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Merge remote-tracking branch 'origin/master'

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# Conflicts:
#	tools/bind-monitor.sh
This commit is contained in:
xinyang
2019-05-09 20:18:28 +08:00
parent 52dd50ab60 85e1df61da
commit 15871a9289
4 changed files with 19 additions and 7 deletions
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3
armor/include/armor_finder/armor_finder.h
View File

@@ -16,7 +16,7 @@ typedef enum{
class ArmorFinder{
public:
ArmorFinder(EnemyColor color, Uart &u, string paras_folder);
ArmorFinder(EnemyColor color, Uart &u, string paras_folder, const bool &use);
~ArmorFinder() = default;
private:
@@ -36,6 +36,7 @@ private:
int contour_area;
Uart &uart;
const bool &use_classifier;
bool stateSearchingTarget(cv::Mat &src);
bool stateTrackingTarget(cv::Mat &src);

7
armor/src/armor_finder/armor_finder.cpp
View File

@@ -8,12 +8,13 @@
#include <opencv2/highgui.hpp>
#include <armor_finder/armor_finder.h>
ArmorFinder::ArmorFinder(EnemyColor color, Uart &u, string paras_folder) :
ArmorFinder::ArmorFinder(EnemyColor color, Uart &u, string paras_folder, const bool &use) :
uart(u),
enemy_color(color),
state(STANDBY_STATE),
classifier(std::move(paras_folder)),
contour_area(0)
contour_area(0),
use_classifier(use)
{
}
@@ -32,7 +33,7 @@ void ArmorFinder::run(cv::Mat &src) {
case SEARCHING_STATE:
if(stateSearchingTarget(src_use)){
if((armor_box & cv::Rect2d(0, 0, 640, 480)) == armor_box) {
if(!classifier){
if(!classifier && use_classifier){
cv::Mat roi = src_use.clone()(armor_box), roi_gray;
cv::cvtColor(roi, roi_gray, CV_RGB2GRAY);
cv::threshold(roi_gray, roi_gray, 180, 255, cv::THRESH_BINARY);

2
armor/src/armor_finder/state_machine/searching_state/searching_state.cpp
View File

@@ -194,7 +194,7 @@ bool ArmorFinder::stateSearchingTarget(cv::Mat &src) {
showArmorBoxVector("boxes", split, armor_boxes);
cv::waitKey(1);
}
if(classifier){
if(classifier && use_classifier){
for(auto box : armor_boxes){
cv::Mat roi = src(box).clone();
cv::resize(roi, roi, cv::Size(48, 36));

14
main.cpp
View File

@@ -30,6 +30,7 @@ int state = ARMOR_STATE;
float curr_yaw = 0, curr_pitch = 0;
float mark_yaw = 0, mark_pitch = 0;
int mark = 0;
bool use_classifier = false;
void uartReceive(Uart *uart);
@@ -72,7 +73,7 @@ int main(int argc, char *argv[]) {
video_energy->read(armor_src);
}
ArmorFinder armorFinder(ENEMY_BLUE, uart, PROJECT_DIR"/tools/para/");
ArmorFinder armorFinder(ENEMY_BLUE, uart, PROJECT_DIR"/tools/para/", use_classifier);
Energy energy(uart);
energy.setAllyColor(ally_color);
@@ -119,6 +120,7 @@ int main(int argc, char *argv[]) {
void uartReceive(Uart *uart) {
char buffer[100];
int cnt = 0;
LOGM("data receive start!");
while (true) {
char data;
while ((data = uart->receive()) != '\n') {
@@ -128,7 +130,8 @@ void uartReceive(Uart *uart) {
cnt = 0;
}
}
if (cnt == 10) {
// LOGM("%d", cnt);
if (cnt == 11) {
if (buffer[8] == 'e') {
state = ENERGY_STATE;
LOG(RECEIVE_LOG_LEVEL, "Energy state");
@@ -136,6 +139,13 @@ void uartReceive(Uart *uart) {
state = ARMOR_STATE;
LOG(RECEIVE_LOG_LEVEL, "Armor state");
}
if (buffer[10] == 0){
use_classifier = false;
LOG(RECEIVE_LOG_LEVEL, "Classifier off!");
} else if(buffer[10] == 1){
use_classifier = true;
LOG(RECEIVE_LOG_LEVEL, "Classifier on!");
}
memcpy(&curr_yaw, buffer, 4);
memcpy(&curr_pitch, buffer + 4, 4);
LOG(RECEIVE_LOG_LEVEL, "Get yaw:%f pitch:%f", curr_yaw, curr_pitch);