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fix bug.

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This commit is contained in:
xinyang
2019-08-04 00:37:41 +08:00
parent 2b83305eb9
commit 0b24c6a5af
6 changed files with 52 additions and 34 deletions
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2
armor/include/armor_finder/armor_finder.h
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@@ -124,9 +124,7 @@ private:
Serial &serial; // 串口对象，引用外部变量，用于和能量机关共享同一个变量
const uint8_t &use_classifier; // 标记是否启用CNN分类器，引用外部变量，自动变化
RoundQueue<double, 4> top_periodms; // 陀螺周期循环队列
RoundQueue<double, 5> box_ratioes; //
systime last_front_time; // 上一次发生装甲板方向切换的时间
BoxRatioChangeType last_ratio_type; //
int anti_top_cnt; // 满足条件的装甲板方向切换持续次数，用于反陀螺
AntiTopState anti_top_state; // 当前是否识别到陀螺

11
armor/src/armor_finder/anti_top/anti_top.cpp
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@@ -81,15 +81,17 @@ void ArmorFinder::antiTop() {
void ArmorFinder::antiTop() {
if (target_box.rect == cv::Rect2d()) return;
static int fps = 0;
uint16_t shoot_delay = 0;
auto interval = getTimeIntervalms(frame_time, last_front_time);
if (anti_top_state == ANTI_TOP && interval > 700) {
anti_top_state = NORMAL;
LOGM(STR_CTR(WORD_YELLOW, "switch to normal"));
}
// cout << getPointLength(last_box.getCenter() - target_box.getCenter()) << endl;
if (getPointLength(last_box.getCenter() - target_box.getCenter()) > last_box.rect.height * 2.0) {
LOGM("switch!");
fps++;
if (last_box.rect != cv::Rect2d() &&
getPointLength(last_box.getCenter() - target_box.getCenter()) > last_box.rect.height * 1.0) {
LOGM("switch %d! %lf", fps, getPointLength(last_box.getCenter() - target_box.getCenter()) / last_box.rect.height);
if (150 < interval && interval < 700) {
if (anti_top_state == ANTI_TOP) {
top_periodms.push(interval);
@@ -106,11 +108,12 @@ void ArmorFinder::antiTop() {
}
}
}
fps = 0;
last_front_time = frame_time;
}
if (anti_top_state == NORMAL) {
sendBoxPosition(0);
} else if (interval < top_periodms[-1] * 0.2){
} else if (interval < top_periodms[-1] * 0.2) {
sendBoxPosition(0);
}
last_box = target_box;

6
armor/src/armor_finder/find/find_armor_box.cpp
View File

@@ -155,8 +155,10 @@ bool ArmorFinder::findArmorBox(const cv::Mat &src, ArmorBox &box) {
return a < b;
}
});
if(armor_boxes[0].id != 0){
box = armor_boxes[0];
for(auto &one_box : armor_boxes){
if(one_box.id != 0){
box = one_box;
}
}
if (save_labelled_boxes) {
for (const auto &one_box : armor_boxes) {

21
armor/src/armor_finder/searching_state/searching_state.cpp
View File

@@ -8,14 +8,16 @@
#include <log.h>
bool ArmorFinder::stateSearchingTarget(cv::Mat &src) {
if(anti_switch_cnt >= 3){
last_box = ArmorBox();
}
// if(anti_switch_cnt >= 3){
// last_box = ArmorBox();
// anti_switch_cnt = 0;
// }
if (findArmorBox(src, target_box)) {
if (last_box.rect != cv::Rect2d() &&
(getPointLength(last_box.getCenter() - target_box.getCenter()) > last_box.rect.height * 3.0) &&
(getPointLength(last_box.getCenter() - target_box.getCenter()) > last_box.rect.height * 2.0) &&
anti_switch_cnt++ < 3) {
target_box = ArmorBox();
LOGM("anti-switch!");
return false;
} else {
anti_switch_cnt = 0;
@@ -27,3 +29,14 @@ bool ArmorFinder::stateSearchingTarget(cv::Mat &src) {
return false;
}
}
/*
bool ArmorFinder::stateSearchingTarget(cv::Mat &src) {
if (findArmorBox(src, target_box)) {
return true;
} else {
target_box = ArmorBox();
return false;
}
}
*/

40
armor/src/armor_finder/tracking_state/tracking_state.cpp
View File

@@ -42,25 +42,27 @@ bool ArmorFinder::stateTrackingTarget(cv::Mat &src) {
tracker = TrackerToUse::create();
tracker->init(src, target_box.rect);
}else{
roi = src(pos).clone();
if(classifier){
cv::resize(roi, roi, cv::Size(48, 36));
if(classifier(roi) == 0){
target_box = ArmorBox();
return false;
}
}else{
cv::Mat roi_gray;
cv::cvtColor(roi, roi_gray, CV_RGB2GRAY);
cv::threshold(roi_gray, roi_gray, 180, 255, cv::THRESH_BINARY);
contour_area = cv::countNonZero(roi_gray);
if(abs(cv::countNonZero(roi_gray) - contour_area) > contour_area * 0.3){
target_box = ArmorBox();
return false;
}
}
target_box.rect = pos;
target_box.light_blobs.clear();
// roi = src(pos).clone();
// if(classifier){
// cv::resize(roi, roi, cv::Size(48, 36));
// if(classifier(roi) == 0){
// target_box = ArmorBox();
// return false;
// }
// }else{
// cv::Mat roi_gray;
// cv::cvtColor(roi, roi_gray, CV_RGB2GRAY);
// cv::threshold(roi_gray, roi_gray, 180, 255, cv::THRESH_BINARY);
// contour_area = cv::countNonZero(roi_gray);
// if(abs(cv::countNonZero(roi_gray) - contour_area) > contour_area * 0.3){
// target_box = ArmorBox();
// return false;
// }
// }
// target_box.rect = pos;
// target_box.light_blobs.clear();
target_box = ArmorBox();
return false;
}
return true;
}

6
main.cpp
View File

@@ -66,8 +66,8 @@ int main(int argc, char *argv[]) {
video_gimbal = new CameraWrapper(ARMOR_CAMERA_GAIN, 2/*, "armor"*/);
video_chassis = new CameraWrapper(ENERGY_CAMERA_GAIN, 2/*, "energy"*/);
} else {
video_gimbal = new VideoWrapper("/home/sun/项目/energy_video/7.27.avi");
video_chassis = new VideoWrapper("/home/sun/项目/energy_video/7.27.avi");
video_gimbal = new VideoWrapper(PROJECT_DIR"/gimbal_video/0.avi");
video_chassis = new VideoWrapper(PROJECT_DIR"/gimbal_video/0.avi");
}
if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully.");
@@ -178,7 +178,7 @@ int main(int argc, char *argv[]) {
armorFinder.run(gimbal_src);
});
}
// cv::waitKey(0);
// cv::waitKey(0);
});
} while (ok);
delete video_gimbal;