7087de.json | 1259 ++++++ .../cmakeFiles-v1-87a392359c1c340404bf.json | 825 ++++ .../codemodel-v2-5568b463325334ab291d.json | 60 + 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0000000..4591f86 --- /dev/null +++ b/ArmorDetector.cpp @@ -0,0 +1,273 @@ +#include "ArmorDetector.h" +#include +#include +#include + +ArmorDetector::ArmorDetector() { + angle_threshold_rad = HORIZONTAL_ANGLE_THRESHOLD_RAD; +} + +void ArmorDetector::detect(const cv::Mat& mask, const std::string& target_color, + std::vector& valid_light_bars, + std::vector& armor_plates) { + std::vector initial_light_bars = extract_initial_light_bars(mask); + if (initial_light_bars.empty()) { + valid_light_bars.clear(); + armor_plates.clear(); + return; + } + + std::vector> processed_boxes = merge_nearby_light_bars(initial_light_bars); + if (processed_boxes.empty()) { + valid_light_bars.clear(); + armor_plates.clear(); + return; + } + + valid_light_bars = filter_valid_light_bars(processed_boxes); + if (valid_light_bars.size() < 2) { + armor_plates.clear(); + return; + } + + armor_plates = pair_light_bars_to_armor(valid_light_bars, target_color); + if (armor_plates.empty()) { + return; + } +} + +std::vector ArmorDetector::extract_initial_light_bars(const cv::Mat& mask) { + std::vector> contours; + std::vector hierarchy; + cv::findContours(mask, contours, hierarchy, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_SIMPLE); + + std::vector initial_light_bars; + + for (size_t i = 0; i < contours.size(); i++) { + if (contours[i].size() < 5) continue; // Need at least 5 points to fit ellipse + + cv::RotatedRect rect = cv::minAreaRect(contours[i]); + cv::Point2f vertices[4]; + rect.points(vertices); + + std::vector box; + for (int j = 0; j < 4; j++) { + box.push_back(vertices[j]); + } + + float contour_area = cv::contourArea(contours[i]); + float rect_area = rect.size.width * rect.size.height; + + // Filter: sufficient area + high fill ratio + if (rect_area > 30 && rect_area > 0 && (contour_area / rect_area) > 0.4) { + LightBar light_bar; + light_bar.center = rect.center; + light_bar.size = rect.size; + light_bar.angle = rect.angle; + light_bar.area = rect_area; + light_bar.box = box; + + initial_light_bars.push_back(light_bar); + } + } + + return initial_light_bars; +} + +std::vector> ArmorDetector::merge_nearby_light_bars(const std::vector& initial_light_bars) { + std::vector> processed_boxes; + std::vector visited(initial_light_bars.size(), false); + + for (size_t i = 0; i < initial_light_bars.size(); i++) { + if (visited[i]) continue; + + std::vector nearby_indices = {static_cast(i)}; + cv::Point2f center1 = initial_light_bars[i].center; + + for (size_t j = i + 1; j < initial_light_bars.size(); j++) { + if (visited[j]) continue; + + cv::Point2f center2 = initial_light_bars[j].center; + float distance = std::sqrt(std::pow(center2.x - center1.x, 2) + std::pow(center2.y - center1.y, 2)); + + // Distance + IOU filtering + if (distance < NEARBY_LIGHT_BAR_THRESHOLD) { + cv::Rect b1 = cv::boundingRect(initial_light_bars[i].box); + cv::Rect b2 = cv::boundingRect(initial_light_bars[j].box); + + double iou = calculate_iou(b1, b2); + if (iou > LIGHT_BAR_IOU_THRESHOLD) { + nearby_indices.push_back(static_cast(j)); + visited[j] = true; + } + } + } + + // Merge nearby light bar vertices to generate new rectangle + std::vector all_points; + for (int k : nearby_indices) { + for (const auto& point : initial_light_bars[k].box) { + all_points.push_back(point); + } + } + + if (!all_points.empty()) { + cv::RotatedRect merged_rect = cv::minAreaRect(all_points); + cv::Point2f vertices[4]; + merged_rect.points(vertices); + + std::vector merged_box; + for (int k = 0; k < 4; k++) { + merged_box.push_back(vertices[k]); + } + + processed_boxes.push_back(merged_box); + visited[i] = true; + } + } + + return processed_boxes; +} + +std::vector ArmorDetector::filter_valid_light_bars(const std::vector>& processed_boxes) { + std::vector valid_light_bars; + + for (const auto& box : processed_boxes) { + if (box.size() < 4) continue; + + cv::RotatedRect rect = cv::minAreaRect(box); + cv::Point2f center = rect.center; + float width = rect.size.width; + float height = rect.size.height; + + float length = width > height ? width : height; + float bar_width = width > height ? height : width; + + float main_angle = rect.angle; + if (width <= height) { + main_angle += 90.0; + } + + // Normalize angle to [-90, 90] + main_angle = std::fmod(main_angle, 180); + if (main_angle > 90) main_angle -= 180; + if (main_angle < -90) main_angle += 180; + + float main_angle_rad = main_angle * CV_PI / 180.0f; + + cv::Point2f end1( + center.x + (length / 2) * std::cos(main_angle_rad), + center.y + (length / 2) * std::sin(main_angle_rad) + ); + cv::Point2f end2( + center.x - (length / 2) * std::cos(main_angle_rad), + center.y - (length / 2) * std::sin(main_angle_rad) + ); + + float rect_area = length * bar_width; + float contour_area = cv::contourArea(box); + float area_ratio = rect_area > 0 ? contour_area / rect_area : 0; + + // Filter: sufficient area + high fill ratio + non-horizontal + if (rect_area > 40 && area_ratio > 0.4 && std::abs(main_angle_rad) > angle_threshold_rad) { + LightBar light_bar; + light_bar.center = center; + light_bar.size = cv::Size2f(length, bar_width); + light_bar.angle = main_angle; + light_bar.angle_rad = main_angle_rad; + light_bar.area = rect_area; + light_bar.center_line = {end1, end2}; + light_bar.center_line_length = length; + light_bar.box = box; + + valid_light_bars.push_back(light_bar); + } + } + + return valid_light_bars; +} + +std::vector ArmorDetector::pair_light_bars_to_armor(const std::vector& light_bars, const std::string& target_color) { + std::vector armor_plates; + std::vector used(light_bars.size(), false); + + for (size_t i = 0; i < light_bars.size(); i++) { + if (used[i]) continue; + const LightBar& lb1 = light_bars[i]; + + for (size_t j = i + 1; j < light_bars.size(); j++) { + if (used[j]) continue; + const LightBar& lb2 = light_bars[j]; + + // Angle difference filtering + float angle_diff = std::abs(lb1.angle_rad - lb2.angle_rad); + float angle_diff_2 = 2.0f * CV_PI - angle_diff; + angle_diff = std::min(angle_diff, angle_diff_2); + if (angle_diff > ARMOR_ANGLE_DIFF_THRESHOLD) { + continue; + } + + // Distance ratio filtering + float dx = lb2.center.x - lb1.center.x; + float dy = lb2.center.y - lb1.center.y; + float distance = std::sqrt(dx * dx + dy * dy); + float avg_length = (lb1.center_line_length + lb2.center_line_length) / 2; + float distance_ratio = avg_length > 0 ? distance / avg_length : 0; + if (distance_ratio <= ARMOR_DISTANCE_RATIO_MIN || distance_ratio >= ARMOR_DISTANCE_RATIO_MAX) { + continue; + } + + // Length difference filtering + float length_diff_ratio = avg_length > 0 ? + std::abs(lb1.center_line_length - lb2.center_line_length) / avg_length : 0; + if (length_diff_ratio > ARMOR_LENGTH_DIFF_RATIO) { + continue; + } + + cv::Point2f armor_center( + (lb1.center.x + lb2.center.x) / 2, + (lb1.center.y + lb2.center.y) / 2 + ); + + double confidence = (lb1.area + lb2.area) / (distance + 1); + + ArmorPlate armor_plate; + armor_plate.color = target_color; + armor_plate.center = armor_center; + armor_plate.confidence = confidence; + armor_plate.pair = std::make_pair(lb1, lb2); + armor_plate.corners_2d = std::vector(); // Will be computed later if needed + + armor_plates.push_back(armor_plate); + + used[i] = true; + used[j] = true; + break; + } + } + + // Sort by confidence in descending order + std::sort(armor_plates.begin(), armor_plates.end(), + [](const ArmorPlate& a, const ArmorPlate& b) { + return a.confidence > b.confidence; + }); + + return armor_plates; +} + +double ArmorDetector::calculate_iou(const cv::Rect& b1, const cv::Rect& b2) { + cv::Point2f inter_tl(std::max(b1.x, b2.x), std::max(b1.y, b2.y)); + cv::Point2f inter_br(std::min(b1.x + b1.width, b2.x + b2.width), + std::min(b1.y + b1.height, b2.y + b2.height)); + + if (inter_br.x <= inter_tl.x || inter_br.y <= inter_tl.y) { + return 0.0; + } + + float inter_area = (inter_br.x - inter_tl.x) * (inter_br.y - inter_tl.y); + float b1_area = b1.width * b1.height; + float b2_area = b2.width * b2.height; + float union_area = b1_area + b2_area - inter_area; + + return union_area > 0 ? inter_area / union_area : 0.0; +} \ No newline at end of file diff --git a/ArmorDetector.h b/ArmorDetector.h new file mode 100644 index 0000000..e28ccfb --- /dev/null +++ b/ArmorDetector.h @@ -0,0 +1,48 @@ +#ifndef ARMORDETECTOR_H +#define ARMORDETECTOR_H + +#include +#include +#include +#include "config.h" + +struct LightBar { + cv::Point2f center; + cv::Size2f size; + float angle; // in degrees + float angle_rad; // in radians + float area; + std::vector center_line; // [end1, end2] + float center_line_length; + std::vector box; +}; + +struct ArmorPlate { + std::string color; + cv::Point2f center; + double confidence; + std::pair pair; + std::vector corners_2d; // Can be computed later for 3D pose +}; + +class ArmorDetector { +public: + ArmorDetector(); + + // Main detection function + void detect(const cv::Mat& mask, const std::string& target_color, + std::vector& valid_light_bars, + std::vector& armor_plates); + +private: + float angle_threshold_rad; + + // Helper methods + std::vector extract_initial_light_bars(const cv::Mat& mask); + std::vector> merge_nearby_light_bars(const std::vector& initial_light_bars); + std::vector filter_valid_light_bars(const std::vector>& processed_boxes); + std::vector pair_light_bars_to_armor(const std::vector& light_bars, const std::string& target_color); + double calculate_iou(const cv::Rect& b1, const cv::Rect& b2); +}; + +#endif // ARMORDETECTOR_H \ No newline at end of file diff --git a/BallisticPredictor.cpp b/BallisticPredictor.cpp new file mode 100644 index 0000000..01723c5 --- /dev/null +++ b/BallisticPredictor.cpp @@ -0,0 +1,61 @@ +#include "BallisticPredictor.h" +#include "config.h" +#include + +BallisticPredictor::BallisticPredictor(float bullet_speed) + : bullet_speed(bullet_speed), last_ballistic_point(nullptr) { + armor_half_width = ARMOR_WIDTH / 2000.0f; // Convert to meters + armor_half_height = ARMOR_HEIGHT / 2000.0f; // Convert to meters +} + +cv::Point2f* BallisticPredictor::predict_ballistic_point(const cv::Point2f* predicted_center, + const cv::Point2f& img_center, + const cv::Point2f& target_speed) { + if (predicted_center == nullptr) { + if (last_ballistic_point != nullptr) { + delete last_ballistic_point; + last_ballistic_point = nullptr; + } + return nullptr; + } + + // 1. Estimate target distance (meters) + float distance = calculate_distance(*predicted_center, img_center); + + // 2. Calculate bullet flight time (seconds): distance / bullet speed + float flight_time = bullet_speed > 0 ? distance / bullet_speed : 0.0f; + + // 3. Calculate target movement in flight time (pixels) + // target speed (pixels/s) * flight time (s) = predicted movement in pixels + float delta_x = target_speed.x * flight_time; + float delta_y = target_speed.y * flight_time; + + // 4. Ballistic prediction point = Kalman prediction center + target movement compensation + float ballistic_x = predicted_center->x + delta_x; + float ballistic_y = predicted_center->y + delta_y; + cv::Point2f ballistic_point(ballistic_x, ballistic_y); + + // Update last ballistic point + if (last_ballistic_point != nullptr) { + delete last_ballistic_point; + } + last_ballistic_point = new cv::Point2f(ballistic_point); + + return last_ballistic_point; +} + +float BallisticPredictor::calculate_distance(const cv::Point2f& armor_center, const cv::Point2f& img_center, float focal_length) { + // Calculate the pixel distance from armor center to image center + float dx = std::abs(armor_center.x - img_center.x); + float dy = std::abs(armor_center.y - img_center.y); + float pixel_distance = std::sqrt(dx * dx + dy * dy); + + // If target is near the center, avoid division by zero + if (pixel_distance < 10) { + return 5.0f; // Default 5 meters (adjust based on actual scenario) + } + + // Distance estimation formula: (actual size * focal length) / pixel size + float distance = (armor_half_width * focal_length) / (pixel_distance * 0.5f); + return std::max(0.5f, distance); // Limit minimum distance to 0.5 meters +} \ No newline at end of file diff --git a/BallisticPredictor.h b/BallisticPredictor.h new file mode 100644 index 0000000..a32ce15 --- /dev/null +++ b/BallisticPredictor.h @@ -0,0 +1,28 @@ +#ifndef BALLISTICPREDICTOR_H +#define BALLISTICPREDICTOR_H + +#include + +class BallisticPredictor { +public: + BallisticPredictor(float bullet_speed = 16.0f); + + // Predict ballistic point considering target movement and flight time + cv::Point2f* predict_ballistic_point(const cv::Point2f* predicted_center, + const cv::Point2f& img_center, + const cv::Point2f& target_speed); + + // Get last ballistic point + const cv::Point2f* get_last_ballistic_point() const { return last_ballistic_point; } + +private: + float bullet_speed; // Bullet speed (m/s) + float armor_half_width; // Armor half width (converted to meters) + float armor_half_height; // Armor half height (converted to meters) + cv::Point2f* last_ballistic_point; // Last ballistic prediction + + // Calculate distance to target + float calculate_distance(const cv::Point2f& armor_center, const cv::Point2f& img_center, float focal_length = 800.0f); +}; + +#endif // BALLISTICPREDICTOR_H \ No newline at end of file diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..253aa70 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,42 @@ +cmake_minimum_required(VERSION 3.10) +project(armor_detector_mdv) + +# Set C++ standard +set(CMAKE_CXX_STANDARD 14) +set(CMAKE_CXX_STANDARD_REQUIRED ON) + +# Find OpenCV package +find_package(OpenCV REQUIRED) + +# Include OpenCV headers +include_directories(${OpenCV_INCLUDE_DIRS}) + +# Include MindVision SDK headers (请根据实际SDK路径调整) +# 由于MindVision SDK在WSL中，需要在WSL环境下编译 +include_directories("/home/lld/mdv/include") + +# Add executable for MindVision version +add_executable(armor_detector_mdv + main.cpp + MindVisionCamera.cpp + ImagePreprocessor.cpp + ArmorDetector.cpp + KalmanFilter.cpp + Visualizer.cpp + BallisticPredictor.cpp + TTLCommunicator.cpp +) + +# Link OpenCV libraries +target_link_libraries(armor_detector_mdv ${OpenCV_LIBS}) + +# Link MindVision SDK library (路径需要根据实际情况调整) +# 根据提供的Makefile，库名应该是MVSDK +link_directories("/home/lld/mdv/lib/x86") +target_link_libraries(armor_detector_mdv MVSDK) + +# Additional flags for better compilation +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -O3 -pthread") + +# For serial communication on Linux, you might need to link additional libraries: +# target_link_libraries(armor_detector_mdv ${OpenCV_LIBS} -lutil -lpthread) \ No newline at end of file diff --git a/Camera.cpp b/Camera.cpp new file mode 100644 index 0000000..44fb3d0 --- /dev/null +++ b/Camera.cpp @@ -0,0 +1,90 @@ +#include "Camera.h" +#include + +Camera::Camera(int cam_id, const std::string& target_color) { + // 先设置为 MJPEG 模式再打开（某些驱动要求） + cap.open(cam_id, cv::CAP_V4L2); + if (!cap.isOpened()) { + throw std::runtime_error("Cannot open camera!"); + } + + // 必须先设 FOURCC，再设分辨率和帧率！顺序很重要 + cap.set(cv::CAP_PROP_FOURCC, cv::VideoWriter::fourcc('M', 'J', 'P', 'G')); + cap.set(cv::CAP_PROP_FRAME_WIDTH, 640); + cap.set(cv::CAP_PROP_FRAME_HEIGHT, 480); + cap.set(cv::CAP_PROP_FPS, 100) + + is_opened = true; + this->target_color = target_color; + if (this->target_color != "red" && this->target_color != "blue") { + throw std::invalid_argument("Only 'red' or 'blue' colors are supported"); + } + + set_cam_params(); // 再次应用参数（包括曝光等） +} + +Camera::~Camera() { + release(); +} + +void Camera::set_cam_params() { + // 先设 FOURCC（顺序很重要！） + cap.set(cv::CAP_PROP_FOURCC, cv::VideoWriter::fourcc('M', 'J', 'P', 'G')); + + const int width = 640; + const int height = 480; + const int fps = 60; // 从 80 降到 60 + + cap.set(cv::CAP_PROP_FRAME_WIDTH, width); + cap.set(cv::CAP_PROP_FRAME_HEIGHT, height); + cap.set(cv::CAP_PROP_FPS, fps); + + cap.set(cv::CAP_PROP_AUTOFOCUS, 1); + cap.set(cv::CAP_PROP_AUTO_WB, 1); + cap.set(cv::CAP_PROP_AUTO_EXPOSURE, 0); // 手动曝光 + + if (target_color == "red") { + cap.set(cv::CAP_PROP_EXPOSURE, -50); // 可微调 + //cap.set(cv::CAP_PROP_CONTRAST,50); + } else if (target_color == "blue") { + cap.set(cv::CAP_PROP_EXPOSURE, -8); + } + cap.set(cv::CAP_PROP_WB_TEMPERATURE, 3200); + + // 验证 + double w = cap.get(cv::CAP_PROP_FRAME_WIDTH); + double h = cap.get(cv::CAP_PROP_FRAME_HEIGHT); + double f = cap.get(cv::CAP_PROP_FPS); + double fourcc = cap.get(cv::CAP_PROP_FOURCC); + char str[5] = {0}; + memcpy(str, &fourcc, 4); + std::cout << "Actual: " << w << "x" << h << " @ " << f << "fps, FOURCC='" << str << "'" << std::endl; +} +bool Camera::read_frame(cv::Mat& frame) { + if (!is_opened) { + return false; + } + return cap.read(frame); +} + +void Camera::release() { + if (is_opened) { + cap.release(); + is_opened = false; + } +} + +bool Camera::switch_color(const std::string& new_color) { + std::string lower_color = new_color; + // Convert to lowercase manually + for (auto& c : lower_color) { + c = std::tolower(c); + } + + if ((lower_color == "red" || lower_color == "blue") && lower_color != target_color) { + target_color = lower_color; + set_cam_params(); + return true; + } + return false; +} \ No newline at end of file diff --git a/Camera.h b/Camera.h new file mode 100644 index 0000000..baad4b2 --- /dev/null +++ b/Camera.h @@ -0,0 +1,25 @@ +#ifndef CAMERA_H +#define CAMERA_H + +#include +#include + +class Camera { +public: + cv::VideoCapture cap; + bool is_opened; + std::string target_color; + + Camera(int cam_id = 0, const std::string& target_color = "red"); + ~Camera(); + + void set_cam_params(); + bool read_frame(cv::Mat& frame); + void release(); + bool switch_color(const std::string& target_color); + +private: + void set_camera_parameters(); +}; + +#endif // CAMERA_H \ No newline at end of file diff --git a/ImagePreprocessor.cpp b/ImagePreprocessor.cpp new file mode 100644 index 0000000..3ad813c --- /dev/null +++ b/ImagePreprocessor.cpp @@ -0,0 +1,56 @@ +#include "ImagePreprocessor.h" +#include +#include + +ImagePreprocessor::ImagePreprocessor() { + // Constructor implementation +} + +ImagePreprocessor::~ImagePreprocessor() { + // Destructor implementation +} + +cv::Mat ImagePreprocessor::get_mask(const cv::Mat& frame, const std::string& target_color) { + cv::Mat hsv_frame; + cv::cvtColor(frame, hsv_frame, cv::COLOR_BGR2HSV); + + cv::Mat mask; + if (target_color == "red") { + // Red color range in HSV + cv::Mat mask1, mask2; + cv::inRange(hsv_frame, cv::Scalar(0, 43, 49), cv::Scalar(25, 255, 255), mask1); + cv::inRange(hsv_frame, cv::Scalar(156, 46, 49), cv::Scalar(180, 255, 255), mask2); + mask = mask1 | mask2; + } else if (target_color == "blue") { + // Blue color range in HSV + cv::inRange(hsv_frame, cv::Scalar(83, 200, 44), cv::Scalar(130, 255, 255), mask); + } else { + // Default to empty mask if color not recognized + mask = cv::Mat::zeros(frame.size(), CV_8UC1); + } + + // Apply morphological operations to reduce noise + cv::Mat kernel = cv::getStructuringElement(cv::MORPH_RECT, cv::Size(3, 3)); + cv::morphologyEx(mask, mask, cv::MORPH_OPEN, kernel); + cv::morphologyEx(mask, mask, cv::MORPH_CLOSE, kernel); + + return mask; +} + +cv::Mat ImagePreprocessor::get_color_only_frame(const cv::Mat& frame, const std::string& target_color) { + cv::Mat mask = get_mask(frame, target_color); + + // 不再反转掩膜，直接使用原始掩膜 + // 目标颜色区域为白色(255)，非目标颜色区域为黑色(0) + + cv::Mat color_only_frame; + frame.copyTo(color_only_frame, mask); // 使用掩膜复制原始帧，只保留目标颜色部分 + + return color_only_frame; +} + +void ImagePreprocessor::process_frame(const cv::Mat& frame, const std::string& target_color, + cv::Mat& mask, cv::Mat& color_only_frame) { + mask = get_mask(frame, target_color); + color_only_frame = get_color_only_frame(frame, target_color); +} \ No newline at end of file diff --git a/ImagePreprocessor.h b/ImagePreprocessor.h new file mode 100644 index 0000000..827c409 --- /dev/null +++ b/ImagePreprocessor.h @@ -0,0 +1,23 @@ +#ifndef IMAGEPREPROCESSOR_H +#define IMAGEPREPROCESSOR_H + +#include +#include + +class ImagePreprocessor { +public: + ImagePreprocessor(); + ~ImagePreprocessor(); + + // Get mask based on target color + cv::Mat get_mask(const cv::Mat& frame, const std::string& target_color); + + // Get frame with only the target color + cv::Mat get_color_only_frame(const cv::Mat& frame, const std::string& target_color); + + // Combined function to return both mask and color-only frame + void process_frame(const cv::Mat& frame, const std::string& target_color, + cv::Mat& mask, cv::Mat& color_only_frame); +}; + +#endif // IMAGEPREPROCESSOR_H \ No newline at end of file diff --git a/KalmanFilter.cpp b/KalmanFilter.cpp new file mode 100644 index 0000000..7378a3e --- /dev/null +++ b/KalmanFilter.cpp @@ -0,0 +1,66 @@ +#include "KalmanFilter.h" +#include "config.h" +#include + +KalmanFilter::KalmanFilter() { + // 4 state variables (x, y, dx, dy), 2 measurements (x, y) + kf.init(4, 2, 0); + init_params(); + initialized = false; + last_measurement = cv::Point2f(0, 0); + last_prediction = cv::Point2f(0, 0); +} + +void KalmanFilter::init_params() { + // Transition matrix: x(k+1) = x(k) + dx(k), y(k+1) = y(k) + dy(k), dx(k+1) = dx(k), dy(k+1) = dy(k) + kf.transitionMatrix = (cv::Mat_(4, 4) << + 1, 0, 1, 0, + 0, 1, 0, 1, + 0, 0, 1, 0, + 0, 0, 0, 1 + ); + + // Measurement matrix: measuring x and y + kf.measurementMatrix = (cv::Mat_(2, 4) << + 1, 0, 0, 0, + 0, 1, 0, 0 + ); + + // Process noise covariance + kf.processNoiseCov = cv::Mat::eye(4, 4, CV_32F) * KF_PROCESS_NOISE; + + // Measurement noise covariance + kf.measurementNoiseCov = cv::Mat::eye(2, 2, CV_32F) * KF_MEASUREMENT_NOISE; + + // Error covariance post + kf.errorCovPost = cv::Mat::eye(4, 4, CV_32F); +} + +void KalmanFilter::update(const cv::Point2f& measurement) { + cv::Mat measurement_mat = (cv::Mat_(2, 1) << measurement.x, measurement.y); + + if (!initialized) { + // Initialize state if not done yet + kf.statePost = (cv::Mat_(4, 1) << + measurement.x, + measurement.y, + 0.0f, + 0.0f); + initialized = true; + } else { + kf.correct(measurement_mat); + } + + last_measurement = measurement; +} + +cv::Point2f KalmanFilter::predict() { + if (!initialized) { + return cv::Point2f(0, 0); + } + + cv::Mat prediction = kf.predict(); + cv::Point2f result(prediction.at(0), prediction.at(1)); + last_prediction = result; + return result; +} \ No newline at end of file diff --git a/KalmanFilter.h b/KalmanFilter.h new file mode 100644 index 0000000..8eaf844 --- /dev/null +++ b/KalmanFilter.h @@ -0,0 +1,26 @@ +#ifndef KALMANFILTER_H +#define KALMANFILTER_H + +#include + +class KalmanFilter { +public: + KalmanFilter(); + + void update(const cv::Point2f& measurement); + cv::Point2f predict(); + + cv::Point2f get_last_measurement() const { return last_measurement; } + cv::Point2f get_last_prediction() const { return last_prediction; } + bool is_initialized() const { return initialized; } + +private: + cv::KalmanFilter kf; + bool initialized; + cv::Point2f last_measurement; + cv::Point2f last_prediction; + + void init_params(); +}; + +#endif // KALMANFILTER_H \ No newline at end of file diff --git a/MindVisionCamera.cpp b/MindVisionCamera.cpp new file mode 100644 index 0000000..bc9c485 --- /dev/null +++ b/MindVisionCamera.cpp @@ -0,0 +1,208 @@ +#include "MindVisionCamera.h" +#include + +MindVisionCamera::MindVisionCamera(int cam_id, const std::string& target_color) + : camera_handle(-1), is_opened(false), width(640), height(480), fps(30) { + + if (!initialize_camera(cam_id)) { + throw std::runtime_error("Cannot initialize MindVision camera!"); + } + + is_opened = true; + this->target_color = target_color; + if (this->target_color != "red" && this->target_color != "blue") { + throw std::invalid_argument("Only 'red' or 'blue' colors are supported"); + } + + set_cam_params(); +} + +bool MindVisionCamera::initialize_camera(int cam_id) { + // 初始化SDK + CameraSdkInit(1); + + int iCameraCounts = 10; + tSdkCameraDevInfo tCameraEnumList[10]; // 声明为数组而不是指针 + + // 枚举设备，并建立设备列表 + int iStatus = CameraEnumerateDevice(tCameraEnumList, &iCameraCounts); + std::cout << "CameraEnumerateDevice returned: " << iStatus << std::endl; + std::cout << "Found " << iCameraCounts << " cameras" << std::endl; + + if (iCameraCounts <= 0) { + std::cerr << "No MindVision cameras found!" << std::endl; + return false; + } + + // 选择指定ID的相机 + if (cam_id >= iCameraCounts) { + std::cerr << "Camera ID " << cam_id << " not found! Only " << iCameraCounts << " cameras detected." << std::endl; + return false; + } + + std::cout << "Initializing camera " << cam_id << ": " << tCameraEnumList[cam_id].acFriendlyName << std::endl; + + // 相机初始化 + iStatus = CameraInit(&tCameraEnumList[cam_id], -1, -1, &camera_handle); + std::cout << "CameraInit returned: " << iStatus << std::endl; + + if (iStatus != CAMERA_STATUS_SUCCESS) { + std::cerr << "Failed to initialize camera! Error code: " << iStatus << std::endl; + return false; + } + + // 获取相机能力 + tSdkCameraCapbility capability; + iStatus = CameraGetCapability(camera_handle, &capability); + if (iStatus != CAMERA_STATUS_SUCCESS) { + std::cerr << "Failed to get camera capability! Error code: " << iStatus << std::endl; + return false; + } + + // 设置输出格式 + if (capability.sIspCapacity.bMonoSensor) { + CameraSetIspOutFormat(camera_handle, CAMERA_MEDIA_TYPE_MONO8); + } else { + CameraSetIspOutFormat(camera_handle, CAMERA_MEDIA_TYPE_BGR8); + } + + // 让SDK进入工作模式 + CameraPlay(camera_handle); + + // 获取并设置分辨率为 640x480 + tSdkImageResolution image_resolution; + int status = CameraGetImageResolution(camera_handle, &image_resolution); + std::cout << "Default resolution query returned: " << status << std::endl; + + // 设置分辨率为 640x480 + image_resolution.iIndex = 0xFF; // Use custom resolution (0xFF typically indicates custom resolution) + image_resolution.iWidth = 640; + image_resolution.iHeight = 480; + image_resolution.iWidthFOV = image_resolution.iWidth; + image_resolution.iHeightFOV = image_resolution.iHeight; + image_resolution.iHOffsetFOV = 0; + image_resolution.iVOffsetFOV = 0; + + status = CameraSetImageResolution(camera_handle, &image_resolution); + if (status != CAMERA_STATUS_SUCCESS) { + std::cout << "Failed to set resolution to 640x480, using default settings" << std::endl; + // Try to get the current resolution after failed set + CameraGetImageResolution(camera_handle, &image_resolution); + } else { + std::cout << "Successfully set camera resolution to: " << image_resolution.iWidth << "x" << image_resolution.iHeight << std::endl; + } + + width = image_resolution.iWidth; + height = image_resolution.iHeight; + + // 开启自动曝光 + CameraSetAeState(camera_handle, true); + + // 设置帧率 + CameraSetFrameSpeed(camera_handle, 10); // 设置为中等帧率 + + std::cout << "Initialized camera with resolution: " << width << "x" << height << std::endl; + + return true; +} + +MindVisionCamera::~MindVisionCamera() { + release(); +} + +void MindVisionCamera::set_camera_parameters() { + // 先设置为手动曝光模式 + CameraSetAeState(camera_handle, false); + + // 根据颜色设置曝光参数 + if (target_color == "red") { + CameraSetExposureTime(camera_handle, 10000); // 5ms曝光时间 + } else if (target_color == "blue") { + CameraSetExposureTime(camera_handle, 4000); // 8ms曝光时间 + } + + // 设置白平衡 + CameraSetWbMode(camera_handle, false); // 关闭自动白平衡 + CameraSetOnceWB(camera_handle); // 一次性白平衡 + + // 设置其他参数 + CameraSetTriggerMode(camera_handle, 0); // 连续采集模式 +} + +void MindVisionCamera::set_cam_params() { + set_camera_parameters(); + + // Ensure resolution remains 640x480 after setting other parameters + tSdkImageResolution image_resolution; + image_resolution.iIndex = 0xFF; // Use custom resolution (0xFF typically indicates custom resolution) + image_resolution.iWidth = 640; + image_resolution.iHeight = 480; + image_resolution.iWidthFOV = image_resolution.iWidth; + image_resolution.iHeightFOV = image_resolution.iHeight; + image_resolution.iHOffsetFOV = 0; + image_resolution.iVOffsetFOV = 0; + + int status = CameraSetImageResolution(camera_handle, &image_resolution); + if (status != CAMERA_STATUS_SUCCESS) { + std::cout << "Failed to maintain resolution at 640x480 in set_cam_params" << std::endl; + } else { + std::cout << "Confirmed camera resolution: " << image_resolution.iWidth << "x" << image_resolution.iHeight << std::endl; + } +} + +bool MindVisionCamera::read_frame(cv::Mat& frame) { + if (!is_opened) { + return false; + } + + tSdkFrameHead sFrameInfo; + BYTE* pbyBuffer; + + // 获取一帧数据 + if (CameraGetImageBuffer(camera_handle, &sFrameInfo, &pbyBuffer, 1000) == CAMERA_STATUS_SUCCESS) { + // 处理图像数据 + unsigned char* g_pRgbBuffer = new unsigned char[sFrameInfo.iWidth * sFrameInfo.iHeight * 3]; + CameraImageProcess(camera_handle, pbyBuffer, g_pRgbBuffer, &sFrameInfo); + + // 创建OpenCV Mat对象 + frame = cv::Mat( + cv::Size(sFrameInfo.iWidth, sFrameInfo.iHeight), + sFrameInfo.uiMediaType == CAMERA_MEDIA_TYPE_MONO8 ? CV_8UC1 : CV_8UC3, + g_pRgbBuffer + ).clone(); // clone()确保数据被复制，而不是共享指针 + + // 释放原始缓冲区 + CameraReleaseImageBuffer(camera_handle, pbyBuffer); + + // 释放临时缓冲区 + delete[] g_pRgbBuffer; + + return true; + } + + return false; +} + +void MindVisionCamera::release() { + if (is_opened && camera_handle >= 0) { + // 停止采集 + CameraUnInit(camera_handle); + camera_handle = -1; + is_opened = false; + } +} + +bool MindVisionCamera::switch_color(const std::string& new_color) { + std::string lower_color = new_color; + // Convert to lowercase manually + for (auto& c : lower_color) { + c = std::tolower(c); + } + + if ((lower_color == "red" || lower_color == "blue") && lower_color != target_color) { + target_color = lower_color; + set_cam_params(); + return true; + } + return false; +} \ No newline at end of file diff --git a/MindVisionCamera.h b/MindVisionCamera.h new file mode 100644 index 0000000..4b5c137 --- /dev/null +++ b/MindVisionCamera.h @@ -0,0 +1,34 @@ +#ifndef MINDVISION_CAMERA_H +#define MINDVISION_CAMERA_H + +#include +#include + +// MindVision SDK 头文件 - 可能需要根据实际SDK文件调整 +extern "C" { + #include "CameraApi.h" // 这是MindVision SDK的典型头文件 +} + +class MindVisionCamera { +public: + int camera_handle; // MindVision SDK中的相机句柄 + bool is_opened; + std::string target_color; + int width; + int height; + int fps; + + MindVisionCamera(int cam_id = 0, const std::string& target_color = "red"); + ~MindVisionCamera(); + + void set_cam_params(); + bool read_frame(cv::Mat& frame); + void release(); + bool switch_color(const std::string& target_color); + +private: + void set_camera_parameters(); + bool initialize_camera(int cam_id); +}; + +#endif // MINDVISION_CAMERA_H \ No newline at end of file diff --git a/MindVisionMain.cpp b/MindVisionMain.cpp new file mode 100644 index 0000000..a0e0a2c --- /dev/null +++ b/MindVisionMain.cpp @@ -0,0 +1,237 @@ +#include +#include +#include +#include +#include +#include + +#include + +#include "config.h" +#include "MindVisionCamera.h" // 使用MindVision相机 +#include "ImagePreprocessor.h" +#include "ArmorDetector.h" +#include "KalmanFilter.h" +#include "Visualizer.h" +#include "BallisticPredictor.h" +#include "TTLCommunicator.h" + +// Function to output control data to TTL device (with enable control) +void output_control_data(const cv::Point2f* ballistic_point, + const std::string& target_color, + int frame_counter, + TTLCommunicator* ttl_communicator, + const cv::Point2f& img_center, + bool use_ttl) { + // Only send data when TTL is enabled and meets frame interval + if (use_ttl && frame_counter % 5 == 0) { + std::string send_str; + + if (ballistic_point != nullptr) { + // Calculate offset (based on actual image center) + int ballistic_offset_x = static_cast(ballistic_point->x - img_center.x); + int ballistic_offset_y = static_cast(ballistic_point->y - img_center.y); + + // Color simplification mapping + std::string simplified_color = target_color; + if (target_color == "red") simplified_color = "r"; + else if (target_color == "blue") simplified_color = "b"; + + // Construct send string + send_str = "s " + simplified_color + " " + std::to_string(ballistic_offset_x) + " " + std::to_string(ballistic_offset_y); + } else { + // Format when no detection result + send_str = "s u 0 0"; + } + + // Send data + if (ttl_communicator != nullptr) { + ttl_communicator->send_data(send_str); + } + } +} + +void set_camera_resolution(MindVisionCamera& camera, int width, int height) { + // The resolution is set during camera initialization in MindVision + // We need to implement a method in MindVisionCamera to change resolution + // For now, we'll just log the intended change + std::cout << "Setting camera resolution to: " << width << "x" << height << std::endl; +} + +int main(int /*argc*/, char* /*argv*/[]) { + std::string target_color = "blue"; + int cam_id = 0; + cv::Size default_resolution(640, 480); + bool use_ttl = false; // Set to false to disable TTL communication + + // Define optional resolution list (adjust based on camera support) + std::vector resolutions = { + cv::Size(320, 240), // Low resolution, high frame rate + cv::Size(640, 480), // Standard resolution + cv::Size(1280, 720), // HD resolution + cv::Size(1920, 1080) // Full HD resolution + }; + + // Find the index of default resolution + int res_index = 1; // Default to index 1 (640x480) + for (size_t i = 0; i < resolutions.size(); i++) { + if (resolutions[i] == default_resolution) { + res_index = static_cast(i); + break; + } + } + + // Initialize TTL communication (only when enabled) + TTLCommunicator* ttl = nullptr; + if (use_ttl) { + ttl = new TTLCommunicator(TTL_BAUDRATE); + if (!ttl->connect()) { + std::cout << "Warning: Cannot establish TTL connection, will continue running but not send data" << std::endl; + } + } else { + std::cout << "TTL communication disabled" << std::endl; + } + + // Initialize visual processing modules with MindVision camera + MindVisionCamera camera(cam_id, target_color); + if (!camera.is_opened) { + std::cerr << "Cannot open MindVision camera!" << std::endl; + return -1; + } + + // Initialize ballistic predictor (adjustable bullet speed, e.g., 16m/s) + BallisticPredictor ballistic_predictor(16.0f); + // Record target speed (obtained from Kalman filter) + cv::Point2f target_speed(0.0f, 0.0f); + + // Set initial resolution + set_camera_resolution(camera, resolutions[res_index].width, resolutions[res_index].height); + std::cout << "Initial camera resolution: " << resolutions[res_index].width << "x" << resolutions[res_index].height << std::endl; + + ImagePreprocessor preprocessor; + ArmorDetector detector; + KalmanFilter kalman_tracker; + Visualizer visualizer; + + int frame_counter = 0; // Counter to control output frequency + int max_consecutive_predicts = 20; // Maximum consecutive prediction times + int consecutive_predicts = 0; // Current consecutive prediction count + + cv::Mat frame; + try { + while (true) { + if (!camera.read_frame(frame)) { + std::cout << "Cannot read from MindVision camera, exiting!" << std::endl; + break; + } + + // Get actual image size and calculate center + cv::Point2f img_center(frame.cols / 2.0f, frame.rows / 2.0f); + + // Preprocessing + cv::Mat mask, color_only_frame; + preprocessor.process_frame(frame, target_color, mask, color_only_frame); + + // Armor plate detection + std::vector valid_light_bars; + std::vector armor_plates; + detector.detect(mask, target_color, valid_light_bars, armor_plates); + + // Kalman filter tracking (modified part: get target speed) + cv::Point2f* current_center = nullptr; + if (!armor_plates.empty()) { + current_center = &(armor_plates[0].center); + } + + cv::Point2f* predicted_center = nullptr; + + if (current_center != nullptr) { + // Has detection result: update Kalman filter, reset consecutive prediction count + kalman_tracker.update(*current_center); + predicted_center = new cv::Point2f(kalman_tracker.predict()); + + // Get velocity from the Kalman filter + target_speed = cv::Point2f(0.0f, 0.0f); // Kalman filter in OpenCV doesn't directly expose velocity + consecutive_predicts = 0; + } else { + // No detection result: only use Kalman prediction, limit consecutive predictions + consecutive_predicts++; + if (consecutive_predicts < max_consecutive_predicts) { + cv::Point2f temp_pred = kalman_tracker.predict(); + if (temp_pred.x != 0 || temp_pred.y != 0) { // Check if prediction is valid + predicted_center = new cv::Point2f(temp_pred); + } + } else { + predicted_center = nullptr; + target_speed = cv::Point2f(0.0f, 0.0f); + } + } + + // Determine display center + cv::Point2f* display_center = current_center; + if (display_center == nullptr && predicted_center != nullptr) { + display_center = predicted_center; + } + bool is_predicted = (display_center != nullptr) && (current_center == nullptr); + + // Calculate ballistic prediction point + cv::Point2f* ballistic_point = ballistic_predictor.predict_ballistic_point( + predicted_center, img_center, target_speed + ); + + auto current_time = std::chrono::high_resolution_clock::now(); + + // Visualization + visualizer.draw_light_bars(frame, valid_light_bars, target_color); + if (!armor_plates.empty()) { + visualizer.draw_armor_plate(frame, armor_plates[0]); + } + visualizer.draw_offset_text(frame, display_center, target_color, is_predicted); + visualizer.draw_ballistic_point(frame, ballistic_point); + + // Output control data to TTL (passing use_ttl to control whether to send) + output_control_data(display_center, target_color, frame_counter, ttl, img_center, use_ttl); + + // Display windows + cv::imshow("Armor Detection", frame); + cv::imshow(target_color + " Mask", mask); + cv::imshow(target_color + " Only", color_only_frame); + + // Exit on 'q' key press + if (cv::waitKey(1) == 'q') { + break; + } + + frame_counter++; + + // Control max frame rate (100 FPS) + auto end_time = std::chrono::high_resolution_clock::now(); + auto elapsed = std::chrono::duration_cast(end_time - current_time).count(); + if (elapsed < 10) { // 100 FPS = 10ms per frame + std::this_thread::sleep_for(std::chrono::milliseconds(10 - elapsed)); + } + + // Clean up dynamically allocated memory + if (predicted_center != nullptr) { + delete predicted_center; + predicted_center = nullptr; + } + } + } + catch (const std::exception& e) { + std::cerr << "Error: " << e.what() << std::endl; + } + + // Cleanup + camera.release(); + cv::destroyAllWindows(); + + // Only close TTL connection when enabled and initialized + if (use_ttl && ttl != nullptr) { + ttl->close(); + delete ttl; + ttl = nullptr; + } + + return 0; +} \ No newline at end of file diff --git a/README.md b/README.md index b2ba679..df5df08 100644 --- a/README.md +++ b/README.md @@ -1,3 +1,78 @@ -# Catalyst-MDVS +# MindVision相机驱动的装甲板检测系统 -迈德威视版本 AI写的 Cpp 自瞄 \ No newline at end of file +本项目是基于MindVision相机SDK的装甲板检测系统，使用高性能工业相机替代原有的OpenCV相机接口。 + +## 项目结构 + +- `MindVisionCamera.h/cpp` - MindVision相机驱动实现 +- `main.cpp` - 主程序入口（已修改为使用MindVision相机） +- 其他 `.cpp/.h` 文件 - 原有的图像处理、装甲板检测、卡尔曼滤波等功能模块 + +## 环境准备 + +此项目需要在WSL Ubuntu环境中编译和运行，因为MindVision SDK位于WSL系统中。 + +### 1. 确保MindVision SDK已安装 + +在WSL Ubuntu中确认SDK路径： +```bash +ls -la /home/lld/mdv/include/CameraApi.h +ls -la /home/lld/mdv/lib/x86/ +``` + +### 2. 安装必要的依赖 + +```bash +sudo apt update +sudo apt install build-essential cmake libopencv-dev +``` + +## 编译项目 + +### 方法1：使用构建脚本 +```bash +cd /home/lld/code/mdvs +chmod +x build.sh +./build.sh +``` + +### 方法2：手动编译 +```bash +cd /home/lld/code/mdvs +mkdir build +cd build +cmake .. -DCMAKE_BUILD_TYPE=Release +make -j$(nproc) +``` + +## 运行程序 + +```bash +./build/armor_detector_mdv +``` + +## 配置说明 + +- 相机ID可在main函数中修改 `cam_id` 变量 +- 默认分辨率：640x480，帧率：30fps +- 支持颜色切换（红色/蓝色） +- 支持TTL通信（默认关闭） + +## 注意事项 + +1. 此项目使用MindVision相机SDK直接驱动相机，可以获得更好的性能和相机控制能力 +2. 曝光、白平衡等参数可在`MindVisionCamera.cpp`中的`set_camera_parameters()`函数中调整 +3. 如果遇到编译错误，请检查MindVision SDK的库文件名是否正确（可能是`libMVSDK.so`或`libMVSDK.a`） + +## 键盘控制 + +- 按 'q' 键退出程序 +- 按其他键继续运行 + +## 故障排除 + +如果相机无法打开： +1. 检查相机是否正确连接 +2. 确认MindVision相机驱动是否正确安装 +3. 验证相机ID是否正确 +4. 检查权限（可能需要将用户添加到video组） \ No newline at end of file diff --git a/TTLCommunicator.cpp b/TTLCommunicator.cpp new file mode 100644 index 0000000..de2f90c --- /dev/null +++ b/TTLCommunicator.cpp @@ -0,0 +1,59 @@ +#include "TTLCommunicator.h" +#include + +TTLCommunicator::TTLCommunicator(int baudrate) : baudrate(baudrate), connected(false) { + // Default to a common serial port name, though this will need to be configured for the specific system + port_name = "/dev/ttyUSB0"; // Common for Linux/Ubuntu +} + +TTLCommunicator::~TTLCommunicator() { + close(); +} + +bool TTLCommunicator::connect() { + // Placeholder implementation - in a real implementation, you would open the serial port + std::cout << "Attempting to connect to TTL device on port: " << port_name << " at baud rate: " << baudrate << std::endl; + + // For now, simulate a connection attempt + // In real implementation, use system calls to open the serial port + connected = open_serial_port(); + + if (connected) { + std::cout << "TTL connection established." << std::endl; + } else { + std::cout << "Warning: Failed to establish TTL connection." << std::endl; + } + + return connected; +} + +void TTLCommunicator::close() { + if (connected) { + close_serial_port(); + connected = false; + std::cout << "TTL connection closed." << std::endl; + } +} + +bool TTLCommunicator::send_data(const std::string& data) { + if (!connected) { + return false; + } + + // Placeholder for sending data over serial + // In real implementation, write to the serial port + std::cout << "Sending TTL data: " << data << std::endl; + + // Simulate successful transmission + return true; +} + +bool TTLCommunicator::open_serial_port() { + // In a real implementation, this would use system calls like open(), tcsetattr(), etc. + // For now, return true to simulate a successful connection + return true; +} + +void TTLCommunicator::close_serial_port() { + // In a real implementation, this would close the file descriptor +} \ No newline at end of file diff --git a/TTLCommunicator.h b/TTLCommunicator.h new file mode 100644 index 0000000..bc0d6e0 --- /dev/null +++ b/TTLCommunicator.h @@ -0,0 +1,32 @@ +#ifndef TTLCOMMUNICATOR_H +#define TTLCOMMUNICATOR_H + +#include + +// Placeholder for TTL communication class +// In a real implementation, you would use a C++ serial library like: +// - serial (https://github.com/wjwwood/serial) +// - Boost.Asio +// - or a system-specific approach + +class TTLCommunicator { +public: + TTLCommunicator(int baudrate = 115200); + ~TTLCommunicator(); + + bool connect(); + void close(); + bool send_data(const std::string& data); + bool is_connected() const { return connected; } + +private: + std::string port_name; + int baudrate; + bool connected; + + // These would be implemented with actual serial communication code + bool open_serial_port(); + void close_serial_port(); +}; + +#endif // TTLCOMMUNICATOR_H \ No newline at end of file diff --git a/Visualizer.cpp b/Visualizer.cpp new file mode 100644 index 0000000..b49c4bc --- /dev/null +++ b/Visualizer.cpp @@ -0,0 +1,93 @@ +#include "Visualizer.h" +#include + +Visualizer::Visualizer() { + // Constructor implementation +} + +Visualizer::~Visualizer() { + // Destructor implementation +} + +cv::Mat& Visualizer::draw_light_bars(cv::Mat& frame, const std::vector& light_bars, const std::string& target_color) { + cv::Scalar color = (target_color == "red") ? cv::Scalar(0, 0, 255) : cv::Scalar(255, 0, 0); // Red or Blue in BGR + + for (const auto& light_bar : light_bars) { + // Draw rotated rectangle for each light bar + for (size_t i = 0; i < light_bar.box.size(); i++) { + cv::Point2f pt1 = light_bar.box[i]; + cv::Point2f pt2 = light_bar.box[(i + 1) % light_bar.box.size()]; + cv::line(frame, pt1, pt2, color, 2); + } + } + + return frame; +} + +cv::Mat& Visualizer::draw_armor_plate(cv::Mat& frame, const ArmorPlate& armor_plate) { + cv::circle(frame, armor_plate.center, 10, cv::Scalar(0, 255, 0), 2); // Green circle around armor center + + // Draw confidence text + std::stringstream ss; + ss << "Conf: " << std::fixed << std::setprecision(2) << armor_plate.confidence; + cv::putText(frame, ss.str(), cv::Point(armor_plate.center.x + 15, armor_plate.center.y - 15), + cv::FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(0, 255, 0), 1); + + return frame; +} + +cv::Mat& Visualizer::draw_offset_text(cv::Mat& frame, const cv::Point2f* display_center, const std::string& /*target_color*/, bool is_predicted) { + if (display_center == nullptr) { + return frame; + } + + cv::Point2f img_center(frame.cols / 2.0f, frame.rows / 2.0f); + int offset_x = static_cast(display_center->x - img_center.x); + int offset_y = static_cast(display_center->y - img_center.y); + + std::stringstream ss; + ss << "Offset: (" << offset_x << ", " << offset_y << ")"; + + // Use different color based on whether it's predicted or actual + cv::Scalar color = is_predicted ? cv::Scalar(0, 255, 255) : cv::Scalar(0, 255, 0); // Yellow for predicted, Green for actual + cv::putText(frame, ss.str(), cv::Point(20, 30), cv::FONT_HERSHEY_SIMPLEX, 0.7, color, 2); + + return frame; +} + +cv::Mat& Visualizer::draw_crosshair(cv::Mat& frame, const cv::Point2f& center, const cv::Scalar& color, int size) { + // Draw horizontal line + cv::line(frame, + cv::Point(static_cast(center.x - size), static_cast(center.y)), + cv::Point(static_cast(center.x + size), static_cast(center.y)), + color, 2); + + // Draw vertical line + cv::line(frame, + cv::Point(static_cast(center.x), static_cast(center.y - size)), + cv::Point(static_cast(center.x), static_cast(center.y + size)), + color, 2); + + return frame; +} + +cv::Mat& Visualizer::draw_ballistic_point(cv::Mat& frame, const cv::Point2f* ballistic_point) { + if (ballistic_point != nullptr) { + // Draw a red crosshair at the ballistic prediction point + cv::circle(frame, *ballistic_point, 8, cv::Scalar(0, 0, 255), 2); // Red circle + cv::line(frame, + cv::Point(static_cast(ballistic_point->x - 10), static_cast(ballistic_point->y)), + cv::Point(static_cast(ballistic_point->x + 10), static_cast(ballistic_point->y)), + cv::Scalar(0, 0, 255), 2); // Red horizontal line + cv::line(frame, + cv::Point(static_cast(ballistic_point->x), static_cast(ballistic_point->y - 10)), + cv::Point(static_cast(ballistic_point->x), static_cast(ballistic_point->y + 10)), + cv::Scalar(0, 0, 255), 2); // Red vertical line + + // Label as ballistic point + cv::putText(frame, "BP", cv::Point(static_cast(ballistic_point->x + 15), static_cast(ballistic_point->y - 15)), + cv::FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(0, 0, 255), 1); + } + + return frame; +} \ No newline at end of file diff --git a/Visualizer.h b/Visualizer.h new file mode 100644 index 0000000..4e39e1a --- /dev/null +++ b/Visualizer.h @@ -0,0 +1,30 @@ +#ifndef VISUALIZER_H +#define VISUALIZER_H + +#include +#include +#include +#include "ArmorDetector.h" + +class Visualizer { +public: + Visualizer(); + ~Visualizer(); + + // Draw light bars on frame + cv::Mat& draw_light_bars(cv::Mat& frame, const std::vector& light_bars, const std::string& target_color); + + // Draw armor plate on frame + cv::Mat& draw_armor_plate(cv::Mat& frame, const ArmorPlate& armor_plate); + + // Draw offset text + cv::Mat& draw_offset_text(cv::Mat& frame, const cv::Point2f* display_center, const std::string& target_color, bool is_predicted = false); + + // Draw crosshair at center + cv::Mat& draw_crosshair(cv::Mat& frame, const cv::Point2f& center, const cv::Scalar& color = cv::Scalar(0, 255, 0), int size = 10); + + // Draw ballistic point + cv::Mat& draw_ballistic_point(cv::Mat& frame, const cv::Point2f* ballistic_point); +}; + +#endif // VISUALIZER_H \ No newline at end of file diff --git a/build/.cmake/api/v1/query/client-vscode/query.json b/build/.cmake/api/v1/query/client-vscode/query.json new file mode 100644 index 0000000..82bb964 --- /dev/null +++ b/build/.cmake/api/v1/query/client-vscode/query.json @@ 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+# define COMPILER_VERSION_PATCH DEC(__open_xl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__open_xl_ptf_fix_level__) + + +#elif defined(__ibmxl__) && defined(__clang__) +# define COMPILER_ID "XLClang" +# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__) +# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__) +# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__) + + +#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ >= 800 +# define COMPILER_ID "XL" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__NVCOMPILER) +# define COMPILER_ID "NVHPC" +# define COMPILER_VERSION_MAJOR DEC(__NVCOMPILER_MAJOR__) +# define COMPILER_VERSION_MINOR DEC(__NVCOMPILER_MINOR__) +# if defined(__NVCOMPILER_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__NVCOMPILER_PATCHLEVEL__) +# endif + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(__clang__) && defined(__cray__) +# define COMPILER_ID "CrayClang" +# define COMPILER_VERSION_MAJOR DEC(__cray_major__) +# define COMPILER_VERSION_MINOR DEC(__cray_minor__) +# define COMPILER_VERSION_PATCH DEC(__cray_patchlevel__) +# define COMPILER_VERSION_INTERNAL_STR __clang_version__ + + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__CLANG_FUJITSU) +# define COMPILER_ID "FujitsuClang" +# define COMPILER_VERSION_MAJOR DEC(__FCC_major__) +# define COMPILER_VERSION_MINOR DEC(__FCC_minor__) +# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__) +# define COMPILER_VERSION_INTERNAL_STR __clang_version__ + + +#elif defined(__FUJITSU) +# define COMPILER_ID "Fujitsu" +# if defined(__FCC_version__) +# define COMPILER_VERSION __FCC_version__ +# elif defined(__FCC_major__) +# define COMPILER_VERSION_MAJOR DEC(__FCC_major__) +# define COMPILER_VERSION_MINOR DEC(__FCC_minor__) +# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__) +# endif +# if defined(__fcc_version) +# define COMPILER_VERSION_INTERNAL DEC(__fcc_version) +# elif defined(__FCC_VERSION) +# define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION) +# endif + + +#elif defined(__ghs__) +# define COMPILER_ID "GHS" +/* __GHS_VERSION_NUMBER = VVVVRP */ +# ifdef __GHS_VERSION_NUMBER +# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100) +# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10) +# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10) +# endif + +#elif defined(__TASKING__) +# define COMPILER_ID "Tasking" + # define COMPILER_VERSION_MAJOR DEC(__VERSION__/1000) + # define COMPILER_VERSION_MINOR DEC(__VERSION__ % 100) +# define COMPILER_VERSION_INTERNAL DEC(__VERSION__) + +#elif defined(__ORANGEC__) +# define COMPILER_ID "OrangeC" +# define COMPILER_VERSION_MAJOR DEC(__ORANGEC_MAJOR__) +# define COMPILER_VERSION_MINOR DEC(__ORANGEC_MINOR__) +# define COMPILER_VERSION_PATCH DEC(__ORANGEC_PATCHLEVEL__) + +#elif defined(__TINYC__) +# define COMPILER_ID "TinyCC" + +#elif defined(__BCC__) +# define COMPILER_ID "Bruce" + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__ARMCC_VERSION) && !defined(__clang__) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) +# define COMPILER_ID "ARMClang" + # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION/100 % 100) +# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__LCC__) && (defined(__GNUC__) || defined(__GNUG__) || defined(__MCST__)) +# define COMPILER_ID "LCC" +# define COMPILER_VERSION_MAJOR DEC(__LCC__ / 100) +# define COMPILER_VERSION_MINOR DEC(__LCC__ % 100) +# if defined(__LCC_MINOR__) +# define COMPILER_VERSION_PATCH DEC(__LCC_MINOR__) +# endif +# if defined(__GNUC__) && defined(__GNUC_MINOR__) +# define SIMULATE_ID "GNU" +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +# if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif +# endif + +#elif defined(__GNUC__) +# define COMPILER_ID "GNU" +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(_ADI_COMPILER) +# define COMPILER_ID "ADSP" +#if defined(__VERSIONNUM__) + /* __VERSIONNUM__ = 0xVVRRPPTT */ +# define COMPILER_VERSION_MAJOR DEC(__VERSIONNUM__ >> 24 & 0xFF) +# define COMPILER_VERSION_MINOR DEC(__VERSIONNUM__ >> 16 & 0xFF) +# define COMPILER_VERSION_PATCH DEC(__VERSIONNUM__ >> 8 & 0xFF) +# define COMPILER_VERSION_TWEAK DEC(__VERSIONNUM__ & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + +#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC) +# define COMPILER_ID "SDCC" +# if defined(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR) +# define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH) +# else + /* SDCC = VRP */ +# define COMPILER_VERSION_MAJOR DEC(SDCC/100) +# define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10) +# define COMPILER_VERSION_PATCH DEC(SDCC % 10) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__MSYS__) +# define PLATFORM_ID "MSYS" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# elif defined(__VXWORKS__) +# define PLATFORM_ID "VxWorks" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +# elif defined(_ADI_COMPILER) +# define PLATFORM_ID "ADSP" + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_ARM64EC) +# define ARCHITECTURE_ID "ARM64EC" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# elif defined(__ICCSTM8__) +# define ARCHITECTURE_ID "STM8" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__TI_COMPILER_VERSION__) +# if defined(__TI_ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__MSP430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__TMS320C28XX__) +# define ARCHITECTURE_ID "TMS320C28x" + +# elif defined(__TMS320C6X__) || defined(_TMS320C6X) +# define ARCHITECTURE_ID "TMS320C6x" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +# elif defined(__ADSPSHARC__) +# define ARCHITECTURE_ID "SHARC" + +# elif defined(__ADSPBLACKFIN__) +# define ARCHITECTURE_ID "Blackfin" + +#elif defined(__TASKING__) + +# if defined(__CTC__) || defined(__CPTC__) +# define ARCHITECTURE_ID "TriCore" + +# elif defined(__CMCS__) +# define ARCHITECTURE_ID "MCS" + +# elif defined(__CARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__CARC__) +# define ARCHITECTURE_ID "ARC" + +# elif defined(__C51__) +# define ARCHITECTURE_ID "8051" + +# elif defined(__CPCP__) +# define ARCHITECTURE_ID "PCP" + +# else +# define ARCHITECTURE_ID "" +# endif + +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number. */ +#ifdef COMPILER_VERSION +char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]"; + +/* Construct a string literal encoding the version number components. */ +#elif defined(COMPILER_VERSION_MAJOR) +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#elif defined(COMPILER_VERSION_INTERNAL_STR) +char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]"; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + +#if !defined(__STDC__) && !defined(__clang__) +# if defined(_MSC_VER) || defined(__ibmxl__) || defined(__IBMC__) +# define C_VERSION "90" +# else +# define C_VERSION +# endif +#elif __STDC_VERSION__ > 201710L +# define C_VERSION "23" +#elif __STDC_VERSION__ >= 201710L +# define C_VERSION "17" +#elif __STDC_VERSION__ >= 201000L +# define C_VERSION "11" +#elif __STDC_VERSION__ >= 199901L +# define C_VERSION "99" +#else +# define C_VERSION "90" +#endif +const char* info_language_standard_default = + "INFO" ":" "standard_default[" C_VERSION "]"; + +const char* info_language_extensions_default = "INFO" ":" "extensions_default[" +#if (defined(__clang__) || defined(__GNUC__) || defined(__xlC__) || \ + defined(__TI_COMPILER_VERSION__)) && \ + !defined(__STRICT_ANSI__) + "ON" +#else + "OFF" +#endif +"]"; + +/*--------------------------------------------------------------------------*/ + +#ifdef ID_VOID_MAIN +void main() {} +#else +# if defined(__CLASSIC_C__) +int main(argc, argv) int argc; char *argv[]; +# else +int main(int argc, char* argv[]) +# endif +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; + require += info_arch[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) + require += info_cray[argc]; +#endif + require += info_language_standard_default[argc]; + require += info_language_extensions_default[argc]; + (void)argv; + return require; +} +#endif diff --git a/build/CMakeFiles/3.28.3/CompilerIdCXX/CMakeCXXCompilerId.cpp b/build/CMakeFiles/3.28.3/CompilerIdCXX/CMakeCXXCompilerId.cpp new file mode 100644 index 0000000..9c9c90e --- /dev/null +++ b/build/CMakeFiles/3.28.3/CompilerIdCXX/CMakeCXXCompilerId.cpp @@ -0,0 +1,869 @@ +/* This source file must have a .cpp extension so that all C++ compilers + recognize the extension without flags. Borland does not know .cxx for + example. */ +#ifndef __cplusplus +# error "A C compiler has been selected for C++." +#endif + +#if !defined(__has_include) +/* If the compiler does not have __has_include, pretend the answer is + always no. */ +# define __has_include(x) 0 +#endif + + +/* Version number components: V=Version, R=Revision, P=Patch + Version date components: YYYY=Year, MM=Month, DD=Day */ + +#if defined(__COMO__) +# define COMPILER_ID "Comeau" + /* __COMO_VERSION__ = VRR */ +# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100) +# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100) + +#elif defined(__INTEL_COMPILER) || defined(__ICC) +# define COMPILER_ID "Intel" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# if defined(__GNUC__) +# define SIMULATE_ID "GNU" +# endif + /* __INTEL_COMPILER = VRP prior to 2021, and then VVVV for 2021 and later, + except that a few beta releases use the old format with V=2021. */ +# if __INTEL_COMPILER < 2021 || __INTEL_COMPILER == 202110 || __INTEL_COMPILER == 202111 +# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100) +# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10) +# if defined(__INTEL_COMPILER_UPDATE) +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE) +# else +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10) +# endif +# else +# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER) +# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER_UPDATE) + /* The third version component from --version is an update index, + but no macro is provided for it. */ +# define COMPILER_VERSION_PATCH DEC(0) +# endif +# if defined(__INTEL_COMPILER_BUILD_DATE) + /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */ +# define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE) +# endif +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# if defined(__GNUC__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +# elif defined(__GNUG__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif (defined(__clang__) && defined(__INTEL_CLANG_COMPILER)) || defined(__INTEL_LLVM_COMPILER) +# define COMPILER_ID "IntelLLVM" +#if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +#endif +#if defined(__GNUC__) +# define SIMULATE_ID "GNU" +#endif +/* __INTEL_LLVM_COMPILER = VVVVRP prior to 2021.2.0, VVVVRRPP for 2021.2.0 and + * later. Look for 6 digit vs. 8 digit version number to decide encoding. + * VVVV is no smaller than the current year when a version is released. + */ +#if __INTEL_LLVM_COMPILER < 1000000L +# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/100) +# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER % 10) +#else +# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/10000) +# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER % 100) +#endif +#if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +#endif +#if defined(__GNUC__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +#elif defined(__GNUG__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUG__) +#endif +#if defined(__GNUC_MINOR__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +#endif +#if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +#endif + +#elif defined(__PATHCC__) +# define COMPILER_ID "PathScale" +# define COMPILER_VERSION_MAJOR DEC(__PATHCC__) +# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__) +# if defined(__PATHCC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__) +# endif + +#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__) +# define COMPILER_ID "Embarcadero" +# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF) +# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF) +# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__ & 0xFFFF) + +#elif defined(__BORLANDC__) +# define COMPILER_ID "Borland" + /* __BORLANDC__ = 0xVRR */ +# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8) +# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF) + +#elif defined(__WATCOMC__) && __WATCOMC__ < 1200 +# define COMPILER_ID "Watcom" + /* __WATCOMC__ = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__WATCOMC__) +# define COMPILER_ID "OpenWatcom" + /* __WATCOMC__ = VVRP + 1100 */ +# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__SUNPRO_CC) +# define COMPILER_ID "SunPro" +# if __SUNPRO_CC >= 0x5100 + /* __SUNPRO_CC = 0xVRRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# else + /* __SUNPRO_CC = 0xVRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# endif + +#elif defined(__HP_aCC) +# define COMPILER_ID "HP" + /* __HP_aCC = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_aCC % 100) + +#elif defined(__DECCXX) +# define COMPILER_ID "Compaq" + /* __DECCXX_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER % 10000) + +#elif defined(__IBMCPP__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__open_xl__) && defined(__clang__) +# define COMPILER_ID "IBMClang" +# define COMPILER_VERSION_MAJOR DEC(__open_xl_version__) +# define COMPILER_VERSION_MINOR DEC(__open_xl_release__) +# define COMPILER_VERSION_PATCH DEC(__open_xl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__open_xl_ptf_fix_level__) + + +#elif defined(__ibmxl__) && defined(__clang__) +# define COMPILER_ID "XLClang" +# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__) +# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__) +# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__) + + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800 +# define COMPILER_ID "XL" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__NVCOMPILER) +# define COMPILER_ID "NVHPC" +# define COMPILER_VERSION_MAJOR DEC(__NVCOMPILER_MAJOR__) +# define COMPILER_VERSION_MINOR DEC(__NVCOMPILER_MINOR__) +# if defined(__NVCOMPILER_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__NVCOMPILER_PATCHLEVEL__) +# endif + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(__clang__) && defined(__cray__) +# define COMPILER_ID "CrayClang" +# define COMPILER_VERSION_MAJOR DEC(__cray_major__) +# define COMPILER_VERSION_MINOR DEC(__cray_minor__) +# define COMPILER_VERSION_PATCH DEC(__cray_patchlevel__) +# define COMPILER_VERSION_INTERNAL_STR __clang_version__ + + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__CLANG_FUJITSU) +# define COMPILER_ID "FujitsuClang" +# define COMPILER_VERSION_MAJOR DEC(__FCC_major__) +# define COMPILER_VERSION_MINOR DEC(__FCC_minor__) +# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__) +# define COMPILER_VERSION_INTERNAL_STR __clang_version__ + + +#elif defined(__FUJITSU) +# define COMPILER_ID "Fujitsu" +# if defined(__FCC_version__) +# define COMPILER_VERSION __FCC_version__ +# elif defined(__FCC_major__) +# define COMPILER_VERSION_MAJOR DEC(__FCC_major__) +# define COMPILER_VERSION_MINOR DEC(__FCC_minor__) +# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__) +# endif +# if defined(__fcc_version) +# define COMPILER_VERSION_INTERNAL DEC(__fcc_version) +# elif defined(__FCC_VERSION) +# define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION) +# endif + + +#elif defined(__ghs__) +# define COMPILER_ID "GHS" +/* __GHS_VERSION_NUMBER = VVVVRP */ +# ifdef __GHS_VERSION_NUMBER +# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100) +# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10) +# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10) +# endif + +#elif defined(__TASKING__) +# define COMPILER_ID "Tasking" + # define COMPILER_VERSION_MAJOR DEC(__VERSION__/1000) + # define COMPILER_VERSION_MINOR DEC(__VERSION__ % 100) +# define COMPILER_VERSION_INTERNAL DEC(__VERSION__) + +#elif defined(__ORANGEC__) +# define COMPILER_ID "OrangeC" +# define COMPILER_VERSION_MAJOR DEC(__ORANGEC_MAJOR__) +# define COMPILER_VERSION_MINOR DEC(__ORANGEC_MINOR__) +# define COMPILER_VERSION_PATCH DEC(__ORANGEC_PATCHLEVEL__) + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__ARMCC_VERSION) && !defined(__clang__) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) +# define COMPILER_ID "ARMClang" + # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION/100 % 100) +# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__LCC__) && (defined(__GNUC__) || defined(__GNUG__) || defined(__MCST__)) +# define COMPILER_ID "LCC" +# define COMPILER_VERSION_MAJOR DEC(__LCC__ / 100) +# define COMPILER_VERSION_MINOR DEC(__LCC__ % 100) +# if defined(__LCC_MINOR__) +# define COMPILER_VERSION_PATCH DEC(__LCC_MINOR__) +# endif +# if defined(__GNUC__) && defined(__GNUC_MINOR__) +# define SIMULATE_ID "GNU" +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +# if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif +# endif + +#elif defined(__GNUC__) || defined(__GNUG__) +# define COMPILER_ID "GNU" +# if defined(__GNUC__) +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# else +# define COMPILER_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(_ADI_COMPILER) +# define COMPILER_ID "ADSP" +#if defined(__VERSIONNUM__) + /* __VERSIONNUM__ = 0xVVRRPPTT */ +# define COMPILER_VERSION_MAJOR DEC(__VERSIONNUM__ >> 24 & 0xFF) +# define COMPILER_VERSION_MINOR DEC(__VERSIONNUM__ >> 16 & 0xFF) +# define COMPILER_VERSION_PATCH DEC(__VERSIONNUM__ >> 8 & 0xFF) +# define COMPILER_VERSION_TWEAK DEC(__VERSIONNUM__ & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__MSYS__) +# define PLATFORM_ID "MSYS" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# elif defined(__VXWORKS__) +# define PLATFORM_ID "VxWorks" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +# elif defined(_ADI_COMPILER) +# define PLATFORM_ID "ADSP" + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_ARM64EC) +# define ARCHITECTURE_ID "ARM64EC" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# elif defined(__ICCSTM8__) +# define ARCHITECTURE_ID "STM8" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__TI_COMPILER_VERSION__) +# if defined(__TI_ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__MSP430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__TMS320C28XX__) +# define ARCHITECTURE_ID "TMS320C28x" + +# elif defined(__TMS320C6X__) || defined(_TMS320C6X) +# define ARCHITECTURE_ID "TMS320C6x" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +# elif defined(__ADSPSHARC__) +# define ARCHITECTURE_ID "SHARC" + +# elif defined(__ADSPBLACKFIN__) +# define ARCHITECTURE_ID "Blackfin" + +#elif defined(__TASKING__) + +# if defined(__CTC__) || defined(__CPTC__) +# define ARCHITECTURE_ID "TriCore" + +# elif defined(__CMCS__) +# define ARCHITECTURE_ID "MCS" + +# elif defined(__CARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__CARC__) +# define ARCHITECTURE_ID "ARC" + +# elif defined(__C51__) +# define ARCHITECTURE_ID "8051" + +# elif defined(__CPCP__) +# define ARCHITECTURE_ID "PCP" + +# else +# define ARCHITECTURE_ID "" +# endif + +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number. */ +#ifdef COMPILER_VERSION +char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]"; + +/* Construct a string literal encoding the version number components. */ +#elif defined(COMPILER_VERSION_MAJOR) +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#elif defined(COMPILER_VERSION_INTERNAL_STR) +char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]"; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + +#if defined(__INTEL_COMPILER) && defined(_MSVC_LANG) && _MSVC_LANG < 201403L +# if defined(__INTEL_CXX11_MODE__) +# if defined(__cpp_aggregate_nsdmi) +# define CXX_STD 201402L +# else +# define CXX_STD 201103L +# endif +# else +# define CXX_STD 199711L +# endif +#elif defined(_MSC_VER) && defined(_MSVC_LANG) +# define CXX_STD _MSVC_LANG +#else +# define CXX_STD __cplusplus +#endif + +const char* info_language_standard_default = "INFO" ":" "standard_default[" +#if CXX_STD > 202002L + "23" +#elif CXX_STD > 201703L + "20" +#elif CXX_STD >= 201703L + "17" +#elif CXX_STD >= 201402L + "14" +#elif CXX_STD >= 201103L + "11" +#else + "98" +#endif +"]"; + +const char* info_language_extensions_default = "INFO" ":" "extensions_default[" +#if (defined(__clang__) || defined(__GNUC__) || defined(__xlC__) || \ + defined(__TI_COMPILER_VERSION__)) && \ + !defined(__STRICT_ANSI__) + "ON" +#else + "OFF" +#endif +"]"; + +/*--------------------------------------------------------------------------*/ + +int main(int argc, char* argv[]) +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; + require += info_arch[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) + require += info_cray[argc]; +#endif + require += info_language_standard_default[argc]; + require += info_language_extensions_default[argc]; + (void)argv; + return require; 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calibration) +const cv::Mat CAMERA_MATRIX = (cv::Mat_(3, 3) << + 600, 0, 320, + 0, 600, 240, + 0, 0, 1); + +const cv::Mat DIST_COEFFS = cv::Mat::zeros(5, 1, CV_32F); // Distortion coefficients (set to 0 for no distortion) + +// Armor dimensions (in mm) +const float ARMOR_WIDTH = 135.0f; +const float ARMOR_HEIGHT = 125.0f; +const float ARMOR_THICKNESS = 20.0f; + +const cv::Mat ARMOR_3D_POINTS = (cv::Mat_(4, 3) << + -ARMOR_WIDTH / 2, -ARMOR_HEIGHT / 2, 0, + ARMOR_WIDTH / 2, -ARMOR_HEIGHT / 2, 0, + ARMOR_WIDTH / 2, ARMOR_HEIGHT / 2, 0, + -ARMOR_WIDTH / 2, ARMOR_HEIGHT / 2, 0); + +// Detection thresholds +const float HORIZONTAL_ANGLE_THRESHOLD = 25.0f; // Light bar horizontal angle threshold (degrees) +const float HORIZONTAL_ANGLE_THRESHOLD_RAD = HORIZONTAL_ANGLE_THRESHOLD * CV_PI / 180.0f; +const float NEARBY_LIGHT_BAR_THRESHOLD = 500.0f; // Light bar merging distance threshold (pixels) +const float LIGHT_BAR_IOU_THRESHOLD = 0.05f; // Light bar merging IOU threshold +const float ARMOR_DISTANCE_RATIO_MIN = 0.6f; // Armor light bar distance ratio range +const float ARMOR_DISTANCE_RATIO_MAX = 3.0f; +const float ARMOR_LENGTH_DIFF_RATIO = 0.5f; // Armor light bar length difference ratio +const float ARMOR_ANGLE_DIFF_THRESHOLD = 20.0f * CV_PI / 180.0f; // Armor light bar angle difference threshold (radians) + +// Kalman filter parameters +const float KF_PROCESS_NOISE = 0.02f; // Process noise covariance +const float KF_MEASUREMENT_NOISE = 0.5f; // Measurement noise covariance + +// TTL communication settings +const int TTL_BAUDRATE = 115200; + +#endif // CONFIG_H \ No newline at end of file diff --git a/main.cpp b/main.cpp new file mode 100644 index 0000000..81bc2d8 --- /dev/null +++ b/main.cpp @@ -0,0 +1,238 @@ +#include +#include +#include +#include +#include +#include + +#include + +#include "config.h" +#include "MindVisionCamera.h" // 使用MindVision相机 +#include "ImagePreprocessor.h" +#include "ArmorDetector.h" +#include "KalmanFilter.h" +#include "Visualizer.h" +#include "BallisticPredictor.h" +#include "TTLCommunicator.h" + +// Function to output control data to TTL device (with enable control) +void output_control_data(const cv::Point2f* ballistic_point, + const std::string& target_color, + int frame_counter, + TTLCommunicator* ttl_communicator, + const cv::Point2f& img_center, + bool use_ttl, + bool armor_detected) { + // Only send data when TTL is enabled, meets frame interval, AND armor is detected + if (use_ttl && frame_counter % 5 == 0 && armor_detected) { + // Only send if we have a valid ballistic point to send + if (ballistic_point != nullptr) { + // Calculate offset (based on actual image center) + int ballistic_offset_x = static_cast(ballistic_point->x - img_center.x); + int ballistic_offset_y = static_cast(ballistic_point->y - img_center.y); + + // Color simplification mapping + std::string simplified_color = target_color; + if (target_color == "red") simplified_color = "r"; + else if (target_color == "blue") simplified_color = "b"; + + // Construct send string + std::string send_str = "s " + simplified_color + " " + std::to_string(ballistic_offset_x) + " " + std::to_string(ballistic_offset_y); + + // Send data + if (ttl_communicator != nullptr) { + ttl_communicator->send_data(send_str); + } + } + // Note: When ballistic_point is nullptr, no TTL data is sent (fulfilling the requirement) + } +} + +void set_camera_resolution(MindVisionCamera, int width, int height) { + // The resolution is set during camera initialization in MindVision + // We already set it in MindVisionCamera constructor, so this is for logging only + std::cout << "Camera resolution already set to: " << width << "x" << height << " during initialization" << std::endl; +} + +int main(int /*argc*/, char* /*argv*/[]) { + std::string target_color = "red"; + int cam_id = 0; + cv::Size default_resolution(640, 480); // This will be set by MindVisionCamera constructor + bool use_ttl = true; // Set to false to disable TTL communication + + // Define optional resolution list (adjust based on camera support) + std::vector resolutions = { + cv::Size(320, 240), // Low resolution, high frame rate + cv::Size(640, 480), // Standard resolution + cv::Size(1280, 720), // HD resolution + cv::Size(1920, 1080) // Full HD resolution + }; + + // Find the index of default resolution + int res_index = 1; // Default to index 1 (640x480) + for (size_t i = 0; i < resolutions.size(); i++) { + if (resolutions[i] == default_resolution) { + res_index = static_cast(i); + break; + } + } + + // Initialize TTL communication (only when enabled) + TTLCommunicator* ttl = nullptr; + if (use_ttl) { + ttl = new TTLCommunicator(TTL_BAUDRATE); + if (!ttl->connect()) { + std::cout << "Warning: Cannot establish TTL connection, will continue running but not send data" << std::endl; + } + } else { + std::cout << "TTL communication disabled" << std::endl; + } + + // Initialize visual processing modules with MindVision camera + MindVisionCamera camera(cam_id, target_color); + if (!camera.is_opened) { + std::cerr << "Cannot open MindVision camera!" << std::endl; + return -1; + } + + // Initialize ballistic predictor (adjustable bullet speed, e.g., 16m/s) + BallisticPredictor ballistic_predictor(16.0f); + // Record target speed (obtained from Kalman filter) + cv::Point2f target_speed(0.0f, 0.0f); + + // Set initial resolution + set_camera_resolution(camera, resolutions[res_index].width, resolutions[res_index].height); + std::cout << "Initial camera resolution: " << resolutions[res_index].width << "x" << resolutions[res_index].height << std::endl; + + ImagePreprocessor preprocessor; + ArmorDetector detector; + KalmanFilter kalman_tracker; + Visualizer visualizer; + + int frame_counter = 0; // Counter to control output frequency + int max_consecutive_predicts = 20; // Maximum consecutive prediction times + int consecutive_predicts = 0; // Current consecutive prediction count + + cv::Mat frame; + try { + while (true) { + if (!camera.read_frame(frame)) { + std::cout << "Cannot read from MindVision camera, exiting!" << std::endl; + break; + } + + // Get actual image size and calculate center + cv::Point2f img_center(frame.cols / 2.0f, frame.rows / 2.0f); + + // Preprocessing + cv::Mat mask, color_only_frame; + preprocessor.process_frame(frame, target_color, mask, color_only_frame); + + // Armor plate detection + std::vector valid_light_bars; + std::vector armor_plates; + detector.detect(mask, target_color, valid_light_bars, armor_plates); + + // Kalman filter tracking (modified part: get target speed) + cv::Point2f* current_center = nullptr; + if (!armor_plates.empty()) { + current_center = &(armor_plates[0].center); + } + + cv::Point2f* predicted_center = nullptr; + + if (current_center != nullptr) { + // Has detection result: update Kalman filter, reset consecutive prediction count + kalman_tracker.update(*current_center); + predicted_center = new cv::Point2f(kalman_tracker.predict()); + + // Get velocity from the Kalman filter + target_speed = cv::Point2f(0.0f, 0.0f); // Kalman filter in OpenCV doesn't directly expose velocity + consecutive_predicts = 0; + } else { + // No detection result: only use Kalman prediction, limit consecutive predictions + consecutive_predicts++; + if (consecutive_predicts < max_consecutive_predicts) { + cv::Point2f temp_pred = kalman_tracker.predict(); + if (temp_pred.x != 0 || temp_pred.y != 0) { // Check if prediction is valid + predicted_center = new cv::Point2f(temp_pred); + } + } else { + predicted_center = nullptr; + target_speed = cv::Point2f(0.0f, 0.0f); + } + } + + // Determine display center + cv::Point2f* display_center = current_center; + if (display_center == nullptr && predicted_center != nullptr) { + display_center = predicted_center; + } + bool is_predicted = (display_center != nullptr) && (current_center == nullptr); + + // Calculate ballistic prediction point + cv::Point2f* ballistic_point = ballistic_predictor.predict_ballistic_point( + predicted_center, img_center, target_speed + ); + + auto current_time = std::chrono::high_resolution_clock::now(); + + // Visualization + visualizer.draw_light_bars(frame, valid_light_bars, target_color); + if (!armor_plates.empty()) { + visualizer.draw_armor_plate(frame, armor_plates[0]); + } + visualizer.draw_offset_text(frame, display_center, target_color, is_predicted); + visualizer.draw_ballistic_point(frame, ballistic_point); + + // Output control data to TTL (passing use_ttl to control whether to send) + // Only send TTL data if actual armor plates were detected (not just predicted) + bool armor_detected = !armor_plates.empty(); + // Only send TTL data when we have an actual detection, not just prediction + bool should_send_ttl = armor_detected && (display_center != nullptr); + output_control_data(display_center, target_color, frame_counter, ttl, img_center, use_ttl, should_send_ttl); + + // Display windows + cv::imshow("Armor Detection", frame); + cv::imshow(target_color + " Mask", mask); + cv::imshow(target_color + " Only", color_only_frame); + + // Exit on 'q' key press + if (cv::waitKey(1) == 'q') { + break; + } + + frame_counter++; + + // Control max frame rate (100 FPS) + auto end_time = std::chrono::high_resolution_clock::now(); + auto elapsed = std::chrono::duration_cast(end_time - current_time).count(); + if (elapsed < 10) { // 100 FPS = 10ms per frame + std::this_thread::sleep_for(std::chrono::milliseconds(30 - elapsed)); + } + + // Clean up dynamically allocated memory + if (predicted_center != nullptr) { + delete predicted_center; + predicted_center = nullptr; + } + } + } + catch (const std::exception& e) { + std::cerr << "Error: " << e.what() << std::endl; + } + + // Cleanup + camera.release(); + cv::destroyAllWindows(); + + // Only close TTL connection when enabled and initialized + if (use_ttl && ttl != nullptr) { + ttl->close(); + delete ttl; + ttl = nullptr; + } + + return 0; +} \ No newline at end of file