1

inc/ArmorDetector.h

@@ -23,6 +23,23 @@ struct ArmorPlate {
     double confidence;
     std::pair<LightBar, LightBar> pair;
     std::vector<cv::Point2f> corners_2d;  // Can be computed later for 3D pose
+
+    // Function to get bounding rectangle of the armor plate
+    cv::Rect2d getBoundingRect() const {
+        if (corners_2d.size() >= 4) {
+            cv::Point2f min_pt = corners_2d[0];
+            cv::Point2f max_pt = corners_2d[0];
+            for (const auto& pt : corners_2d) {
+                min_pt.x = std::min(min_pt.x, pt.x);
+                min_pt.y = std::min(min_pt.y, pt.y);
+                max_pt.x = std::max(max_pt.x, pt.x);
+                max_pt.y = std::max(max_pt.y, pt.y);
+            }
+            return cv::Rect2d(min_pt.x, min_pt.y, max_pt.x - min_pt.x, max_pt.y - min_pt.y);
+        }
+        // Fallback: use center and a fixed size
+        return cv::Rect2d(center.x - 30, center.y - 15, 60, 30);
+    }
 };
 
 class ArmorDetector {

inc/config.h

@@ -36,6 +36,9 @@ const float ARMOR_ANGLE_DIFF_THRESHOLD = 15.0f * CV_PI / 180.0f; // Armor light
 const float KF_PROCESS_NOISE = 0.02f;       // Process noise covariance
 const float KF_MEASUREMENT_NOISE = 0.5f;    // Measurement noise covariance
 
+// Focal length in pixels (from camera calibration)
+const double FOCAL_PIXAL = 600.0;  // This should match your actual camera calibration
+
 // TTL communication settings
 const int TTL_BAUDRATE = 115200;
 

src/MindVisionMain.cpp

@@ -6,8 +6,9 @@
 #include <thread>
 #include <memory>
 #include <unistd.h>
-
+#include <math.h>
 #include <opencv2/opencv.hpp>
+#include <opencv2/tracking.hpp>
 
 #include "config.h"
 #include "MindVisionCamera.h"  // 使用MindVision相机
@@ -21,30 +22,34 @@
 // 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, meets frame interval, and has valid target
+    // Only send data when TTL is enabled and has valid target
-    if (use_ttl && frame_counter % 5 == 0 && ballistic_point != nullptr) {
+    if (use_ttl && ballistic_point != nullptr) {
         std::ostringstream send_str;
 
         // Calculate offset (based on actual image center)
-        int ballistic_offset_x = static_cast<int>(ballistic_point->x - img_center.x);
+        int ballistic_offset_yaw = 1.9*-static_cast<int>(ballistic_point->x - img_center.x);
-        int ballistic_offset_y = static_cast<int>(img_center.y - ballistic_point->y);
+        if ( abs(ballistic_offset_yaw) > 320){
+            ballistic_offset_yaw = ( ballistic_offset_yaw / abs( ballistic_offset_yaw ) ) * 220 ;
+        }
+        int ballistic_offset_pitch = 1.9*-static_cast<int>(img_center.y - ballistic_point->y);
+        if ( abs(ballistic_offset_pitch) > 180 ) {
+            ballistic_offset_pitch = ( ballistic_offset_pitch / abs( ballistic_offset_pitch ) ) * 180*1.9 ;
+        }
 
         // 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
+        // Construct send string (original format)
-        send_str << "s " << simplified_color << " " << std::to_string(ballistic_offset_x) << " " << std::to_string(ballistic_offset_y) << "\n";
+        send_str << "#s " << simplified_color << " " << std::to_string(ballistic_offset_yaw) << " " << std::to_string(ballistic_offset_pitch) << "*\n";
 
         // Send data
         if (ttl_communicator != nullptr) {
             ttl_communicator->send_data(send_str.str());
-
         }else{
             std::cerr << "Error: TTLCommunicator is a null pointer!" << std::endl;
         }
@@ -66,25 +71,16 @@ int main(int /*argc*/, char* /*argv*/[]) {
     static int Numbe = 0;
     std::string target_color = "red";
     int cam_id = 0;
-    cv::Size default_resolution(1280, 720);
+    cv::Size default_resolution(640, 480); // Changed to 640x480 for consistency with SJTU project
     bool use_ttl = false; // Set to false to disable TTL communication
 
 
     if (Numbe == 0) {
         // 执行 shell 命令（注意安全风险！）
-        int result = std::system("soude chmod 777 /dev/tty*");
+        std::system("sudo chmod 777 /dev/tty*");
-
-        // 可选：检查命令是否成功执行
-        if (result == -1) {
-            std::cerr << "Failed to execute system command.\n";
-        } else {
-            std::cout << "Permissions updated (if any tty devices exist).\n";
-        }
-
         Numbe++;
     }
 
-    return 0;
     // Define optional resolution list (adjust based on camera support)
     std::vector<cv::Size> resolutions = {
         cv::Size(320, 240),   // Low resolution, high frame rate
@@ -139,6 +135,13 @@ int main(int /*argc*/, char* /*argv*/[]) {
     KalmanFilter kalman_tracker;
     Visualizer visualizer;
 
+    // Initialize KCF tracker
+    cv::Ptr<cv::Tracker> tracker = cv::TrackerKCF::create();
+    bool is_tracking = false;
+    cv::Rect2d tracking_roi;
+    int tracking_frame_count = 0;
+    const int MAX_TRACKING_FRAMES = 100; // Maximum frames to track before returning to search
+
     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
@@ -165,30 +168,90 @@ int main(int /*argc*/, char* /*argv*/[]) {
             cv::Mat color_only_frame;
             frame.copyTo(color_only_frame, raw_mask);
 
-            // Armor plate detection
+            // Initialize tracking center
+            cv::Point2f* tracking_center = nullptr;
+            std::unique_ptr<cv::Point2f> tracking_point = nullptr;
+
+            if (is_tracking) {
+                // Update tracker
+                bool success = tracker->update(frame, tracking_roi);
+                if (success && tracking_roi.area() > 0) {
+                    // Calculate center of tracked ROI
+                    tracking_point = std::make_unique<cv::Point2f>(
+                        tracking_roi.x + tracking_roi.width / 2.0f,
+                        tracking_roi.y + tracking_roi.height / 2.0f
+                    );
+                    tracking_center = tracking_point.get();
+                    tracking_frame_count++;
+
+                    // If tracking for too long or detection is available, search for armor again
+                    if (tracking_frame_count > MAX_TRACKING_FRAMES) {
+                        is_tracking = false;
+                        tracking_frame_count = 0;
+                    }
+                } else {
+                    // Tracking failed, return to detection mode
+                    is_tracking = false;
+                    tracking_frame_count = 0;
+                }
+            }
+
+            // Armor plate detection - only when not tracking or need to verify tracking
             std::vector<LightBar> valid_light_bars;
             std::vector<ArmorPlate> armor_plates;
+
+            if (!is_tracking || tracking_frame_count % 10 == 0) { // Detect every 10 frames when tracking
                 detector.detect(mask, target_color, valid_light_bars, armor_plates);
+            }
 
             // Kalman filter tracking (modified part: get target speed)
-            cv::Point2f* current_center = nullptr;
+            cv::Point2f* detection_center = nullptr;
             if (!armor_plates.empty()) {
-                current_center = &(armor_plates[0].center);
+                detection_center = &(armor_plates[0].center);
             }
 
             // Use smart pointer for safer memory management
             std::unique_ptr<cv::Point2f> predicted_center = nullptr;
 
-            if (current_center != nullptr) {
+            // Priority: detection -> tracking -> Kalman prediction
+            if (detection_center != nullptr) {
                 // Has detection result: update Kalman filter, reset consecutive prediction count
-                kalman_tracker.update(*current_center);
+                kalman_tracker.update(*detection_center);
                 predicted_center = std::make_unique<cv::Point2f>(kalman_tracker.predict());
 
-                // Get velocity from the Kalman filter
+                // Start tracking if successfully detected
-                target_speed = cv::Point2f(0.0f, 0.0f); // Kalman filter in OpenCV doesn't directly expose velocity
+                if (!is_tracking && !armor_plates.empty()) {
+                    cv::Rect2d armor_rect = cv::boundingRect(std::vector<cv::Point2f>{
+                        armor_plates[0].corners_2d[0],
+                        armor_plates[0].corners_2d[1],
+                        armor_plates[0].corners_2d[2],
+                        armor_plates[0].corners_2d[3]
+                    });
+                    // Expand the bounding box slightly for better tracking
+                    cv::Rect2d expanded_rect = cv::Rect2d(
+                        armor_rect.x - armor_rect.width * 0.1,
+                        armor_rect.y - armor_rect.height * 0.1,
+                        armor_rect.width * 1.2,
+                        armor_rect.height * 1.2
+                    );
+                    // Ensure the rectangle is within frame bounds
+                    expanded_rect = expanded_rect & cv::Rect2d(0, 0, frame.cols, frame.rows);
+
+                    tracker = cv::TrackerKCF::create(); // Create new tracker instance
+                    tracker->init(frame, expanded_rect);
+                    tracking_roi = expanded_rect;
+                    is_tracking = true;
+                    tracking_frame_count = 0;
+                }
+
+                consecutive_predicts = 0;
+            } else if (is_tracking && tracking_center != nullptr) {
+                // Use tracking result
+                kalman_tracker.update(*tracking_center);
+                predicted_center = std::make_unique<cv::Point2f>(kalman_tracker.predict());
                 consecutive_predicts = 0;
             } else {
-                // No detection result: only use Kalman prediction, limit consecutive predictions
+                // No detection or tracking result: only use Kalman prediction, limit consecutive predictions
                 consecutive_predicts++;
                 if (consecutive_predicts < max_consecutive_predicts) {
                     cv::Point2f temp_pred = kalman_tracker.predict();
@@ -202,11 +265,14 @@ int main(int /*argc*/, char* /*argv*/[]) {
             }
 
             // Determine display center
-            cv::Point2f* display_center = current_center;
+            cv::Point2f* display_center = detection_center; // Give priority to detection results
+            if (display_center == nullptr && is_tracking && tracking_center != nullptr) {
+                display_center = tracking_center;
+            }
             if (display_center == nullptr && predicted_center != nullptr) {
                 display_center = predicted_center.get();
             }
-            bool is_predicted = (display_center != nullptr) && (current_center == nullptr);
+            bool is_predicted = (display_center != nullptr) && (detection_center == nullptr && (!is_tracking || tracking_center == nullptr));
 
             // Calculate ballistic prediction point
             cv::Point2f* ballistic_point = ballistic_predictor.predict_ballistic_point(
@@ -220,16 +286,21 @@ int main(int /*argc*/, char* /*argv*/[]) {
             if (!armor_plates.empty()) {
                 visualizer.draw_armor_plate(frame, armor_plates[0]);
             }
+            // Draw tracking rectangle if tracking
+            if (is_tracking) {
+                cv::rectangle(frame, tracking_roi, cv::Scalar(0, 255, 0), 2);
+            }
             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);
+            // Now sending on every frame for smoother control
+            output_control_data(display_center, target_color, 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);
+            cv::imshow("Armor Detection", frame);
 
             // Exit on 'q' key press
             if (cv::waitKey(1) == 'q') {