From 4b943d97b232d984fcf8659880ea39a7db6af234 Mon Sep 17 00:00:00 2001 From: sun Date: Thu, 4 Jul 2019 22:11:02 +0800 Subject: [PATCH 01/12] energy changed --- energy/include/energy/energy.h | 6 +- energy/include/energy/param_struct_define.h | 9 +++ energy/src/energy/find/energy_finder.cpp | 72 ++++++++++++++++----- energy/src/energy/param_init.cpp | 11 ++++ energy/src/energy/run.cpp | 14 ++-- energy/src/energy/show/show.cpp | 25 +++++++ main.cpp | 8 +-- 7 files changed, 117 insertions(+), 28 deletions(-) diff --git a/energy/include/energy/energy.h b/energy/include/energy/energy.h index 03ff609..29cfcf7 100644 --- a/energy/include/energy/energy.h +++ b/energy/include/energy/energy.h @@ -48,6 +48,7 @@ private: bool isMark; int fans_cnt; int armors_cnt; + int centerRs_cnt; int count; int last_fans_cnt; int last_armors_cnt; @@ -82,6 +83,7 @@ private: std::vector fans; std::vector armors; + std::vector centerRs; // std::vector gimble_zero_points; cv::Point cycle_center; @@ -102,15 +104,17 @@ private: int findFan(const cv::Mat &src, vector &fans, int &last_fans_cnt); int findArmor(const cv::Mat &src, vector &armors, int &last_armors_cnt); - int findGimbleZeroPoint(const cv::Mat &src, vector &gimble_zero_point); + int findCenterR(const cv::Mat src); void showFanContours(std::string windows_name, const cv::Mat &src, const std::vector &fans); void showArmorContours(std::string windows_name, const cv::Mat &src, const std::vector &armors); void showBothContours(std::string windows_name, const cv::Mat &src, const std::vector &fans, const std::vector &armors); + void showCenterRContours(std::string windows_name, const cv::Mat src); bool isValidFanContour(const vector &fan_contour); bool isValidArmorContour(const vector &armor_contour); + bool isValidCenterRContour(const vector center_R_contour); void getFanPosition(std::vector &fanPosition, const std::vector &fans, cv::Point cycle_center, double radius); void getArmorPosition(std::vector &armorPosition, const std::vector &armors, cv::Point cycle_center, double radius); diff --git a/energy/include/energy/param_struct_define.h b/energy/include/energy/param_struct_define.h index dc82c6c..ff49a0a 100644 --- a/energy/include/energy/param_struct_define.h +++ b/energy/include/energy/param_struct_define.h @@ -48,6 +48,15 @@ struct EnergyPartParam { float ARMOR_CONTOUR_HW_RATIO_MAX; float ARMOR_CONTOUR_HW_RATIO_MIN; + long CENTER_R_CONTOUR_AREA_MAX; + long CENTER_R_CONTOUR_AREA_MIN; + long CENTER_R_CONTOUR_LENGTH_MIN; + long CENTER_R_CONTOUR_WIDTH_MIN; + long CENTER_R_CONTOUR_LENGTH_MAX; + long CENTER_R_CONTOUR_WIDTH_MAX; + float CENTER_R_CONTOUR_HW_RATIO_MAX; + float CENTER_R_CONTOUR_HW_RATIO_MIN; + float TWIN_ANGEL_MAX; }; diff --git a/energy/src/energy/find/energy_finder.cpp b/energy/src/energy/find/energy_finder.cpp index 4fcf680..ce8bdca 100644 --- a/energy/src/energy/find/energy_finder.cpp +++ b/energy/src/energy/find/energy_finder.cpp @@ -121,38 +121,42 @@ int Energy::findArmor(const cv::Mat &src, vector &armors, int &last_ return static_cast(armors.size()); } -int Energy::findGimbleZeroPoint(const cv::Mat &src, vector &gimble_zero_points) { +int Energy::findCenterR(const cv::Mat src) { if (src.empty())return 0; static Mat src_bin; src_bin = src.clone(); -// threshold(src, src_bin, energy_part_param_.FAN_GRAY_THRESH, 255, THRESH_BINARY); +// threshold(src, src_bin, energy_part_param_.ARMOR_GRAY_THRESH, 255, THRESH_BINARY); if(src.type() == CV_8UC3){ cvtColor(src_bin, src_bin, CV_BGR2GRAY); } - std::vector > zero_point_contours; + std::vector > center_R_contours; - findContours(src_bin, zero_point_contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE); + StructingElementErodeDilate(src_bin); +// imshow("R struct",src_bin); - for (auto &zero_point_contour : zero_point_contours) { + findContours(src_bin, center_R_contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE); - double cur_contour_area = contourArea(zero_point_contour); - RotatedRect cur_rect = minAreaRect(zero_point_contour); + for (auto ¢er_R_contour : center_R_contours) { + if (!isValidCenterRContour(center_R_contour)) + { + continue; + } + + RotatedRect cur_rect = minAreaRect(center_R_contour); Size2f cur_size = cur_rect.size; - -// cout<<"cur_contour_area: "< cur_size.width ? cur_size.height : cur_size.width; float width = cur_size.height < cur_size.width ? cur_size.height : cur_size.width; - if(length<10&&width<10&&length>1&&width>1){ - cout<<"zero point center: "<10 && width>5){ +// centerRs.emplace_back(center_R_contour); +// cout<<"center R area: "<(fans.size()); + return static_cast(centerRs.size()); } bool Energy::isValidFanContour(const vector &fan_contour) { @@ -226,3 +230,39 @@ bool Energy::isValidArmorContour(const vector &armor_contour) { return true; } +bool Energy::isValidCenterRContour(const vector center_R_contour) { + double cur_contour_area = contourArea(center_R_contour); +// if (cur_contour_area > energy_part_param_.ARMOR_CONTOUR_AREA_MAX || +// cur_contour_area < energy_part_param_.ARMOR_CONTOUR_AREA_MIN) +// { +// //cout< cur_size.width ? cur_size.height : cur_size.width; + float width = cur_size.height < cur_size.width ? cur_size.height : cur_size.width; + if (length < energy_part_param_.CENTER_R_CONTOUR_LENGTH_MIN || width < energy_part_param_.CENTER_R_CONTOUR_WIDTH_MIN) + { + //cout<<"length width min fail."< energy_part_param_.CENTER_R_CONTOUR_LENGTH_MAX||width>energy_part_param_.CENTER_R_CONTOUR_WIDTH_MAX) + { + //cout<<"length width max fail."< energy_part_param_.CENTER_R_CONTOUR_HW_RATIO_MAX || + length_width_ratio < energy_part_param_.CENTER_R_CONTOUR_HW_RATIO_MIN) + { + //cout<<"length width ratio fail."<200)all_armor_centers.clear(); -// if(first_armor_centers.size()>200)first_armor_centers.clear(); -// cout<<"first_armor_centers.size(): "<0||fans_cnt>0) showBothContours("Both",src, fans, armors); + centerRs_cnt = findCenterR(src); + if(centerRs_cnt>0)showCenterRContours("R",src); - if(armors_cnt>=4 && fans_cnt>=3) { + if(armors_cnt>=4 && fans_cnt>=3) { FILE *fp = fopen(PROJECT_DIR"/Mark/mark.txt", "w"); if (fp) { fprintf(fp, "yaw: %f, pitch: %f\n", origin_yaw, origin_pitch); @@ -112,6 +110,8 @@ int Energy::run(cv::Mat &src){ // cout<<"position mode: "< &fans, const std::vector &armors) { if (src.empty())return; diff --git a/main.cpp b/main.cpp index 34fb53c..63392b7 100644 --- a/main.cpp +++ b/main.cpp @@ -29,7 +29,7 @@ using namespace std; mcu_data mcuData = { 0, 0, - ARMOR_STATE, + ENERGY_STATE, 0, 1, ENEMY_RED, @@ -65,8 +65,8 @@ int main(int argc, char *argv[]) { // video_armor = new VideoWrapper(armor_video); // lastVideo(energy_video, PROJECT_DIR"/energy_video/"); // video_energy = new VideoWrapper(energy_video); - video_armor = new VideoWrapper("/home/sjturm/Desktop/valid_video/armor/65.avi"); - video_energy = new VideoWrapper("/home/sjturm/Desktop/valid_video/energy/121.avi"); + video_armor = new VideoWrapper("/home/sun/项目/energy_video/energy_test.avi"); + video_energy = new VideoWrapper("/home/sun/项目/energy_video/energy_test.avi"); } if (video_armor->init()) { LOGM("video_armor source initialization successfully."); @@ -169,7 +169,7 @@ int main(int argc, char *argv[]) { } } // cout< Date: Fri, 5 Jul 2019 09:39:20 +0800 Subject: [PATCH 02/12] energy changed --- energy/include/energy/energy.h | 11 ++-- energy/src/energy/find/energy_finder.cpp | 73 +++++++++++++++--------- energy/src/energy/run.cpp | 6 +- energy/src/energy/show/show.cpp | 3 +- 4 files changed, 54 insertions(+), 39 deletions(-) diff --git a/energy/include/energy/energy.h b/energy/include/energy/energy.h index 29cfcf7..896f292 100644 --- a/energy/include/energy/energy.h +++ b/energy/include/energy/energy.h @@ -102,18 +102,17 @@ private: void initEnergyPartParam(); void initRotation(); - int findFan(const cv::Mat &src, vector &fans, int &last_fans_cnt); - int findArmor(const cv::Mat &src, vector &armors, int &last_armors_cnt); + int findFan(const cv::Mat src, int &last_fans_cnt); + int findArmor(const cv::Mat src, int &last_armors_cnt); int findCenterR(const cv::Mat src); void showFanContours(std::string windows_name, const cv::Mat &src, const std::vector &fans); void showArmorContours(std::string windows_name, const cv::Mat &src, const std::vector &armors); - void showBothContours(std::string windows_name, const cv::Mat &src, const std::vector &fans, - const std::vector &armors); + void showBothContours(std::string windows_name, const cv::Mat src); void showCenterRContours(std::string windows_name, const cv::Mat src); - bool isValidFanContour(const vector &fan_contour); - bool isValidArmorContour(const vector &armor_contour); + bool isValidFanContour(const vector fan_contour); + bool isValidArmorContour(const vector armor_contour); bool isValidCenterRContour(const vector center_R_contour); void getFanPosition(std::vector &fanPosition, const std::vector &fans, cv::Point cycle_center, double radius); diff --git a/energy/src/energy/find/energy_finder.cpp b/energy/src/energy/find/energy_finder.cpp index ce8bdca..6aadb29 100644 --- a/energy/src/energy/find/energy_finder.cpp +++ b/energy/src/energy/find/energy_finder.cpp @@ -8,7 +8,10 @@ using std::cout; using std::endl; using std::vector; -int Energy::findFan(const cv::Mat &src, vector &fans, int &last_fans_cnt) { +//---------------------------------------------------------------------------------------------------------------------- +// 此函数用于寻找图像内所有的大风车扇叶 +// --------------------------------------------------------------------------------------------------------------------- +int Energy::findFan(const cv::Mat src, int &last_fans_cnt) { if (src.empty())return 0; static Mat src_bin; src_bin = src.clone(); @@ -16,6 +19,7 @@ int Energy::findFan(const cv::Mat &src, vector &fans, int &last_fans if(src.type() == CV_8UC3){ cvtColor(src_bin, src_bin, CV_BGR2GRAY); } + std::vector > fan_contours; StructingElementClose(src_bin,6,6); @@ -59,8 +63,10 @@ int Energy::findFan(const cv::Mat &src, vector &fans, int &last_fans } - -int Energy::findArmor(const cv::Mat &src, vector &armors, int &last_armors_cnt) { +//---------------------------------------------------------------------------------------------------------------------- +// 此函数用于寻找图像内所有的大风车装甲板模块 +// --------------------------------------------------------------------------------------------------------------------- +int Energy::findArmor(const cv::Mat src, int &last_armors_cnt) { if (src.empty())return 0; static Mat src_bin; src_bin = src.clone(); @@ -72,7 +78,6 @@ int Energy::findArmor(const cv::Mat &src, vector &armors, int &last_ std::vector > armor_contours_external;//用总轮廓减去外轮廓，只保留内轮廓，除去流动条的影响。 StructingElementErodeDilate(src_bin); -// StructingElementClose(src_bin,10,10); // imshow("armor struct",src_bin); findContours(src_bin, armor_contours, CV_RETR_LIST, CV_CHAIN_APPROX_NONE); @@ -121,6 +126,10 @@ int Energy::findArmor(const cv::Mat &src, vector &armors, int &last_ return static_cast(armors.size()); } + +//---------------------------------------------------------------------------------------------------------------------- +// 此函数用于寻找图像内大风车中心字母“R” +// --------------------------------------------------------------------------------------------------------------------- int Energy::findCenterR(const cv::Mat src) { if (src.empty())return 0; static Mat src_bin; @@ -159,7 +168,10 @@ int Energy::findCenterR(const cv::Mat src) { return static_cast(centerRs.size()); } -bool Energy::isValidFanContour(const vector &fan_contour) { +//---------------------------------------------------------------------------------------------------------------------- +// 此函数用于判断找到的矩形候选区是否为扇叶 +// --------------------------------------------------------------------------------------------------------------------- +bool Energy::isValidFanContour(const vector fan_contour) { double cur_contour_area = contourArea(fan_contour); if (cur_contour_area > energy_part_param_.FAN_CONTOUR_AREA_MAX || cur_contour_area < energy_part_param_.FAN_CONTOUR_AREA_MIN) @@ -179,29 +191,31 @@ bool Energy::isValidFanContour(const vector &fan_contour) { //cout<<"length width min fail."< energy_part_param_.FAN_CONTOUR_HW_RATIO_MAX || -// length_width_ratio < energy_part_param_.FAN_CONTOUR_HW_RATIO_MIN) -// { -// //cout<<"length width ratio fail."< energy_part_param_.FAN_CONTOUR_HW_RATIO_MAX || + length_width_ratio < energy_part_param_.FAN_CONTOUR_HW_RATIO_MIN) + { + //cout<<"length width ratio fail."< &armor_contour) { +//---------------------------------------------------------------------------------------------------------------------- +// 此函数用于判断找到的矩形候选区是否为装甲板 +// --------------------------------------------------------------------------------------------------------------------- +bool Energy::isValidArmorContour(const vector armor_contour) { double cur_contour_area = contourArea(armor_contour); -// if (cur_contour_area > energy_part_param_.ARMOR_CONTOUR_AREA_MAX || -// cur_contour_area < energy_part_param_.ARMOR_CONTOUR_AREA_MIN) -// { -// //cout< energy_part_param_.ARMOR_CONTOUR_AREA_MAX || + cur_contour_area < energy_part_param_.ARMOR_CONTOUR_AREA_MIN) + { + //cout< cur_size.width ? cur_size.height : cur_size.width; @@ -230,15 +244,18 @@ bool Energy::isValidArmorContour(const vector &armor_contour) { return true; } +//---------------------------------------------------------------------------------------------------------------------- +// 此函数用于判断找到的矩形候选区是否为可能的风车中心R候选区 +// --------------------------------------------------------------------------------------------------------------------- bool Energy::isValidCenterRContour(const vector center_R_contour) { double cur_contour_area = contourArea(center_R_contour); -// if (cur_contour_area > energy_part_param_.ARMOR_CONTOUR_AREA_MAX || -// cur_contour_area < energy_part_param_.ARMOR_CONTOUR_AREA_MIN) -// { -// //cout< energy_part_param_.ARMOR_CONTOUR_AREA_MAX || + cur_contour_area < energy_part_param_.ARMOR_CONTOUR_AREA_MIN) + { + //cout< cur_size.width ? cur_size.height : cur_size.width; diff --git a/energy/src/energy/run.cpp b/energy/src/energy/run.cpp index 08e2874..1cdfa78 100644 --- a/energy/src/energy/run.cpp +++ b/energy/src/energy/run.cpp @@ -33,18 +33,18 @@ int Energy::run(cv::Mat &src){ - fans_cnt = findFan(src, fans, last_fans_cnt); + fans_cnt = findFan(src, last_fans_cnt); // cout<<"fans_cnt: "<0)showFanContours("fan",src,fans); // fans_cnt=0; - armors_cnt = findArmor(src, armors, last_armors_cnt); + armors_cnt = findArmor(src, last_armors_cnt); // cout<<"armors_cnt: "<0) showArmorContours("armor",src,armors); - if(armors_cnt>0||fans_cnt>0) showBothContours("Both",src, fans, armors); + if(armors_cnt>0||fans_cnt>0) showBothContours("Both",src); centerRs_cnt = findCenterR(src); if(centerRs_cnt>0)showCenterRContours("R",src); diff --git a/energy/src/energy/show/show.cpp b/energy/src/energy/show/show.cpp index 912ecd2..d5f23b1 100644 --- a/energy/src/energy/show/show.cpp +++ b/energy/src/energy/show/show.cpp @@ -83,8 +83,7 @@ void Energy::showCenterRContours(std::string windows_name, const cv::Mat src) { imshow(windows_name, image2show); } -void Energy::showBothContours(std::string windows_name, const cv::Mat &src, const std::vector &fans, - const std::vector &armors) { +void Energy::showBothContours(std::string windows_name, const cv::Mat src) { if (src.empty())return; static Mat image2show; if(src.type() == CV_8UC1) // 黑白图像 From 1a20133ca1d59e520a1581193cec250bf2bf44ba Mon Sep 17 00:00:00 2001 From: sun Date: Fri, 5 Jul 2019 14:06:40 +0800 Subject: [PATCH 03/12] energy changed --- energy/include/energy/energy.h | 177 +++++++----------- energy/include/energy/param_struct_define.h | 10 - .../src/energy/calculate/cycle_calculate.cpp | 57 +----- energy/src/energy/calibrate/split.cpp | 2 +- energy/src/energy/energy.cpp | 15 +- energy/src/energy/find/cycle_finder.cpp | 89 --------- energy/src/energy/find/energy_finder.cpp | 157 ++++++++-------- energy/src/energy/find/target_finder.cpp | 50 +++-- energy/src/energy/get/gimble_rotation_get.cpp | 51 ++--- energy/src/energy/get/hit_point_get.cpp | 133 ------------- energy/src/energy/get/position_get.cpp | 44 +++-- energy/src/energy/param_init.cpp | 82 +++----- energy/src/energy/run.cpp | 75 ++------ .../send_target_by_uart.cpp | 17 +- energy/src/energy/show/show.cpp | 92 +++++---- energy/src/energy/tool/tool.cpp | 66 ++----- main.cpp | 4 +- 17 files changed, 325 insertions(+), 796 deletions(-) delete mode 100644 energy/src/energy/find/cycle_finder.cpp delete mode 100644 energy/src/energy/get/hit_point_get.cpp diff --git a/energy/include/energy/energy.h b/energy/include/energy/energy.h index 896f292..9aac222 100644 --- a/energy/include/energy/energy.h +++ b/energy/include/energy/energy.h @@ -23,130 +23,93 @@ using std::vector; class Energy { public: - Energy(Serial &u, uint8_t &color); - ~Energy(); + Energy(Serial &u, uint8_t &color);//构造函数，参数为串口和敌方颜色 + ~Energy();//默认析构函数 int run(cv::Mat &src); - - cv::Point2f uart_hit_point; - clock_t start; - Serial &serial; - -// void setAllyColor(int color); - void setRotation(int rotation); - void setEnergyRotationInit(); - - void extract(cv::Mat &src); - - void sendTargetByUart(float x, float y, float z); + Serial &serial;//串口 + void setEnergyRotationInit();//判断顺逆时针函数 + void extract(cv::Mat &src);//框取图像中的一块区域进行处理 + void sendTargetByUart(float x, float y, float z);//向主控板发送数据 private: + EnergyPartParam energy_part_param_;//能量机关的参数设置 + bool isMark;//若操作手正在手动标定，则为true + int fans_cnt;//图像中的扇叶个数 + int armors_cnt;//图像中的装甲板个数 + int centerRs_cnt;//图像中可能的风车中心字母R选区个数 + int last_fans_cnt;//上一帧的扇叶个数 + int last_armors_cnt;//上一帧的装甲板个数 + double radius;//大风车半径 + float target_polar_angle;//待击打装甲板的极坐标角度 + float last_target_polar_angle;//上一帧待击打装甲板的极坐标角度 + uint8_t &ally_color;//我方颜色 + int energy_rotation_direction;//风车旋转方向 + float attack_distance;//步兵与风车平面距离 + int send_cnt;//向主控板发送的数据总次数 + float yaw_rotation;//云台yaw轴应该转到的角度 + float pitch_rotation;//云台pitch轴应该转到的角度 + uint8_t last_mark;//用于记录上一帧操作手是否进行标定 + double predict_rad;//预测提前角 + bool energy_rotation_init;//若仍在判断风车旋转方向，则为true + int clockwise_rotation_init_cnt;//装甲板顺时针旋转次数 + int anticlockwise_rotation_init_cnt;//装甲板逆时针旋转次数 + float red_origin_yaw, red_origin_pitch;//红方的初始云台对心角度设定值 + float blue_origin_yaw, blue_origin_pitch;//蓝方的初始云台对心角度设定值 + float origin_yaw, origin_pitch;//初始的云台角度设定值 + float target_cnt;//用于记录寻找到的装甲板总数，该值变化则立即中断主控板发射进程，防止重复击打已点亮的装甲板 + bool save_new_mark;//若操作手进行过手动标定，则为true - EnergyPartParam energy_part_param_; - LiftHeight lift_height_; - bool isSendTarget; - bool isMark; - int fans_cnt; - int armors_cnt; - int centerRs_cnt; - int count; - int last_fans_cnt; - int last_armors_cnt; - double radius; - double target_position; - double last_target_position; - double last_hit_position; - float target_armor; - float last_target_armor; - uint8_t &ally_color; - int energy_part_rotation; - float attack_distance; - int send_cnt; - double rectified_focal_length; - double theta;//电机pitch轴应旋转的角度 - double phi;//电机yaw轴应旋转的角度 - float yaw_rotation; - float pitch_rotation; - uint8_t last_mark; - int position_mode; - int last_position_mode; - int isLeftVertexFound, isTopVertexFound, isRightVertexFound, isBottomVertexFound; - bool energy_rotation_init; - int clockwise_rotation_init_cnt; - int anticlockwise_rotation_init_cnt; - float red_origin_yaw, red_origin_pitch; - float blue_origin_yaw, blue_origin_pitch; - float origin_yaw, origin_pitch; - float target_cnt; - bool target_cnt_flag; - bool save_new_mark; + std::vector fans;//图像中所有扇叶 + std::vector armors;//图像中所有装甲板 + std::vector centerRs;//风车中心字母R的可能候选区 - std::vector fans; - std::vector armors; - std::vector centerRs; - // std::vector gimble_zero_points; + cv::Point circle_center_point;//风车圆心坐标 + cv::Point target_point;//目标装甲板中心坐标 + cv::Point predict_point;//预测的击打点坐标 + std::vectorfan_polar_angle;//当前帧所有扇叶的极坐标角度 + std::vectorarmor_polar_angle;//当前帧所有装甲板的极坐标角度 + std::vector all_armor_centers;//记录全部的装甲板中心，用于风车圆心和半径的计算 + cv::Mat src_blue, src_red, src_green;//通道分离中的三个图像通道 - cv::Point cycle_center; - cv::Point target_center; - cv::Point last_target_center; - cv::Point hit_point; - std::vectorfanPosition; - std::vectorarmorPosition; - std::vector Armor_center; - std::vector first_armor_centers; - std::vector all_armor_centers; - cv::Point left, right, top, bottom; - cv::Mat src_blue, src_red, src_green; - - void initEnergy(); - void initEnergyPartParam(); - void initRotation(); + void initEnergy();//能量机关初始化 + void initEnergyPartParam();//能量机关参数初始化 + void initRotation();//顺逆时针初始化 - int findFan(const cv::Mat src, int &last_fans_cnt); - int findArmor(const cv::Mat src, int &last_armors_cnt); - int findCenterR(const cv::Mat src); + int findFan(const cv::Mat src, int &last_fans_cnt);//寻找图中所有扇叶 + int findArmor(const cv::Mat src, int &last_armors_cnt);//寻找图中所有装甲板 + int findCenterR(const cv::Mat src);//寻找图中可能的风车中心字母R - void showFanContours(std::string windows_name, const cv::Mat &src, const std::vector &fans); - void showArmorContours(std::string windows_name, const cv::Mat &src, const std::vector &armors); - void showBothContours(std::string windows_name, const cv::Mat src); - void showCenterRContours(std::string windows_name, const cv::Mat src); + bool isValidFanContour(const vector fan_contour);//扇叶矩形尺寸要求 + bool isValidArmorContour(const vector armor_contour);//装甲板矩形尺寸要求 + bool isValidCenterRContour(const vector center_R_contour);//风车中心选区尺寸要求 - bool isValidFanContour(const vector fan_contour); - bool isValidArmorContour(const vector armor_contour); - bool isValidCenterRContour(const vector center_R_contour); + void showFanContours(std::string windows_name, const cv::Mat src);//显示扇叶 + void showArmorContours(std::string windows_name, const cv::Mat src);//显示装甲板 + void showBothContours(std::string windows_name, const cv::Mat src);//显示扇叶和装甲板 + void showCenterRContours(std::string windows_name, const cv::Mat src);//显示风车中心候选区R - void getFanPosition(std::vector &fanPosition, const std::vector &fans, cv::Point cycle_center, double radius); - void getArmorPosition(std::vector &armorPosition, const std::vector &armors, cv::Point cycle_center, double radius); - void getFirstArmorCenters(vector &armors, std::vector &first_armor_centers); - void getAllArmorCenters(); - void getPosition(cv::Point point, double &angle); + void getFanPosition();//获取扇叶极坐标角度 + void getArmorPosition();//获取装甲板极坐标角度 + void getAllArmorCenters();//记录所有装甲板中心坐标 - void cycleQuickCalculate(std::vector &first_armor_centers, cv::Point &cycle_center, double &radius); - void cycleDefaultCalculateConst(cv::Point &cycle_center, double &radius); - void cycleCalculate(); - void cycleLeastFit(); + void cycleLeastFit();//利用所有记录的装甲板中心最小二乘法计算圆心和半径 - void findTarget(const std::vectorfanPosition, const std::vectorarmorPosition, float &target_armor); + void findTarget();//获取目标装甲板的极坐标角度和装甲板中心坐标 - void findWholeCycle(const std::vector&first_armor_centers); + void rotate();//获取预测点位 + void stretch(cv::Point point_1, cv::Point2f &point_2);//将像素差转换为实际距离差 - void saveFourPoints(std::vector &FourPoints, cv::Point point_1, cv::Point point_2, cv::Point point_3, cv::Point point_4); - void savePoint2f(std::vector &point_save, cv::Point point); - double pointDistance(cv::Point point_1, cv::Point point_2); - void rotate(double rad, double radius, cv::Point center, cv::Point point_old, cv::Point &point_new); - void stretch(cv::Point point_1, cv::Point2f &point_2); - void cycle(cv::Point p1, cv::Point p2, cv::Point p3, cv::Point ¢er, double &radius); + void getPredictPoint();//获取预测点位 + bool changeTarget();//判断目标是否改变 + void changeMark();//操作手手动修改标定值 + void gimbleRotation();//计算云台旋转角度 - void getHitPoint(); - bool changeTarget(); - void changeMark(); - void gimbleRotation(); + void splitBayerBG(cv::Mat src, cv::Mat &blue, cv::Mat &red);//拜耳阵列分离 + void imagePreprocess(cv::Mat &src);//图像通道分离 - void splitBayerBG(cv::Mat &src, cv::Mat &blue, cv::Mat &red); - void imagePreprocess(cv::Mat &src); - - void StructingElementClose(cv::Mat &src,int length, int width); - void StructingElementErodeDilate(cv::Mat &src); + void StructingElementClose(cv::Mat &src,int length, int width);//闭运算 + void StructingElementErodeDilate(cv::Mat &src);//腐蚀和膨胀 }; diff --git a/energy/include/energy/param_struct_define.h b/energy/include/energy/param_struct_define.h index ff49a0a..8b05dc1 100644 --- a/energy/include/energy/param_struct_define.h +++ b/energy/include/energy/param_struct_define.h @@ -60,16 +60,6 @@ struct EnergyPartParam { float TWIN_ANGEL_MAX; }; -struct LiftHeight{ - float LIFT_0; - float LIFT_30; - float LIFT_60; - float LIFT_90; - float LIFT_minus_30; - float LIFT_minus_60; - float LIFT_minus_90; -}; - typedef struct GMAngle_t{ float yaw; float pitch; diff --git a/energy/src/energy/calculate/cycle_calculate.cpp b/energy/src/energy/calculate/cycle_calculate.cpp index 7593555..5b75bed 100644 --- a/energy/src/energy/calculate/cycle_calculate.cpp +++ b/energy/src/energy/calculate/cycle_calculate.cpp @@ -8,65 +8,26 @@ using std::cout; using std::endl; using std::vector; -void Energy::cycleQuickCalculate(std::vector &first_armor_centers, cv::Point &cycle_center, double &radius) { - //if (isCalibrated()) return; - int cur_size = static_cast(first_armor_centers.size()); - if (cur_size < 3)return; - cv::Point point_1, point_2, point_3; - point_1 = first_armor_centers.at(0); - point_2 = first_armor_centers.at(static_cast(cur_size - 1)); - point_3 = first_armor_centers.at(static_cast(cur_size / 2)); - //cout << point_1 << '\t' << point_2 << endl; - //cout << first_armor_centers.at(point_1) << '\t' << first_armor_centers.at(point_2) << endl; - cycle(point_1, point_2, point_3, cycle_center, radius); - cout << "The cycle center is: " << cycle_center << endl; - cout << "The radius is: " << radius << endl; -} -void Energy::cycleDefaultCalculateConst(cv::Point &cycle_center, double &radius) { - if (count >= 5) - return; - clock_t end; - double time_duration = 1.0, dt; - if (Armor_center.size() < 3) { - end = clock(); - dt = (end - start) / 1000000.00; - if (dt >= time_duration * count) { - getFirstArmorCenters(armors, Armor_center); - count++; - } - } - else { - cycleQuickCalculate(Armor_center, cycle_center, radius); - count++; - } -} - -void Energy::cycleCalculate(){ - cycle_center.x = (top.x + bottom.x)/2; - cycle_center.y = (left.y + right.y)/2; - radius = (right.x - left.x)/2; - cout << "The cycle center is: " << cycle_center << endl; - cout << "The radius is: " << radius << endl; -} +//---------------------------------------------------------------------------------------------------------------------- +// 此函数通过最小二乘法计算大风车圆心和半径 +// --------------------------------------------------------------------------------------------------------------------- void Energy::cycleLeastFit() { - cycle_center.x = 0; - cycle_center.y = 0; + circle_center_point.x = 0; + circle_center_point.y = 0; radius = 0.0f; if (all_armor_centers.size() < 3) { // cout<<"Cannot calculate a circle"<(all_armor_centers.size()); for (int i = 0; i < N; i++) { @@ -84,10 +45,8 @@ void Energy::cycleLeastFit() sum_x1y2 += x * y2; sum_x2y1 += x2 * y; } - double C, D, E, G, H; double a, b, c; - C = N * sum_x2 - sum_x * sum_x; D = N * sum_xy - sum_x * sum_y; E = N * sum_x3 + N * sum_x1y2 - (sum_x2 + sum_y2) * sum_x; @@ -96,11 +55,9 @@ void Energy::cycleLeastFit() a = (H * D - E * G) / (C * G - D * D); b = (H * C - E * D) / (D * D - G * C); c = -(a * sum_x + b * sum_y + sum_x2 + sum_y2) / N; - - cycle_center.x = static_cast(a / (-2)); - cycle_center.y = static_cast(b / (-2)); + circle_center_point.x = static_cast(a / (-2)); + circle_center_point.y = static_cast(b / (-2)); radius = sqrt(a * a + b * b - 4 * c) / 2; - // cout << "The cycle center is: " << cycle_center << endl; // cout << "The radius is: " << radius << endl; } diff --git a/energy/src/energy/calibrate/split.cpp b/energy/src/energy/calibrate/split.cpp index 427fb08..c4ab981 100644 --- a/energy/src/energy/calibrate/split.cpp +++ b/energy/src/energy/calibrate/split.cpp @@ -8,7 +8,7 @@ using std::cout; using std::endl; using std::vector; -void Energy::splitBayerBG(cv::Mat &src, cv::Mat &blue, cv::Mat &red) { +void Energy::splitBayerBG(cv::Mat src, cv::Mat &blue, cv::Mat &red) { uchar* data; uchar* bayer_data[2]; for (int i = 0; i < src.rows; ++i) { diff --git a/energy/src/energy/energy.cpp b/energy/src/energy/energy.cpp index 472c663..a25d52a 100644 --- a/energy/src/energy/energy.cpp +++ b/energy/src/energy/energy.cpp @@ -20,11 +20,11 @@ Energy::Energy(Serial &u, uint8_t &color):serial(u),ally_color(color), save_new_mark = true; - if(ally_color==ALLY_RED){ + if(ally_color == ALLY_RED){ origin_yaw = red_origin_yaw; origin_pitch = red_origin_pitch; } - else if(ally_color==ALLY_BLUE){ + else if(ally_color == ALLY_BLUE){ origin_yaw = blue_origin_yaw; origin_pitch = blue_origin_pitch; } @@ -35,22 +35,11 @@ Energy::Energy(Serial &u, uint8_t &color):serial(u),ally_color(color), Energy::~Energy() = default; -// -//void Energy::setAllyColor(int color) -//{ -// ally_color_ = color; -//} - -void Energy::setRotation(int rotation){ - energy_part_rotation = rotation; -} - void Energy::setEnergyRotationInit() { initEnergy(); initEnergyPartParam(); energy_rotation_init = true; - if(!save_new_mark){ FILE *fp = fopen(PROJECT_DIR"/Mark/mark.txt", "r"); if(fp){ diff --git a/energy/src/energy/find/cycle_finder.cpp b/energy/src/energy/find/cycle_finder.cpp deleted file mode 100644 index bff7ee9..0000000 --- a/energy/src/energy/find/cycle_finder.cpp +++ /dev/null @@ -1,89 +0,0 @@ -// -// Created by xixiliadorabarry on 19-3-23. -// - -#include "energy/energy.h" -#include - -using namespace cv; -using std::cout; -using std::endl; -using std::vector; - -void Energy::findWholeCycle(const std::vector&first_armor_centers) { - int cur_size = static_cast(first_armor_centers.size()); - //cout << "first armor centers' size: " << first_armor_centers.size() << endl; - if (cur_size == 0)return; - int vertex = 0; - for (int i = 1; i < cur_size - 1; ++i) - { - if (vertex == 4)break; - if (first_armor_centers.at(i).x >= first_armor_centers.at(i - 1).x && first_armor_centers.at(i).x >= first_armor_centers.at(i + 1).x) - { - if (isRightVertexFound == -1) { - vertex += 1; - isRightVertexFound = 1; - right = first_armor_centers.at(i); - cout << "right vertex: " << right << endl; - continue; - } - else if (right.x > first_armor_centers.at(i).x)continue; - else { - right = first_armor_centers.at(i); - continue; - } - } - if (first_armor_centers.at(i).x <= first_armor_centers.at(i - 1).x && first_armor_centers.at(i).x <= first_armor_centers.at(i + 1).x) - { - if (isLeftVertexFound == -1) { - vertex += 1; - isLeftVertexFound = 1; - left = first_armor_centers.at(i); - cout << "left vertex: " << left << endl; - continue; - } - else if (left.x < first_armor_centers.at(i).x)continue; - else { - left = first_armor_centers.at(i); - continue; - } - } - if (first_armor_centers.at(i).y <= first_armor_centers.at(i - 1).y && first_armor_centers.at(i).y <= first_armor_centers.at(i + 1).y) - { - if (isTopVertexFound == -1) { - vertex += 1; - isTopVertexFound = 1; - top = first_armor_centers.at(i); - cout << "top vertex: " << top << endl; - continue; - } - else if (top.y < first_armor_centers.at(i).y)continue; - else { - top = first_armor_centers.at(i); - continue; - } - - } - if (first_armor_centers.at(i).y >= first_armor_centers.at(i - 1).y && first_armor_centers.at(i).y >= first_armor_centers.at(i + 1).y) - { - if (isBottomVertexFound == -1) { - vertex += 1; - isBottomVertexFound = 1; - bottom = first_armor_centers.at(i); - cout << "bottom vertex: " << bottom << endl; - continue; - } - else if (bottom.y > first_armor_centers.at(i).y)continue; - else { - bottom = first_armor_centers.at(i); - continue; - } - } - } - - /*for (int k = 0; k < first_armor_centers.size(); ++k) { - cout << k << " : " << first_armor_centers.at(k) << '\t'; - float angle = static_cast(180 / PI * atan2(-1 * (first_armor_centers.at(k).y - 298), (first_armor_centers.at(k).x - 298))); - cout << angle << endl; - }*/ -} diff --git a/energy/src/energy/find/energy_finder.cpp b/energy/src/energy/find/energy_finder.cpp index 6aadb29..7f6ee9b 100644 --- a/energy/src/energy/find/energy_finder.cpp +++ b/energy/src/energy/find/energy_finder.cpp @@ -8,6 +8,8 @@ using std::cout; using std::endl; using std::vector; + + //---------------------------------------------------------------------------------------------------------------------- // 此函数用于寻找图像内所有的大风车扇叶 // --------------------------------------------------------------------------------------------------------------------- @@ -17,52 +19,49 @@ int Energy::findFan(const cv::Mat src, int &last_fans_cnt) { src_bin = src.clone(); // threshold(src, src_bin, energy_part_param_.FAN_GRAY_THRESH, 255, THRESH_BINARY); if(src.type() == CV_8UC3){ - cvtColor(src_bin, src_bin, CV_BGR2GRAY); + cvtColor(src_bin, src_bin, CV_BGR2GRAY);//若读取三通道视频文件，需转换为单通道 } - std::vector > fan_contours; - - StructingElementClose(src_bin,6,6); - + StructingElementClose(src_bin,6,6);//图像膨胀，防止图像断开并更方便寻找 // imshow("fan struct",src_bin); - findContours(src_bin, fan_contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE); for (auto &fan_contour : fan_contours) { if (!isValidFanContour(fan_contour)) { continue; } + fans.emplace_back(fan_contour); - double cur_contour_area = contourArea(fan_contour); + /* double cur_contour_area = contourArea(fan_contour); RotatedRect cur_rect = minAreaRect(fan_contour); Size2f cur_size = cur_rect.size; -// -// cout<<"cur_contour_area: "< cur_size.width ? cur_size.height : cur_size.width; float width = cur_size.height < cur_size.width ? cur_size.height : cur_size.width; -// cout<<"fan area: "<20&&width>20){ -// cout<20&&width>20){ + cout<(fans.size()); - return -1; + return -1;//寻找到的扇叶比上一帧少，说明该帧有误，返回-1 } last_fans_cnt = static_cast(fans.size()); return static_cast(fans.size()); } + + //---------------------------------------------------------------------------------------------------------------------- // 此函数用于寻找图像内所有的大风车装甲板模块 // --------------------------------------------------------------------------------------------------------------------- @@ -72,12 +71,12 @@ int Energy::findArmor(const cv::Mat src, int &last_armors_cnt) { src_bin = src.clone(); // threshold(src, src_bin, energy_part_param_.ARMOR_GRAY_THRESH, 255, THRESH_BINARY); if(src.type() == CV_8UC3){ - cvtColor(src_bin, src_bin, CV_BGR2GRAY); + cvtColor(src_bin, src_bin, CV_BGR2GRAY);//若读取三通道视频文件，需转换为单通道 } std::vector > armor_contours; std::vector > armor_contours_external;//用总轮廓减去外轮廓，只保留内轮廓，除去流动条的影响。 - StructingElementErodeDilate(src_bin); + StructingElementErodeDilate(src_bin);//图像膨胀，防止图像断开并更方便寻找 // imshow("armor struct",src_bin); findContours(src_bin, armor_contours, CV_RETR_LIST, CV_CHAIN_APPROX_NONE); @@ -97,36 +96,35 @@ int Energy::findArmor(const cv::Mat src, int &last_armors_cnt) { } } } - for (auto &armor_contour : armor_contours) { if (!isValidArmorContour(armor_contour)) { continue; } + armors.emplace_back(armor_contour); - RotatedRect cur_rect = minAreaRect(armor_contour); + /* RotatedRect cur_rect = minAreaRect(armor_contour); Size2f cur_size = cur_rect.size; float length = cur_size.height > cur_size.width ? cur_size.height : cur_size.width; float width = cur_size.height < cur_size.width ? cur_size.height : cur_size.width; - -// if(length>10&&width>5){ -// armors.emplace_back(armor_contour); -// cout<<"armor area: "<10&&width>5){ + armors.emplace_back(armor_contour); + cout<<"armor area: "<(armors.size()); - return -1; + return -1;//寻找到的装甲板比上一帧少，说明该帧有误，返回-1 } last_armors_cnt = static_cast(armors.size()); return static_cast(armors.size()); } + + + //---------------------------------------------------------------------------------------------------------------------- // 此函数用于寻找图像内大风车中心字母“R” // --------------------------------------------------------------------------------------------------------------------- @@ -139,10 +137,8 @@ int Energy::findCenterR(const cv::Mat src) { cvtColor(src_bin, src_bin, CV_BGR2GRAY); } std::vector > center_R_contours; - StructingElementErodeDilate(src_bin); // imshow("R struct",src_bin); - findContours(src_bin, center_R_contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE); for (auto ¢er_R_contour : center_R_contours) { @@ -150,24 +146,26 @@ int Energy::findCenterR(const cv::Mat src) { { continue; } + centerRs.emplace_back(center_R_contour); - RotatedRect cur_rect = minAreaRect(center_R_contour); + /*RotatedRect cur_rect = minAreaRect(center_R_contour); Size2f cur_size = cur_rect.size; float length = cur_size.height > cur_size.width ? cur_size.height : cur_size.width; float width = cur_size.height < cur_size.width ? cur_size.height : cur_size.width; -// if(length>10 && width>5){ -// centerRs.emplace_back(center_R_contour); -// cout<<"center R area: "<10 && width>5){ + centerRs.emplace_back(center_R_contour); + cout<<"center R area: "<(centerRs.size()); } + + + //---------------------------------------------------------------------------------------------------------------------- // 此函数用于判断找到的矩形候选区是否为扇叶 // --------------------------------------------------------------------------------------------------------------------- @@ -179,31 +177,35 @@ bool Energy::isValidFanContour(const vector fan_contour) { //cout< cur_size.width ? cur_size.height : cur_size.width; - float width = cur_size.height < cur_size.width ? cur_size.height : cur_size.width; + float length = cur_size.height > cur_size.width ? cur_size.height : cur_size.width;//将矩形的长边设置为长 + float width = cur_size.height < cur_size.width ? cur_size.height : cur_size.width;//将矩形的短边设置为宽 if (length < energy_part_param_.FAN_CONTOUR_LENGTH_MIN || width < energy_part_param_.FAN_CONTOUR_WIDTH_MIN || length > energy_part_param_.FAN_CONTOUR_LENGTH_MAX || width > energy_part_param_.FAN_CONTOUR_WIDTH_MAX) { - //cout<<"length width min fail."< energy_part_param_.FAN_CONTOUR_HW_RATIO_MAX || length_width_ratio < energy_part_param_.FAN_CONTOUR_HW_RATIO_MIN) { //cout<<"length width ratio fail."< armor_contour) { //cout< cur_size.width ? cur_size.height : cur_size.width; - float width = cur_size.height < cur_size.width ? cur_size.height : cur_size.width; - if (length < energy_part_param_.ARMOR_CONTOUR_LENGTH_MIN || width < energy_part_param_.ARMOR_CONTOUR_WIDTH_MIN) + float length = cur_size.height > cur_size.width ? cur_size.height : cur_size.width;//将矩形的长边设置为长 + float width = cur_size.height < cur_size.width ? cur_size.height : cur_size.width;//将矩形的短边设置为宽 + if (length < energy_part_param_.ARMOR_CONTOUR_LENGTH_MIN || width < energy_part_param_.ARMOR_CONTOUR_WIDTH_MIN || + length > energy_part_param_.ARMOR_CONTOUR_LENGTH_MAX||width>energy_part_param_.ARMOR_CONTOUR_WIDTH_MAX) { - //cout<<"length width min fail."< energy_part_param_.ARMOR_CONTOUR_LENGTH_MAX||width>energy_part_param_.ARMOR_CONTOUR_WIDTH_MAX) - { - //cout<<"length width max fail."< energy_part_param_.ARMOR_CONTOUR_HW_RATIO_MAX || length_width_ratio < energy_part_param_.ARMOR_CONTOUR_HW_RATIO_MIN) { //cout<<"length width ratio fail."< center_R_contour) { //cout< cur_size.width ? cur_size.height : cur_size.width; - float width = cur_size.height < cur_size.width ? cur_size.height : cur_size.width; - if (length < energy_part_param_.CENTER_R_CONTOUR_LENGTH_MIN || width < energy_part_param_.CENTER_R_CONTOUR_WIDTH_MIN) + float length = cur_size.height > cur_size.width ? cur_size.height : cur_size.width;//将矩形的长边设置为长 + float width = cur_size.height < cur_size.width ? cur_size.height : cur_size.width;//将矩形的短边设置为宽 + if (length < energy_part_param_.CENTER_R_CONTOUR_LENGTH_MIN || width < energy_part_param_.CENTER_R_CONTOUR_WIDTH_MIN + ||length > energy_part_param_.CENTER_R_CONTOUR_LENGTH_MAX ||width>energy_part_param_.CENTER_R_CONTOUR_WIDTH_MAX) { - //cout<<"length width min fail."< energy_part_param_.CENTER_R_CONTOUR_LENGTH_MAX||width>energy_part_param_.CENTER_R_CONTOUR_WIDTH_MAX) - { - //cout<<"length width max fail."< energy_part_param_.CENTER_R_CONTOUR_HW_RATIO_MAX || length_width_ratio < energy_part_param_.CENTER_R_CONTOUR_HW_RATIO_MIN) { //cout<<"length width ratio fail."<fanPosition, std::vectorarmorPosition, float &target_armor) { - if (fanPosition.size() >= armorPosition.size()) return; - if (armorPosition.size()==0)return; - if (fanPosition.size() == 0) { - target_armor = armorPosition.at(0); +void Energy::findTarget() { + if (fan_polar_angle.size() >= armor_polar_angle.size()) return;//扇叶多于装甲板，识别错误 + if (armor_polar_angle.empty())return;//找不到扇叶，识别错误 + if (fan_polar_angle.empty()) { + target_polar_angle = armor_polar_angle.at(0);//视野中没有扇叶，说明在击打第一个装甲板 for (const auto &armor : armors) { - target_center = armor.rect.center; -// cout<<"target center: "<::iterator it = fanPosition.begin(); it != fanPosition.end(); it++) { - cout << *it << endl; - }*/ - sort(armorPosition.begin(), armorPosition.end()); - /*for (vector::iterator it = armorPosition.begin(); it != armorPosition.end(); it++) { - cout << *it << endl; - }*/ + sort(fan_polar_angle.begin(), fan_polar_angle.end());//对扇叶的极坐标角度进行排序 + sort(armor_polar_angle.begin(), armor_polar_angle.end());//对装甲板的极坐标角度进行排序 int i, j = 0; - for (i = 0; i < fanPosition.size(); ++i) { - if (armorPosition.at(i) - fanPosition.at(j) < energy_part_param_.TWIN_ANGEL_MAX && armorPosition.at(i) - fanPosition.at(j) > -1 * energy_part_param_.TWIN_ANGEL_MAX) { + for (i = 0; i < fan_polar_angle.size(); ++i) { + if (armor_polar_angle.at(i) - fan_polar_angle.at(j) < energy_part_param_.TWIN_ANGEL_MAX + && armor_polar_angle.at(i) - fan_polar_angle.at(j) > -1 * energy_part_param_.TWIN_ANGEL_MAX) { j++; - continue; + continue;//若某个扇叶的极坐标角度与第j个装甲板的极坐标角度接近，则两者匹配成功 } else { - target_armor = armorPosition.at(j); + target_polar_angle = armor_polar_angle.at(j);//无法被匹配到的装甲板为待击打装甲板 for (const auto &armor : armors) { - float angle = static_cast(180 / PI * atan2(-1 * (armor.rect.center.y - cycle_center.y), (armor.rect.center.x - cycle_center.x))); - if(target_armor==angle){ - target_center = armor.rect.center; -// cout<<"target center: "<(180 / PI * atan2(-1 * (armor.rect.center.y - circle_center_point.y), + (armor.rect.center.x - circle_center_point.x))); + if(target_polar_angle == angle){ + target_point = armor.rect.center;//根据已经确定的目标装甲板极坐标角度，获得该装甲板的中心坐标 } } return; } } - target_armor = armorPosition.at(armorPosition.size() - 1); + target_polar_angle = armor_polar_angle.at(armor_polar_angle.size() - 1);//前几个扇叶都匹配到装甲板，则最后剩下的装甲板为目标 for (const auto &armor : armors) { - float angle = static_cast(180 / PI * atan2(-1 * (armor.rect.center.y - cycle_center.y), (armor.rect.center.x - cycle_center.x))); - if(target_armor == angle){ - target_center = armor.rect.center; -// cout<<"target center: "<(180 / PI * atan2(-1 * (armor.rect.center.y - circle_center_point.y), + (armor.rect.center.x - circle_center_point.x))); + if(target_polar_angle == angle){ + target_point = armor.rect.center;//根据已经确定的目标装甲板极坐标角度，获得该装甲板的中心坐标 } } diff --git a/energy/src/energy/get/gimble_rotation_get.cpp b/energy/src/energy/get/gimble_rotation_get.cpp index aaf68b2..c957e8c 100644 --- a/energy/src/energy/get/gimble_rotation_get.cpp +++ b/energy/src/energy/get/gimble_rotation_get.cpp @@ -10,6 +10,11 @@ using std::cout; using std::endl; using std::vector; + + +//---------------------------------------------------------------------------------------------------------------------- +// 此函数用于操作手手动标定 +// --------------------------------------------------------------------------------------------------------------------- void Energy::changeMark() { if (mcuData.mark == 0 && last_mark == 1) { last_mark = mcuData.mark; @@ -32,41 +37,15 @@ void Energy::changeMark() { } + +//---------------------------------------------------------------------------------------------------------------------- +// 此函数用于计算云台应当转到角度 +// --------------------------------------------------------------------------------------------------------------------- void Energy::gimbleRotation(){ - cv::Point2f real_hit_point; - stretch(hit_point, real_hit_point); - yaw_rotation = static_cast(180 / PI * atan2((attack_distance * tan(origin_yaw * PI / 180) - real_hit_point.x), attack_distance)); - pitch_rotation = static_cast(180 / PI * atan2((attack_distance*tan(origin_pitch*PI/180)-real_hit_point.y), attack_distance)); - - /*origin_yaw = mark_yaw; - origin_pitch = mark_pitch;*/ - -// if(position_mode == 1){ -// yaw_rotation = static_cast(180 / PI * atan2((attack_distance * tan(origin_yaw * PI / 180) - real_hit_point.x), attack_distance)); -// pitch_rotation = static_cast(180 / PI * atan2((attack_distance*tan(origin_pitch*PI/180)-real_hit_point.y), attack_distance)); -// } -// else if(position_mode == 2){ -// yaw_rotation = static_cast(180 / PI * atan2((attack_distance * tan(origin_yaw * PI / 180) - real_hit_point.x), attack_distance)); -// pitch_rotation = static_cast(180 / PI * atan2((attack_distance*tan(origin_pitch*PI/180)-real_hit_point.y), attack_distance)); -// } -// else if(position_mode == 3){ -// yaw_rotation = static_cast(180 / PI * atan2((attack_distance * tan(origin_yaw * PI / 180) - real_hit_point.x), attack_distance)); -// pitch_rotation = static_cast(180 / PI * atan2((attack_distance*tan(origin_pitch*PI/180)-real_hit_point.y), attack_distance)); -// } -// else if(position_mode == 4){ -// yaw_rotation = static_cast(180 / PI * atan2((attack_distance * tan(origin_yaw * PI / 180) - real_hit_point.x), attack_distance)); -// pitch_rotation = static_cast(180 / PI * atan2((attack_distance*tan(origin_pitch*PI/180)-real_hit_point.y), attack_distance)); -// } -// else if(position_mode == 5){ -// yaw_rotation = static_cast(180 / PI * atan2((attack_distance * tan(origin_yaw * PI / 180) - real_hit_point.x), attack_distance)); -// pitch_rotation = static_cast(180 / PI * atan2((attack_distance*tan(origin_pitch*PI/180)-real_hit_point.y), attack_distance)); -// } -// else if(position_mode == 6){ -// yaw_rotation = static_cast(180 / PI * atan2((attack_distance * tan(origin_yaw * PI / 180) - real_hit_point.x), attack_distance)); -// pitch_rotation = static_cast(180 / PI * atan2((attack_distance*tan(origin_pitch*PI/180)-real_hit_point.y), attack_distance)); -// } -// else{ -// pitch_rotation = 5.5+static_cast(180 / PI * atan2((attack_distance*tan(mark_pitch*PI/180)-real_hit_point.y), attack_distance)); -// } - + cv::Point2f real_predict_point;//计算在真实世界中的预测点位，进而计算云台的旋转角度 + stretch(predict_point, real_predict_point); + yaw_rotation = static_cast(180 / PI * + atan2((attack_distance * tan(origin_yaw * PI / 180) - real_predict_point.x), attack_distance)); + pitch_rotation = static_cast(180 / PI * + atan2((attack_distance*tan(origin_pitch*PI/180)-real_predict_point.y), attack_distance)); } \ No newline at end of file diff --git a/energy/src/energy/get/hit_point_get.cpp b/energy/src/energy/get/hit_point_get.cpp deleted file mode 100644 index 9394d7c..0000000 --- a/energy/src/energy/get/hit_point_get.cpp +++ /dev/null @@ -1,133 +0,0 @@ -// -// Created by xixiliadorabarry on 1/24/19. -// - -#include "energy/energy.h" -#include "energy/constant.h" - -using namespace cv; -using std::cout; -using std::endl; -using std::vector; - -void Energy::getHitPoint(){ - int rad = 60; - if(energy_part_rotation==1) rotate(rad, radius, cycle_center, target_center, hit_point); - if(energy_part_rotation==-1) rotate(-rad, radius, cycle_center, target_center, hit_point); -// int hit_position = 1000; -// int limit_angle = 6; -// int angle_interval = 60; -// -// if(energy_part_rotation==1){ -// if(target_armor>=0 && target_armor<=limit_angle){ -// hit_point.x = cycle_center.x + static_cast(radius / 2); -// hit_point.y = cycle_center.y + static_cast(radius * sqrt(3) / 2); -// hit_position = -1*angle_interval; -// position_mode = 1; -// } -// else if(target_armor>=angle_interval && target_armor(radius); -// hit_point.y = cycle_center.y; -// hit_position = 0; -// position_mode = 2; -// } -// else if(target_armor>=angle_interval*2 && target_armor<=angle_interval*2+limit_angle){ -// hit_point.x = cycle_center.x + static_cast(radius / 2); -// hit_point.y = cycle_center.y - static_cast(radius * sqrt(3) / 2); -// hit_position = angle_interval; -// position_mode = 3; -// } -// else if(target_armor>=-180 && target_armor<-180+limit_angle){ -// hit_point.x = cycle_center.x - static_cast(radius / 2); -// hit_point.y = cycle_center.y - static_cast(radius * sqrt(3) / 2); -// hit_position = 2*angle_interval; -// position_mode = 4; -// } -// else if(target_armor>=-2*angle_interval&&target_armor<-2*angle_interval+limit_angle){ -// hit_point.x = cycle_center.x - static_cast(radius); -// hit_point.y = cycle_center.y; -// hit_position = 180; -// position_mode = 5; -// } -// else if(target_armor>=-1*angle_interval&&target_armor<-1*angle_interval+limit_angle) { -// hit_point.x = cycle_center.x - static_cast(radius / 2); -// hit_point.y = cycle_center.y + static_cast(radius * sqrt(3) / 2); -// hit_position = -2 * angle_interval; -// position_mode = 6; -// } -// else{ -// position_mode = 0; -// return; -// } -// } -// -// if(energy_part_rotation==-1){ -// if(target_armor>=0 && target_armor<=limit_angle){ -// hit_point.x = cycle_center.x - static_cast(radius / 2); -// hit_point.y = cycle_center.y - static_cast(radius * sqrt(3) / 2); -// hit_position = 2*angle_interval; -// position_mode = 1; -// } -// else if(target_armor>=angle_interval && target_armor(radius); -// hit_point.y = cycle_center.y; -// hit_position = 180; -// position_mode = 2; -// } -// else if(target_armor>=angle_interval*2 && target_armor<=angle_interval*2+limit_angle){ -// hit_point.x = cycle_center.x - static_cast(radius / 2); -// hit_point.y = cycle_center.y + static_cast(radius * sqrt(3) / 2); -// hit_position = -2*angle_interval; -// position_mode = 3; -// } -// else if(target_armor>=-180 && target_armor<-180+limit_angle){ -// hit_point.x = cycle_center.x + static_cast(radius / 2); -// hit_point.y = cycle_center.y + static_cast(radius * sqrt(3) / 2); -// hit_position = -1*angle_interval; -// position_mode = 4; -// } -// else if(target_armor>=-2*angle_interval&&target_armor<-2*angle_interval+limit_angle){ -// hit_point.x = cycle_center.x + static_cast(radius); -// hit_point.y = cycle_center.y; -// hit_position = 0; -// position_mode = 5; -// } -// else if(target_armor>=-1*angle_interval&&target_armor<-1*angle_interval+limit_angle){ -// hit_point.x = cycle_center.x + static_cast(radius / 2); -// hit_point.y = cycle_center.y - static_cast(radius * sqrt(3) / 2); -// hit_position = angle_interval; -// position_mode = 6; -// } -// else{ -// position_mode = 0; -// return; -// } -// } -// -// if(position_mode!=0 && position_mode!=last_position_mode){ -// last_position_mode = position_mode; -// isSendTarget = true; -// //cout<<"hit position: "< 330){ - last_target_armor = target_armor; - return false; - } - else{ - last_target_armor = target_armor; - return true; - } -} \ No newline at end of file diff --git a/energy/src/energy/get/position_get.cpp b/energy/src/energy/get/position_get.cpp index 5a409d9..6ca5ddb 100644 --- a/energy/src/energy/get/position_get.cpp +++ b/energy/src/energy/get/position_get.cpp @@ -8,42 +8,50 @@ using std::cout; using std::endl; using std::vector; -void Energy::getFanPosition(std::vector &fanPosition, const std::vector &fans, cv::Point cycle_center, double radius) { + + + +//---------------------------------------------------------------------------------------------------------------------- +// 此函数用于获得图像中所有扇叶的当前极坐标角度 +// --------------------------------------------------------------------------------------------------------------------- +void Energy::getFanPosition() { if (radius == 0)return; for (const auto &fan : fans) { - float angle = static_cast(180 / PI * atan2(-1 * (fan.rect.center.y - cycle_center.y), (fan.rect.center.x - cycle_center.x))); - fanPosition.push_back(angle); + float angle = static_cast(180 / PI * atan2(-1 * (fan.rect.center.y - circle_center_point.y), + (fan.rect.center.x - circle_center_point.x))); + fan_polar_angle.push_back(angle); } // cout << "fanPosition.size() = " << fanPosition.size() << '\t' << endl; } -void Energy::getArmorPosition(std::vector &armorPosition, const std::vector &armors, cv::Point cycle_center, double radius) { + + + +//---------------------------------------------------------------------------------------------------------------------- +// 此函数用于获得图像中所有装甲板的当前极坐标角度 +// --------------------------------------------------------------------------------------------------------------------- +void Energy::getArmorPosition() { if (radius == 0)return; for (const auto &armor : armors) { - float angle = static_cast(180 / PI * atan2(-1 * (armor.rect.center.y - cycle_center.y), (armor.rect.center.x - cycle_center.x))); - armorPosition.push_back(angle); + float angle = static_cast(180 / PI * atan2(-1 * (armor.rect.center.y - circle_center_point.y), + (armor.rect.center.x - circle_center_point.x))); + armor_polar_angle.push_back(angle); } // cout << "armorPosition.size() = " << armorPosition.size() << '\t' << endl; } -void Energy::getFirstArmorCenters(vector &armors, std::vector &first_armor_centers) -{ - for (const auto &armor : armors) { - if (armors.size() < 2)first_armor_centers.push_back(armor.rect.center); - } -} + + +//---------------------------------------------------------------------------------------------------------------------- +// 此函数用于存储图像中所有装甲板的中心坐标，以便后续最小二乘法计算圆心和半径 +// --------------------------------------------------------------------------------------------------------------------- void Energy::getAllArmorCenters() { for (const auto &armor : armors) { all_armor_centers.push_back(armor.rect.center); } -} - -void Energy::getPosition(cv::Point point, double &angle){ - if (radius == 0)return; - angle = (180 / PI * atan2(-1 * (point.y - cycle_center.y), (point.x - cycle_center.x))); -} +} \ No newline at end of file diff --git a/energy/src/energy/param_init.cpp b/energy/src/energy/param_init.cpp index 5ca1d9f..dc48ae4 100644 --- a/energy/src/energy/param_init.cpp +++ b/energy/src/energy/param_init.cpp @@ -10,34 +10,22 @@ using std::endl; using std::vector; void Energy::initEnergy() { - isSendTarget = false; isMark = false; fans_cnt = 0; armors_cnt = 0; centerRs_cnt = 0; - cycle_center = Point(0, 0); - target_center = Point(0, 0); - last_target_center = Point(0, 0); - hit_point = Point(0, 0); - target_position = -1000; - last_target_position = -1000; - last_hit_position = 20000; - target_armor = -1000; - last_target_armor = -1000; + circle_center_point = Point(0, 0); + target_point = Point(0, 0); + predict_point = Point(0, 0); + target_polar_angle = -1000; + last_target_polar_angle = -1000; radius = 0; - - // ally_color = ALLY_RED; - energy_part_rotation = CLOCKWISE; + energy_rotation_direction = CLOCKWISE; attack_distance = ATTACK_DISTANCE; - count = 1; last_fans_cnt = 0; last_armors_cnt = 0; send_cnt = 0; - - //rectified_focal_length = 1000; - //theta = 0; - //phi = 0; yaw_rotation = 0; pitch_rotation = 0; last_mark = 0; @@ -48,30 +36,16 @@ void Energy::initEnergy() { blue_origin_pitch = 15.688477; target_cnt = 0; - target_cnt_flag = true; - - isLeftVertexFound = -1; - isTopVertexFound = -1; - isRightVertexFound = -1; - isBottomVertexFound = -1; - - left = Point(640, 480); - right = Point(0, 0); - top = Point(640, 480); - bottom = Point(0, 0); - - position_mode = 0; - last_position_mode = 0; - energy_rotation_init = false; + predict_rad = 20; fans.clear(); armors.clear(); centerRs.clear(); - fanPosition.clear(); - armorPosition.clear(); - Armor_center.clear(); - first_armor_centers.clear(); + + fan_polar_angle.clear(); + armor_polar_angle.clear(); + all_armor_centers.clear(); clockwise_rotation_init_cnt = 0; @@ -116,37 +90,27 @@ void Energy::initEnergyPartParam() { energy_part_param_.CENTER_R_CONTOUR_HW_RATIO_MIN = 1; energy_part_param_.TWIN_ANGEL_MAX = 10; - - lift_height_.LIFT_0 = 0; - lift_height_.LIFT_30 = 0; - lift_height_.LIFT_60 = 0; - lift_height_.LIFT_90 = 10; - lift_height_.LIFT_minus_30 = 0; - lift_height_.LIFT_minus_60 = 0; - lift_height_.LIFT_minus_90 = 0; - } void Energy::initRotation() { - target_position = target_armor; -// cout << "target position: " << target_position << '\t' << "last target position: " << last_target_position << endl; - if (target_position >= -180 && last_target_position >= -180 && fabs(target_position - last_target_position) < 30) { - if (target_position < last_target_position) clockwise_rotation_init_cnt++; - else if (target_position > last_target_position) anticlockwise_rotation_init_cnt++; + if (target_polar_angle >= -180 && last_target_polar_angle >= -180 + && fabs(target_polar_angle - last_target_polar_angle) < 30) { + //target_polar_angle和last_target_polar_angle的初值均为1000，大于-180表示刚开始几帧不要 + //若两者比较接近，则说明没有切换目标，因此可以用于顺逆时针的判断 + if (target_polar_angle < last_target_polar_angle) clockwise_rotation_init_cnt++; + else if (target_polar_angle > last_target_polar_angle) anticlockwise_rotation_init_cnt++; } - + //由于刚开始圆心判断不准，角度变化可能计算有误，因此需要在角度正向或逆向变化足够大时才可确定是否为顺逆时针 if (clockwise_rotation_init_cnt == 30) { - energy_part_rotation = CLOCKWISE; - cout << "rotation: " << energy_part_rotation << endl; + energy_rotation_direction = CLOCKWISE;//顺时针变化30次，确定为顺时针 + cout << "rotation: " << energy_rotation_direction << endl; energy_rotation_init = false; } else if (anticlockwise_rotation_init_cnt == 30) { - energy_part_rotation = ANTICLOCKWISE; - cout << "rotation: " << energy_part_rotation << endl; + energy_rotation_direction = ANTICLOCKWISE;//逆时针变化30次，确定为顺时针 + cout << "rotation: " << energy_rotation_direction << endl; energy_rotation_init = false; } -// else cout << clockwise_rotation_init_cnt <<'\t'<0)showFanContours("fan",src,fans); +// if(fans_cnt>0)showFanContours("fan",src); // fans_cnt=0; armors_cnt = findArmor(src, last_armors_cnt); // cout<<"armors_cnt: "<0) showArmorContours("armor",src,armors); +// if(armors_cnt>0) showArmorContours("armor",src); if(armors_cnt>0||fans_cnt>0) showBothContours("Both",src); centerRs_cnt = findCenterR(src); if(centerRs_cnt>0)showCenterRContours("R",src); - if(armors_cnt>=4 && fans_cnt>=3) { + if(armors_cnt>=4 && fans_cnt>=3) { FILE *fp = fopen(PROJECT_DIR"/Mark/mark.txt", "w"); if (fp) { fprintf(fp, "yaw: %f, pitch: %f\n", origin_yaw, origin_pitch); @@ -69,75 +65,32 @@ int Energy::run(cv::Mat &src){ fclose(fp_best); } } -// cout<<"armors_cnt: "<0)hit_point = gimble_zero_points.at(0).rect.center; -*/ - diff --git a/energy/src/energy/send_target_by_uart/send_target_by_uart.cpp b/energy/src/energy/send_target_by_uart/send_target_by_uart.cpp index 4dd180a..3de33d8 100644 --- a/energy/src/energy/send_target_by_uart/send_target_by_uart.cpp +++ b/energy/src/energy/send_target_by_uart/send_target_by_uart.cpp @@ -7,22 +7,10 @@ using namespace std; bool sendTarget(Serial& serial, float x, float y, float z) { static short x_tmp, y_tmp, z_tmp; -// static time_t last_time = time(nullptr); -// static int fps; uint8_t buff[8]; - -// time_t t = time(nullptr); -// if (last_time != t) { -// last_time = t; -// std::cout << "fps:" << fps << ", (" << x << "," << y << "," << z << ")" << std::endl; -// fps = 0; -// } -// fps += 1; - x_tmp = static_cast(x * (32768 - 1) / 100); y_tmp = static_cast(y * (32768 - 1) / 100); z_tmp = static_cast(z * (32768 - 1) / 1000); - buff[0] = 's'; buff[1] = static_cast((x_tmp >> 8) & 0xFF); buff[2] = static_cast((x_tmp >> 0) & 0xFF); @@ -31,14 +19,11 @@ bool sendTarget(Serial& serial, float x, float y, float z) { buff[5] = static_cast((z_tmp >> 8) & 0xFF); buff[6] = static_cast((z_tmp >> 0) & 0xFF); buff[7] = 'e'; - return serial.WriteData(buff, sizeof(buff)); } void Energy::sendTargetByUart(float x, float y, float z) { -// if(!changeTarget()){ -// return; -// } + if(changeTarget())target_cnt++; sendTarget(serial, x, y, z); send_cnt+=1; // cout<<"send"< &fans) { +//---------------------------------------------------------------------------------------------------------------------- +// 此函数用于显示图像中所有扇叶 +// --------------------------------------------------------------------------------------------------------------------- +void Energy::showFanContours(std::string windows_name, const cv::Mat src) { if (src.empty())return; static Mat image2show; @@ -33,7 +36,10 @@ void Energy::showFanContours(std::string windows_name, const cv::Mat &src, const imshow(windows_name, image2show); } -void Energy::showArmorContours(std::string windows_name, const cv::Mat &src, const std::vector &armors) { +//---------------------------------------------------------------------------------------------------------------------- +// 此函数用于显示图像中所有装甲板 +// --------------------------------------------------------------------------------------------------------------------- +void Energy::showArmorContours(std::string windows_name, const cv::Mat src) { if (src.empty())return; static Mat image2show; @@ -58,6 +64,47 @@ void Energy::showArmorContours(std::string windows_name, const cv::Mat &src, con imshow(windows_name, image2show); } +void Energy::showBothContours(std::string windows_name, const cv::Mat src) { + if (src.empty())return; + static Mat image2show; + if(src.type() == CV_8UC1) // 黑白图像 + { + cvtColor(src, image2show, COLOR_GRAY2RGB); + + } else if (src.type() == CV_8UC3) //RGB 彩色 + { + image2show = src.clone(); + } + //cvtColor(image2show, image2show, COLOR_GRAY2RGB); + for (const auto &fan : fans) + { + Point2f vertices[4]; //定义矩形的4个顶点 + fan.rect.points(vertices); //计算矩形的4个顶点 + for (int i = 0; i < 4; i++) + line(image2show, vertices[i], vertices[(i + 1) % 4], Scalar(255, 0, 0), 4); +// cout << "fan" << fan.rect.size.height <<'\t'<< fan.rect.size.width << '\t' << '\t'; +// cout << endl; + } + for (const auto &armor : armors) + { + Point2f vertices[4]; //定义矩形的4个顶点 + armor.rect.points(vertices); //计算矩形的4个顶点 + for (int i = 0; i < 4; i++) + line(image2show, vertices[i], vertices[(i + 1) % 4], Scalar(0, 0, 255), 4); +// cout << "armor center: "<< armor.rect.center << '\t'<< "armor angle: "<< armor.rect.angle; +// cout << endl; + + cv::Point2f point = armor.rect.center; + cv::circle(image2show, point, 2, cv::Scalar(0, 0, 255));//在图像中画出特征点，2是圆的半径 + + } + + imshow(windows_name, image2show); +} + +//---------------------------------------------------------------------------------------------------------------------- +// 此函数用于显示图像中所有可能的风车中心候选区R +// --------------------------------------------------------------------------------------------------------------------- void Energy::showCenterRContours(std::string windows_name, const cv::Mat src) { if (src.empty())return; static Mat image2show; @@ -83,42 +130,9 @@ void Energy::showCenterRContours(std::string windows_name, const cv::Mat src) { imshow(windows_name, image2show); } -void Energy::showBothContours(std::string windows_name, const cv::Mat src) { - if (src.empty())return; - static Mat image2show; - if(src.type() == CV_8UC1) // 黑白图像 - { - cvtColor(src, image2show, COLOR_GRAY2RGB); - - } else if (src.type() == CV_8UC3) //RGB 彩色 - { - image2show = src.clone(); - } - //cvtColor(image2show, image2show, COLOR_GRAY2RGB); - for (const auto &fan : fans) - { - Point2f vertices[4]; //定义矩形的4个顶点 - fan.rect.points(vertices); //计算矩形的4个顶点 - for (int i = 0; i < 4; i++) - line(image2show, vertices[i], vertices[(i + 1) % 4], Scalar(255, 0, 0), 4); -// cout << "fan" << fan.rect.size.height <<'\t'<< fan.rect.size.width << '\t' << '\t'; -// cout << endl; - } - for (const auto &armor : armors) - { - Point2f vertices[4]; //定义矩形的4个顶点 - armor.rect.points(vertices); //计算矩形的4个顶点 - for (int i = 0; i < 4; i++) - line(image2show, vertices[i], vertices[(i + 1) % 4], Scalar(0, 0, 255), 4); -// cout << "armor center: "<< armor.rect.center << '\t'<< "armor angle: "<< armor.rect.angle; -// cout << endl; - - cv::Point2f point = armor.rect.center; - cv::circle(image2show, point, 2, cv::Scalar(0, 0, 255));//在图像中画出特征点，2是圆的半径 - - } - - imshow(windows_name, image2show); -} +//---------------------------------------------------------------------------------------------------------------------- +// 此函数用于显示图像中所有扇叶和装甲板 +// --------------------------------------------------------------------------------------------------------------------- + diff --git a/energy/src/energy/tool/tool.cpp b/energy/src/energy/tool/tool.cpp index 24ba1e2..cc6f402 100644 --- a/energy/src/energy/tool/tool.cpp +++ b/energy/src/energy/tool/tool.cpp @@ -20,69 +20,27 @@ void Energy::extract(cv::Mat &src){ imshow("extract", src); } -void Energy::saveFourPoints(std::vector &FourPoints, cv::Point point_1, cv::Point point_2, cv::Point point_3, cv::Point point_4) { - FourPoints.push_back(point_1); - FourPoints.push_back(point_2); - FourPoints.push_back(point_3); - FourPoints.push_back(point_4); -} - -void Energy::savePoint2f(std::vector &point_save, cv::Point point) { - point_save.push_back(static_cast(point)); -} - -double Energy::pointDistance(cv::Point point_1, cv::Point point_2){ - double distance = 0; - distance = sqrt(pow(static_cast(point_1.x - point_2.x),2) - + pow(static_cast(point_1.y - point_2.y),2)); - return distance; -} - -void Energy::rotate(double rad, double radius, cv::Point center, cv::Point point_old, cv::Point &point_new) { +void Energy::rotate() { int x1, x2, y1, y2; // 为了减小强制转换的误差 - x1 = center.x * 100; - x2 = point_old.x * 100; - y1 = center.y * 100; - y2 = point_old.y * 100; + x1 = circle_center_point.x * 100; + x2 = target_point.x * 100; + y1 = circle_center_point.y * 100; + y2 = target_point.y * 100; - point_new.x = static_cast((x1 + (x2 - x1)*cos(-rad * d2r) - (y1 - y2)*sin(-rad * d2r))/100); - point_new.y = static_cast((y1 - (x2 - x1)*sin(-rad * d2r) - (y1 - y2)*cos(-rad * d2r))/100); + predict_point.x = static_cast((x1 + (x2 - x1)*cos(-predict_rad * d2r) - (y1 - y2)*sin(-predict_rad * d2r))/100); + predict_point.y = static_cast((y1 - (x2 - x1)*sin(-predict_rad * d2r) - (y1 - y2)*cos(-predict_rad * d2r))/100); } void Energy::stretch(cv::Point point_1, cv::Point2f &point_2){ - if(point_1==cycle_center){ - cout<<"stretch wrong!"<( ARMOR_CENTER_TO_CYCLE_CENTER * x_0 / r_0); point_2.y = static_cast( ARMOR_CENTER_TO_CYCLE_CENTER * y_0 / r_0); -} - -void Energy::cycle(cv::Point p1, cv::Point p2, cv::Point p3, cv::Point ¢er, double &radius){ - double x1, y1, x2, y2, x3, y3; - double a, b, c, g, e, f; - x1 = p1.x; - y1 = p1.y; - x2 = p2.x; - y2 = p2.y; - x3 = p3.x; - y3 = p3.y; - - //三点确定圆的方程：(2x2-2x1)X+(2y2-2y1)Y=x2²-x1²+y2²-y1²；(2x3-2x2)X+(2y3-2y2)Y=x3²-x2²+y3²-y2² - e = 2 * (x2 - x1); - f = 2 * (y2 - y1); - g = x2 * x2 - x1 * x1 + y2 * y2 - y1 * y1; - a = 2 * (x3 - x2); - b = 2 * (y3 - y2); - c = x3 * x3 - x2 * x2 + y3 * y3 - y2 * y2; - cycle_center.x = static_cast((g*b - c * f) / (e*b - a * f)); - cycle_center.y = static_cast((a*g - c * e) / (a*f - b * e)); - radius = sqrt((cycle_center.x - x1)*(cycle_center.x - x1) + (cycle_center.y - y1)*(cycle_center.y - y1)); - -} - +} \ No newline at end of file diff --git a/main.cpp b/main.cpp index 63392b7..c989982 100644 --- a/main.cpp +++ b/main.cpp @@ -96,8 +96,6 @@ int main(int argc, char *argv[]) { ArmorFinder armorFinder(mcuData.enemy_color, serial, PROJECT_DIR"/tools/para/", mcuData.use_classifier); Energy energy(serial, mcuData.enemy_color); -// energy.setAllyColor(ally_color); - energy.setRotation(CLOCKWISE); bool ok = true; cout<<"start running"< Date: Fri, 5 Jul 2019 15:53:12 +0800 Subject: [PATCH 04/12] energy changed --- energy/include/energy/constant.h | 2 +- energy/include/energy/energy.h | 8 ++- energy/include/energy/param_struct_define.h | 9 --- .../src/energy/calculate/cycle_calculate.cpp | 63 ------------------- energy/src/energy/calibrate/split.cpp | 11 ++++ energy/src/energy/calibrate/structing.cpp | 9 +++ energy/src/energy/energy.cpp | 18 +++++- energy/src/energy/find/target_finder.cpp | 7 ++- energy/src/energy/get/gimble_rotation_get.cpp | 2 +- energy/src/energy/get/position_get.cpp | 57 ----------------- energy/src/energy/mark/mark.cpp | 31 +++++++++ energy/src/energy/param_init.cpp | 19 ++++-- energy/src/energy/run.cpp | 34 +++------- .../send_target_by_uart.cpp | 10 +++ energy/src/energy/tool/tool.cpp | 15 +++++ 15 files changed, 127 insertions(+), 168 deletions(-) delete mode 100644 energy/src/energy/calculate/cycle_calculate.cpp delete mode 100644 energy/src/energy/get/position_get.cpp create mode 100644 energy/src/energy/mark/mark.cpp diff --git a/energy/include/energy/constant.h b/energy/include/energy/constant.h index 802c421..ea661e9 100644 --- a/energy/include/energy/constant.h +++ b/energy/include/energy/constant.h @@ -17,7 +17,7 @@ const int SRC_HEIGHT = 240; const double PI = 3.1415926; const int CLOCKWISE = 1; const int ANTICLOCKWISE = -1; -const float ATTACK_DISTANCE = 770;//cm +const float ATTACK_DISTANCE = 718;//cm const double WHOLE_FAN = 80;//cm const double ARMOR_CENTER_TO_CYCLE_CENTER = 75;//cm //const double ARMOR_CENTER_TO_CYCLE_CENTER = 71;//cm diff --git a/energy/include/energy/energy.h b/energy/include/energy/energy.h index 9aac222..a358a2d 100644 --- a/energy/include/energy/energy.h +++ b/energy/include/energy/energy.h @@ -89,17 +89,19 @@ private: void showBothContours(std::string windows_name, const cv::Mat src);//显示扇叶和装甲板 void showCenterRContours(std::string windows_name, const cv::Mat src);//显示风车中心候选区R - void getFanPosition();//获取扇叶极坐标角度 - void getArmorPosition();//获取装甲板极坐标角度 + void getFanPolarAngle();//获取扇叶极坐标角度 + void getArmorPolarAngle();//获取装甲板极坐标角度 void getAllArmorCenters();//记录所有装甲板中心坐标 - void cycleLeastFit();//利用所有记录的装甲板中心最小二乘法计算圆心和半径 + void circleLeastFit();//利用所有记录的装甲板中心最小二乘法计算圆心和半径 void findTarget();//获取目标装甲板的极坐标角度和装甲板中心坐标 void rotate();//获取预测点位 void stretch(cv::Point point_1, cv::Point2f &point_2);//将像素差转换为实际距离差 + void writeDownMark();//记录操作手标定的云台初始角度 + void getPredictPoint();//获取预测点位 bool changeTarget();//判断目标是否改变 void changeMark();//操作手手动修改标定值 diff --git a/energy/include/energy/param_struct_define.h b/energy/include/energy/param_struct_define.h index 8b05dc1..587f05c 100644 --- a/energy/include/energy/param_struct_define.h +++ b/energy/include/energy/param_struct_define.h @@ -22,9 +22,6 @@ struct EnergyPart { }; struct EnergyPartParam { - double RPM; - double HIT_TIME; - int GRAY_THRESH; int SPLIT_GRAY_THRESH; int FAN_GRAY_THRESH; @@ -60,12 +57,6 @@ struct EnergyPartParam { float TWIN_ANGEL_MAX; }; -typedef struct GMAngle_t{ - float yaw; - float pitch; -}GMAngle_t; - -extern GMAngle_t aim; #endif //PARAM_STRUCT_DEFINE_H diff --git a/energy/src/energy/calculate/cycle_calculate.cpp b/energy/src/energy/calculate/cycle_calculate.cpp deleted file mode 100644 index 5b75bed..0000000 --- a/energy/src/energy/calculate/cycle_calculate.cpp +++ /dev/null @@ -1,63 +0,0 @@ -// -// Created by xixiliadorabarry on 1/24/19. -// -#include "energy/energy.h" - -using namespace cv; -using std::cout; -using std::endl; -using std::vector; - - - - -//---------------------------------------------------------------------------------------------------------------------- -// 此函数通过最小二乘法计算大风车圆心和半径 -// --------------------------------------------------------------------------------------------------------------------- -void Energy::cycleLeastFit() -{ - circle_center_point.x = 0; - circle_center_point.y = 0; - radius = 0.0f; - if (all_armor_centers.size() < 3) - { -// cout<<"Cannot calculate a circle"<(all_armor_centers.size()); - for (int i = 0; i < N; i++) - { - double x = all_armor_centers.at(i).x; - double y = all_armor_centers.at(i).y; - double x2 = x * x; - double y2 = y * y; - sum_x += x; - sum_y += y; - sum_x2 += x2; - sum_y2 += y2; - sum_x3 += x2 * x; - sum_y3 += y2 * y; - sum_xy += x * y; - sum_x1y2 += x * y2; - sum_x2y1 += x2 * y; - } - double C, D, E, G, H; - double a, b, c; - C = N * sum_x2 - sum_x * sum_x; - D = N * sum_xy - sum_x * sum_y; - E = N * sum_x3 + N * sum_x1y2 - (sum_x2 + sum_y2) * sum_x; - G = N * sum_y2 - sum_y * sum_y; - H = N * sum_x2y1 + N * sum_y3 - (sum_x2 + sum_y2) * sum_y; - a = (H * D - E * G) / (C * G - D * D); - b = (H * C - E * D) / (D * D - G * C); - c = -(a * sum_x + b * sum_y + sum_x2 + sum_y2) / N; - circle_center_point.x = static_cast(a / (-2)); - circle_center_point.y = static_cast(b / (-2)); - radius = sqrt(a * a + b * b - 4 * c) / 2; -// cout << "The cycle center is: " << cycle_center << endl; -// cout << "The radius is: " << radius << endl; -} diff --git a/energy/src/energy/calibrate/split.cpp b/energy/src/energy/calibrate/split.cpp index c4ab981..3c6dc4b 100644 --- a/energy/src/energy/calibrate/split.cpp +++ b/energy/src/energy/calibrate/split.cpp @@ -8,6 +8,11 @@ using std::cout; using std::endl; using std::vector; + + +//---------------------------------------------------------------------------------------------------------------------- +// 此函数用于分离拜耳阵列 +// --------------------------------------------------------------------------------------------------------------------- void Energy::splitBayerBG(cv::Mat src, cv::Mat &blue, cv::Mat &red) { uchar* data; uchar* bayer_data[2]; @@ -24,6 +29,12 @@ void Energy::splitBayerBG(cv::Mat src, cv::Mat &blue, cv::Mat &red) { } } } + + + +//---------------------------------------------------------------------------------------------------------------------- +// 此函数对图像进行通道分离处理 +// --------------------------------------------------------------------------------------------------------------------- void Energy::imagePreprocess(cv::Mat &src) { if(src.type() == CV_8UC1) { diff --git a/energy/src/energy/calibrate/structing.cpp b/energy/src/energy/calibrate/structing.cpp index 97b2721..5b80be8 100644 --- a/energy/src/energy/calibrate/structing.cpp +++ b/energy/src/energy/calibrate/structing.cpp @@ -8,6 +8,10 @@ using std::cout; using std::endl; using std::vector; + +//---------------------------------------------------------------------------------------------------------------------- +// 此函数对图像进行闭运算操作 +// --------------------------------------------------------------------------------------------------------------------- void Energy::StructingElementClose(cv::Mat &src,int length, int width){ if (src.empty())return; //threshold(src, src, energy_part_param_.CAMERA_GRAY_THRESH, 255, THRESH_BINARY); @@ -15,6 +19,11 @@ void Energy::StructingElementClose(cv::Mat &src,int length, int width){ morphologyEx(src, src, MORPH_CLOSE, element); } + + +//---------------------------------------------------------------------------------------------------------------------- +// 此函数对图像进行腐蚀与膨胀操作 +// --------------------------------------------------------------------------------------------------------------------- void Energy::StructingElementErodeDilate(cv::Mat &src) { cv::Mat src_out, src_out_out; Mat element_dilate_1 = getStructuringElement(MORPH_RECT, Size(3, 3)); diff --git a/energy/src/energy/energy.cpp b/energy/src/energy/energy.cpp index a25d52a..a311ec8 100644 --- a/energy/src/energy/energy.cpp +++ b/energy/src/energy/energy.cpp @@ -9,8 +9,10 @@ using std::cout; using std::endl; using std::vector; -extern uint8_t last_state; +//---------------------------------------------------------------------------------------------------------------------- +// 此函数为能量机关构造函数，只要程序不重启就不会重新构造 +// --------------------------------------------------------------------------------------------------------------------- Energy::Energy(Serial &u, uint8_t &color):serial(u),ally_color(color), src_blue(SRC_HEIGHT, SRC_WIDTH, CV_8UC1), src_red(SRC_HEIGHT, SRC_WIDTH, CV_8UC1) @@ -18,7 +20,7 @@ Energy::Energy(Serial &u, uint8_t &color):serial(u),ally_color(color), initEnergy(); initEnergyPartParam(); - save_new_mark = true; + save_new_mark = false; if(ally_color == ALLY_RED){ origin_yaw = red_origin_yaw; @@ -33,14 +35,24 @@ Energy::Energy(Serial &u, uint8_t &color):serial(u),ally_color(color), } } + + +//---------------------------------------------------------------------------------------------------------------------- +// 此函数为能量机关析构函数，设置为默认 +// --------------------------------------------------------------------------------------------------------------------- Energy::~Energy() = default; + + +//---------------------------------------------------------------------------------------------------------------------- +// 此函数为能量机关再初始化函数，如果未重启程序但重新进入能量机关，则会进行初始化，但不会将save_new_mark置为false +// --------------------------------------------------------------------------------------------------------------------- void Energy::setEnergyRotationInit() { initEnergy(); initEnergyPartParam(); energy_rotation_init = true; - if(!save_new_mark){ + if(save_new_mark){ FILE *fp = fopen(PROJECT_DIR"/Mark/mark.txt", "r"); if(fp){ fscanf(fp,"%f %f",&origin_yaw,&origin_pitch); diff --git a/energy/src/energy/find/target_finder.cpp b/energy/src/energy/find/target_finder.cpp index 0cbef27..d2dce40 100644 --- a/energy/src/energy/find/target_finder.cpp +++ b/energy/src/energy/find/target_finder.cpp @@ -8,6 +8,11 @@ using std::cout; using std::endl; using std::vector; + + +//---------------------------------------------------------------------------------------------------------------------- +// 此函数用于匹配扇叶和装甲板，找到目标装甲板,计算其极坐标角度和中心坐标 +// --------------------------------------------------------------------------------------------------------------------- void Energy::findTarget() { if (fan_polar_angle.size() >= armor_polar_angle.size()) return;//扇叶多于装甲板，识别错误 if (armor_polar_angle.empty())return;//找不到扇叶，识别错误 @@ -26,7 +31,7 @@ void Energy::findTarget() { if (armor_polar_angle.at(i) - fan_polar_angle.at(j) < energy_part_param_.TWIN_ANGEL_MAX && armor_polar_angle.at(i) - fan_polar_angle.at(j) > -1 * energy_part_param_.TWIN_ANGEL_MAX) { j++; - continue;//若某个扇叶的极坐标角度与第j个装甲板的极坐标角度接近，则两者匹配成功 + continue;//若第i个扇叶的极坐标角度与第j个装甲板的极坐标角度接近，则两者匹配成功，i与j都加1 } else { target_polar_angle = armor_polar_angle.at(j);//无法被匹配到的装甲板为待击打装甲板 diff --git a/energy/src/energy/get/gimble_rotation_get.cpp b/energy/src/energy/get/gimble_rotation_get.cpp index c957e8c..d300c30 100644 --- a/energy/src/energy/get/gimble_rotation_get.cpp +++ b/energy/src/energy/get/gimble_rotation_get.cpp @@ -39,7 +39,7 @@ void Energy::changeMark() { //---------------------------------------------------------------------------------------------------------------------- -// 此函数用于计算云台应当转到角度 +// 此函数用于计算云台应当转到的角度 // --------------------------------------------------------------------------------------------------------------------- void Energy::gimbleRotation(){ cv::Point2f real_predict_point;//计算在真实世界中的预测点位，进而计算云台的旋转角度 diff --git a/energy/src/energy/get/position_get.cpp b/energy/src/energy/get/position_get.cpp deleted file mode 100644 index 6ca5ddb..0000000 --- a/energy/src/energy/get/position_get.cpp +++ /dev/null @@ -1,57 +0,0 @@ -// -// Created by xixiliadorabarry on 1/24/19. -// -#include "energy/energy.h" - -using namespace cv; -using std::cout; -using std::endl; -using std::vector; - - - - -//---------------------------------------------------------------------------------------------------------------------- -// 此函数用于获得图像中所有扇叶的当前极坐标角度 -// --------------------------------------------------------------------------------------------------------------------- -void Energy::getFanPosition() { - if (radius == 0)return; - for (const auto &fan : fans) - { - float angle = static_cast(180 / PI * atan2(-1 * (fan.rect.center.y - circle_center_point.y), - (fan.rect.center.x - circle_center_point.x))); - fan_polar_angle.push_back(angle); - } -// cout << "fanPosition.size() = " << fanPosition.size() << '\t' << endl; -} - - - - -//---------------------------------------------------------------------------------------------------------------------- -// 此函数用于获得图像中所有装甲板的当前极坐标角度 -// --------------------------------------------------------------------------------------------------------------------- -void Energy::getArmorPosition() { - if (radius == 0)return; - for (const auto &armor : armors) - { - float angle = static_cast(180 / PI * atan2(-1 * (armor.rect.center.y - circle_center_point.y), - (armor.rect.center.x - circle_center_point.x))); - armor_polar_angle.push_back(angle); - - } -// cout << "armorPosition.size() = " << armorPosition.size() << '\t' << endl; -} - - - - -//---------------------------------------------------------------------------------------------------------------------- -// 此函数用于存储图像中所有装甲板的中心坐标，以便后续最小二乘法计算圆心和半径 -// --------------------------------------------------------------------------------------------------------------------- -void Energy::getAllArmorCenters() -{ - for (const auto &armor : armors) { - all_armor_centers.push_back(armor.rect.center); - } -} \ No newline at end of file diff --git a/energy/src/energy/mark/mark.cpp b/energy/src/energy/mark/mark.cpp new file mode 100644 index 0000000..9280858 --- /dev/null +++ b/energy/src/energy/mark/mark.cpp @@ -0,0 +1,31 @@ +// +// Created by sun on 19-7-5. +// + +#include "energy/energy.h" + +using namespace std; +using namespace cv; + +void Energy::writeDownMark() { + if(armors_cnt>=4 && fans_cnt>=3) { + FILE *fp = fopen(PROJECT_DIR"/Mark/mark.txt", "w"); + if (fp) { + fprintf(fp, "yaw: %f, pitch: %f\n", origin_yaw, origin_pitch); + fclose(fp); + save_new_mark = true; + } + FILE *fp_all = fopen(PROJECT_DIR"/Mark/mark_all.txt", "a"); + if (fp_all) { + fprintf(fp_all, "yaw: %f, pitch: %f\n", origin_yaw, origin_pitch); + fclose(fp_all); + } + } + if(armors_cnt==5){ + FILE *fp_best = fopen(PROJECT_DIR"/Mark/mark_best.txt", "a"); + if(fp_best){ + fprintf(fp_best, "yaw: %f, pitch: %f\n",origin_yaw, origin_pitch); + fclose(fp_best); + } + } +} \ No newline at end of file diff --git a/energy/src/energy/param_init.cpp b/energy/src/energy/param_init.cpp index dc48ae4..44f2b8b 100644 --- a/energy/src/energy/param_init.cpp +++ b/energy/src/energy/param_init.cpp @@ -9,6 +9,11 @@ using std::cout; using std::endl; using std::vector; + + +//---------------------------------------------------------------------------------------------------------------------- +// 此函数对能量机关成员变量进行初始化 +// --------------------------------------------------------------------------------------------------------------------- void Energy::initEnergy() { isMark = false; @@ -52,11 +57,12 @@ void Energy::initEnergy() { anticlockwise_rotation_init_cnt = 0; } + + +//---------------------------------------------------------------------------------------------------------------------- +// 此函数对能量机关参数进行初始化 +// --------------------------------------------------------------------------------------------------------------------- void Energy::initEnergyPartParam() { - - energy_part_param_.RPM = 10; - energy_part_param_.HIT_TIME = 1.14; - energy_part_param_.GRAY_THRESH = 240; energy_part_param_.SPLIT_GRAY_THRESH = 60; energy_part_param_.FAN_GRAY_THRESH = 75; @@ -93,6 +99,11 @@ void Energy::initEnergyPartParam() { } + + +//---------------------------------------------------------------------------------------------------------------------- +// 此函数对能量机关旋转方向进行初始化 +// --------------------------------------------------------------------------------------------------------------------- void Energy::initRotation() { if (target_polar_angle >= -180 && last_target_polar_angle >= -180 && fabs(target_polar_angle - last_target_polar_angle) < 30) { diff --git a/energy/src/energy/run.cpp b/energy/src/energy/run.cpp index a1ce396..915ab0e 100644 --- a/energy/src/energy/run.cpp +++ b/energy/src/energy/run.cpp @@ -9,10 +9,11 @@ using std::cout; using std::endl; using std::vector; -//extern float curr_yaw, curr_pitch, mark_yaw, mark_pitch; -//extern int mark; +//---------------------------------------------------------------------------------------------------------------------- +// 此函数为能量机关模式主控制流函数 +// --------------------------------------------------------------------------------------------------------------------- int Energy::run(cv::Mat &src){ // imshow("src",src); fans.clear(); @@ -45,37 +46,18 @@ int Energy::run(cv::Mat &src){ centerRs_cnt = findCenterR(src); if(centerRs_cnt>0)showCenterRContours("R",src); - if(armors_cnt>=4 && fans_cnt>=3) { - FILE *fp = fopen(PROJECT_DIR"/Mark/mark.txt", "w"); - if (fp) { - fprintf(fp, "yaw: %f, pitch: %f\n", origin_yaw, origin_pitch); - fclose(fp); - save_new_mark = false; - } - FILE *fp_all = fopen(PROJECT_DIR"/Mark/mark_all.txt", "a"); - if (fp_all) { - fprintf(fp_all, "yaw: %f, pitch: %f\n", origin_yaw, origin_pitch); - fclose(fp_all); - } - } - if(armors_cnt==5){ - FILE *fp_best = fopen(PROJECT_DIR"/Mark/mark_best.txt", "a"); - if(fp_best){ - fprintf(fp_best, "yaw: %f, pitch: %f\n",origin_yaw, origin_pitch); - fclose(fp_best); - } - } + if(armors_cnt != fans_cnt+1) { return 0; } getAllArmorCenters(); - cycleLeastFit(); - attack_distance = 718; + circleLeastFit(); + attack_distance = ATTACK_DISTANCE; - getFanPosition(); - getArmorPosition(); + getFanPolarAngle(); + getArmorPolarAngle(); findTarget(); if (energy_rotation_init) { diff --git a/energy/src/energy/send_target_by_uart/send_target_by_uart.cpp b/energy/src/energy/send_target_by_uart/send_target_by_uart.cpp index 3de33d8..eccf26c 100644 --- a/energy/src/energy/send_target_by_uart/send_target_by_uart.cpp +++ b/energy/src/energy/send_target_by_uart/send_target_by_uart.cpp @@ -5,6 +5,11 @@ #include using namespace std; + + +//---------------------------------------------------------------------------------------------------------------------- +// 此函数用于向主控板发送数据 +// --------------------------------------------------------------------------------------------------------------------- bool sendTarget(Serial& serial, float x, float y, float z) { static short x_tmp, y_tmp, z_tmp; uint8_t buff[8]; @@ -22,6 +27,11 @@ bool sendTarget(Serial& serial, float x, float y, float z) { return serial.WriteData(buff, sizeof(buff)); } + + +//---------------------------------------------------------------------------------------------------------------------- +// 此函数用于操作手数据发送 +// --------------------------------------------------------------------------------------------------------------------- void Energy::sendTargetByUart(float x, float y, float z) { if(changeTarget())target_cnt++; sendTarget(serial, x, y, z); diff --git a/energy/src/energy/tool/tool.cpp b/energy/src/energy/tool/tool.cpp index cc6f402..e4a9c7d 100644 --- a/energy/src/energy/tool/tool.cpp +++ b/energy/src/energy/tool/tool.cpp @@ -13,6 +13,11 @@ using std::cout; using std::endl; using std::vector; + + +//---------------------------------------------------------------------------------------------------------------------- +// 此函数选取图像中的一部分进行处理 +// --------------------------------------------------------------------------------------------------------------------- void Energy::extract(cv::Mat &src){ cv::Rect rect(EXTRACT_POINT_X, EXTRACT_POINT_Y, EXTRACT_WIDTH, EXTRACT_HEIGHT); src = src(rect).clone(); @@ -20,6 +25,11 @@ void Energy::extract(cv::Mat &src){ imshow("extract", src); } + + +//---------------------------------------------------------------------------------------------------------------------- +// 此函数用于计算预测的击打点坐标 +// --------------------------------------------------------------------------------------------------------------------- void Energy::rotate() { int x1, x2, y1, y2; // 为了减小强制转换的误差 @@ -32,6 +42,11 @@ void Energy::rotate() { predict_point.y = static_cast((y1 - (x2 - x1)*sin(-predict_rad * d2r) - (y1 - y2)*cos(-predict_rad * d2r))/100); } + + +//---------------------------------------------------------------------------------------------------------------------- +// 此函数将像素差转换到实际距离差 +// --------------------------------------------------------------------------------------------------------------------- void Energy::stretch(cv::Point point_1, cv::Point2f &point_2){ if(point_1==circle_center_point){ // cout<<"stretch wrong!"< Date: Fri, 5 Jul 2019 16:34:03 +0800 Subject: [PATCH 05/12] energy changed --- energy/include/energy/constant.h | 16 ----- energy/include/energy/energy.h | 2 +- energy/include/energy/param_struct_define.h | 68 ++++++++++-------- energy/src/energy/run.cpp | 5 +- main.cpp | 78 +++++++++++++++------ others/include/additions/additions.h | 4 ++ others/src/additions/additions.cpp | 1 - 7 files changed, 105 insertions(+), 69 deletions(-) diff --git a/energy/include/energy/constant.h b/energy/include/energy/constant.h index ea661e9..08ca61d 100644 --- a/energy/include/energy/constant.h +++ b/energy/include/energy/constant.h @@ -18,28 +18,12 @@ const double PI = 3.1415926; const int CLOCKWISE = 1; const int ANTICLOCKWISE = -1; const float ATTACK_DISTANCE = 718;//cm -const double WHOLE_FAN = 80;//cm const double ARMOR_CENTER_TO_CYCLE_CENTER = 75;//cm -//const double ARMOR_CENTER_TO_CYCLE_CENTER = 71;//cm const int EXTRACT_POINT_X = 120; const int EXTRACT_POINT_Y = 0; const int EXTRACT_WIDTH = 400; const int EXTRACT_HEIGHT = 300; -//以摄像头正方向位y轴 -const int GM_L = 14;//云台摄像头z方向 -const int GM_X = 15;//云台摄像头x方向 -const int GM_H = 16;//云台摄像头y方向 - -//const double STRETCH = 231.0/640.0;//实际距离与图像伸缩比 -const double STRETCH = 0.34; - -const int ZERO_POINT_X = 281; -const int ZERO_POINT_Y = 188; -const double YAW_ORIGIN_RAD = PI/180*2.25; -const double PITCH_ORIGIN_RAD = PI/180*14.85; - -const double LIFT_HEIGHT = 20;//云台抬升高度 #endif //CONSTANT_H diff --git a/energy/include/energy/energy.h b/energy/include/energy/energy.h index a358a2d..7551947 100644 --- a/energy/include/energy/energy.h +++ b/energy/include/energy/energy.h @@ -25,7 +25,7 @@ class Energy { public: Energy(Serial &u, uint8_t &color);//构造函数，参数为串口和敌方颜色 ~Energy();//默认析构函数 - int run(cv::Mat &src); + int run(cv::Mat &gimble_src, cv::Mat &base_src); Serial &serial;//串口 void setEnergyRotationInit();//判断顺逆时针函数 void extract(cv::Mat &src);//框取图像中的一块区域进行处理 diff --git a/energy/include/energy/param_struct_define.h b/energy/include/energy/param_struct_define.h index 587f05c..3e6f3b1 100644 --- a/energy/include/energy/param_struct_define.h +++ b/energy/include/energy/param_struct_define.h @@ -10,6 +10,11 @@ using std::vector; + + +//---------------------------------------------------------------------------------------------------------------------- +// 此结构体为能量机关模块的结构体，用于寻找矩形轮廓 +// --------------------------------------------------------------------------------------------------------------------- struct EnergyPart { cv::RotatedRect rect; float angle; @@ -21,40 +26,45 @@ struct EnergyPart { }; }; + + +//---------------------------------------------------------------------------------------------------------------------- +// 此结构体包括能量机关参数 +// --------------------------------------------------------------------------------------------------------------------- struct EnergyPartParam { - int GRAY_THRESH; - int SPLIT_GRAY_THRESH; - int FAN_GRAY_THRESH; - int ARMOR_GRAY_THRESH; + int GRAY_THRESH;//二值化阈值 + int SPLIT_GRAY_THRESH;//通道分离二值化阈值 + int FAN_GRAY_THRESH;//扇叶识别二值化阈值 + int ARMOR_GRAY_THRESH;//装甲板识别二值化阈值 - long FAN_CONTOUR_AREA_MAX; - long FAN_CONTOUR_AREA_MIN; - long FAN_CONTOUR_LENGTH_MIN; - long FAN_CONTOUR_LENGTH_MAX; - long FAN_CONTOUR_WIDTH_MIN; - long FAN_CONTOUR_WIDTH_MAX; - float FAN_CONTOUR_HW_RATIO_MAX; - float FAN_CONTOUR_HW_RATIO_MIN; + long FAN_CONTOUR_AREA_MAX;//扇叶面积最大值 + long FAN_CONTOUR_AREA_MIN;//扇叶面积最小值 + long FAN_CONTOUR_LENGTH_MIN;//扇叶长边长度最小值 + long FAN_CONTOUR_LENGTH_MAX;//扇叶长边长度最大值 + long FAN_CONTOUR_WIDTH_MIN;//扇叶宽边长度最小值 + long FAN_CONTOUR_WIDTH_MAX;//扇叶宽边长度最大值 + float FAN_CONTOUR_HW_RATIO_MAX;//扇叶长宽比最大值 + float FAN_CONTOUR_HW_RATIO_MIN;//扇叶长宽比最小值 - long ARMOR_CONTOUR_AREA_MAX; - long ARMOR_CONTOUR_AREA_MIN; - long ARMOR_CONTOUR_LENGTH_MIN; - long ARMOR_CONTOUR_WIDTH_MIN; - long ARMOR_CONTOUR_LENGTH_MAX; - long ARMOR_CONTOUR_WIDTH_MAX; - float ARMOR_CONTOUR_HW_RATIO_MAX; - float ARMOR_CONTOUR_HW_RATIO_MIN; + long ARMOR_CONTOUR_AREA_MAX;//装甲板面积最大值 + long ARMOR_CONTOUR_AREA_MIN;//装甲板面积最小值 + long ARMOR_CONTOUR_LENGTH_MIN;//装甲板长边长度最小值 + long ARMOR_CONTOUR_WIDTH_MIN;//装甲板长边长度最大值 + long ARMOR_CONTOUR_LENGTH_MAX;//装甲板宽边长度最小值 + long ARMOR_CONTOUR_WIDTH_MAX;//装甲板宽边长度最大值 + float ARMOR_CONTOUR_HW_RATIO_MAX;//装甲板长宽比最大值 + float ARMOR_CONTOUR_HW_RATIO_MIN;//装甲板长宽比最小值 - long CENTER_R_CONTOUR_AREA_MAX; - long CENTER_R_CONTOUR_AREA_MIN; - long CENTER_R_CONTOUR_LENGTH_MIN; - long CENTER_R_CONTOUR_WIDTH_MIN; - long CENTER_R_CONTOUR_LENGTH_MAX; - long CENTER_R_CONTOUR_WIDTH_MAX; - float CENTER_R_CONTOUR_HW_RATIO_MAX; - float CENTER_R_CONTOUR_HW_RATIO_MIN; + long CENTER_R_CONTOUR_AREA_MAX;//风车中心R面积最大值 + long CENTER_R_CONTOUR_AREA_MIN;//风车中心R面积最小值 + long CENTER_R_CONTOUR_LENGTH_MIN;//风车中心R长边长度最小值 + long CENTER_R_CONTOUR_WIDTH_MIN;//风车中心R长边长度最大值 + long CENTER_R_CONTOUR_LENGTH_MAX;//风车中心R宽边长度最小值 + long CENTER_R_CONTOUR_WIDTH_MAX;//风车中心R宽边长度最大值 + float CENTER_R_CONTOUR_HW_RATIO_MAX;//风车中心R长宽比最大值 + float CENTER_R_CONTOUR_HW_RATIO_MIN;//风车中心R长宽比最小值 - float TWIN_ANGEL_MAX; + float TWIN_ANGEL_MAX;//扇叶和装甲板匹配时极坐标角度差的最大值 }; diff --git a/energy/src/energy/run.cpp b/energy/src/energy/run.cpp index 915ab0e..fd0682b 100644 --- a/energy/src/energy/run.cpp +++ b/energy/src/energy/run.cpp @@ -14,7 +14,10 @@ using std::vector; //---------------------------------------------------------------------------------------------------------------------- // 此函数为能量机关模式主控制流函数 // --------------------------------------------------------------------------------------------------------------------- -int Energy::run(cv::Mat &src){ +int Energy::run(cv::Mat &gimble_src, cv::Mat &base_src){ + + cv::Mat src = gimble_src; + // imshow("src",src); fans.clear(); armors.clear(); diff --git a/main.cpp b/main.cpp index c989982..eec46a4 100644 --- a/main.cpp +++ b/main.cpp @@ -20,16 +20,13 @@ #include -#define ENERGY_STATE 'e' -#define ARMOR_STATE 'a' - using namespace cv; using namespace std; mcu_data mcuData = { 0, 0, - ENERGY_STATE, + BIG_ENERGY_STATE, 0, 1, ENEMY_RED, @@ -101,26 +98,28 @@ int main(int argc, char *argv[]) { cout<<"start running"<read(energy_src); + if (video_armor && video_energy) { + ok = video_armor->read(armor_src) && video_energy->read(energy_src); if (!ok) { + delete video_armor; delete video_energy; + video_armor = nullptr; video_energy = nullptr; } if(save_video){ Mat energy_save = energy_src.clone(); cvtColor(energy_save,energy_save,COLOR_GRAY2BGR); + armor_video_writer.write(armor_src); energy_video_writer.write(energy_save); -// cout<init()){ delete video_energy; video_energy = nullptr; } } + } - } else if (mcuData.state == ARMOR_STATE) { - last_state = mcuData.state; + else if (mcuData.state == SMALL_ENERGY_STATE) { + last_state = mcuData.state; + if (video_armor && video_energy) { + ok = video_armor->read(armor_src) && video_energy->read(energy_src); + if (!ok) { + delete video_armor; + delete video_energy; + video_armor = nullptr; + video_energy = nullptr; + } + if(save_video){ + Mat energy_save = energy_src.clone(); + cvtColor(energy_save,energy_save,COLOR_GRAY2BGR); + armor_video_writer.write(armor_src); + energy_video_writer.write(energy_save); + } + if (show_origin) { + imshow("armor src", armor_src); + imshow("energy src", energy_src); + } +// if (from_camera == 0) { +// cv::resize(energy_src, energy_src, cv::Size(640, 480), 2); +// imshow("resize", energy_src); +// energy.extract(energy_src); +// } + energy.run(armor_src, energy_src); + waitKey(1); + } + else { + video_energy = new CameraWrapper(1, "energy"); + if(!video_energy->init()){ + delete video_energy; + video_energy = nullptr; + } + } + } + + else if (mcuData.state == ARMOR_STATE) { + last_state = mcuData.state; if (video_armor) { ok = video_armor->read(armor_src); if (!ok) { @@ -148,17 +186,16 @@ int main(int argc, char *argv[]) { } if(save_video){ armor_video_writer.write(armor_src); -// cout<init()){ delete video_armor; @@ -166,8 +203,7 @@ int main(int argc, char *argv[]) { } } } -// cout< 1) std::string video_name = filename_prefix + std::to_string(cnt) + ".avi"; } - From 5fb6db440b3701a44cf06ea11594bbb4f4e175f4 Mon Sep 17 00:00:00 2001 From: sun Date: Fri, 5 Jul 2019 23:13:18 +0800 Subject: [PATCH 06/12] energy changed --- energy/include/energy/energy.h | 6 +- energy/src/energy/param_init.cpp | 2 +- energy/src/energy/run.cpp | 72 +++++++--- energy/src/energy/show/show.cpp | 31 +++-- energy/src/energy/tool/tool.cpp | 12 ++ main.cpp | 188 ++++++++------------------- others/include/additions/additions.h | 8 +- others/include/camera/wrapper_head.h | 1 - others/src/additions/additions.cpp | 105 +++++++++++++-- others/src/camera/camera_wrapper.cpp | 2 + 10 files changed, 243 insertions(+), 184 deletions(-) diff --git a/energy/include/energy/energy.h b/energy/include/energy/energy.h index 7551947..9d615ca 100644 --- a/energy/include/energy/energy.h +++ b/energy/include/energy/energy.h @@ -25,7 +25,10 @@ class Energy { public: Energy(Serial &u, uint8_t &color);//构造函数，参数为串口和敌方颜色 ~Energy();//默认析构函数 - int run(cv::Mat &gimble_src, cv::Mat &base_src); + int runBig(cv::Mat &gimble_src, cv::Mat &chassis_src); + int runBig(cv::Mat &gimble_src); + int runSmall(cv::Mat &gimble_src, cv::Mat &chassis_src); + int runSmall(cv::Mat &gimble_src); Serial &serial;//串口 void setEnergyRotationInit();//判断顺逆时针函数 void extract(cv::Mat &src);//框取图像中的一块区域进行处理 @@ -99,6 +102,7 @@ private: void rotate();//获取预测点位 void stretch(cv::Point point_1, cv::Point2f &point_2);//将像素差转换为实际距离差 + double pointDistance(cv::Point point_1, cv::Point point_2);//计算两点距离 void writeDownMark();//记录操作手标定的云台初始角度 diff --git a/energy/src/energy/param_init.cpp b/energy/src/energy/param_init.cpp index 44f2b8b..8779cf6 100644 --- a/energy/src/energy/param_init.cpp +++ b/energy/src/energy/param_init.cpp @@ -26,7 +26,7 @@ void Energy::initEnergy() { target_polar_angle = -1000; last_target_polar_angle = -1000; radius = 0; - energy_rotation_direction = CLOCKWISE; + energy_rotation_direction = ANTICLOCKWISE; attack_distance = ATTACK_DISTANCE; last_fans_cnt = 0; last_armors_cnt = 0; diff --git a/energy/src/energy/run.cpp b/energy/src/energy/run.cpp index fd0682b..84c20c6 100644 --- a/energy/src/energy/run.cpp +++ b/energy/src/energy/run.cpp @@ -12,12 +12,23 @@ using std::vector; //---------------------------------------------------------------------------------------------------------------------- -// 此函数为能量机关模式主控制流函数 +// 此函数为大能量机关模式主控制流函数，且步兵需要同时拥有云台摄像头和底盘摄像头 // --------------------------------------------------------------------------------------------------------------------- -int Energy::run(cv::Mat &gimble_src, cv::Mat &base_src){ +int Energy::runBig(cv::Mat &gimble_src, cv::Mat &chassis_src){ + if(chassis_src.empty())runBig(gimble_src);//仅拥有云台摄像头则调用单摄像头的run函数 + else { + runBig(chassis_src); + return 0; + } +} - cv::Mat src = gimble_src; + + +//---------------------------------------------------------------------------------------------------------------------- +// 此函数为大能量机关模式主控制流函数，且步兵仅拥有云台摄像头 +// --------------------------------------------------------------------------------------------------------------------- +int Energy::runBig(cv::Mat &gimble_src){ // imshow("src",src); fans.clear(); armors.clear(); @@ -25,35 +36,29 @@ int Energy::run(cv::Mat &gimble_src, cv::Mat &base_src){ fan_polar_angle.clear(); armor_polar_angle.clear(); - changeMark(); - if (isMark)return 0; + changeMark(); + if (isMark)return 0; // imagePreprocess(src); // imshow("img_preprocess",src); - threshold(src, src, energy_part_param_.GRAY_THRESH, 255, THRESH_BINARY); + threshold(gimble_src, gimble_src, energy_part_param_.GRAY_THRESH, 255, THRESH_BINARY); // imshow("bin",src); - fans_cnt = findFan(src, last_fans_cnt); + fans_cnt = findFan(gimble_src, last_fans_cnt); // cout<<"fans_cnt: "<0)showFanContours("fan",src); // fans_cnt=0; - armors_cnt = findArmor(src, last_armors_cnt); + armors_cnt = findArmor(gimble_src, last_armors_cnt); // cout<<"armors_cnt: "<0) showArmorContours("armor",src); - if(armors_cnt>0||fans_cnt>0) showBothContours("Both",src); + if(armors_cnt != fans_cnt+1) return 0; - centerRs_cnt = findCenterR(src); - if(centerRs_cnt>0)showCenterRContours("R",src); - - - if(armors_cnt != fans_cnt+1) - { - return 0; - } + centerRs_cnt = findCenterR(gimble_src); +// if(centerRs_cnt>0)showCenterRContours("R", gimble_src); getAllArmorCenters(); circleLeastFit(); @@ -63,10 +68,12 @@ int Energy::run(cv::Mat &gimble_src, cv::Mat &base_src){ getArmorPolarAngle(); findTarget(); - if (energy_rotation_init) { - initRotation(); - return 0; - } + if(armors_cnt>0||fans_cnt>0) showBothContours("Both", gimble_src); + + if (energy_rotation_init) { + initRotation(); + return 0; + } getPredictPoint(); gimbleRotation(); sendTargetByUart(yaw_rotation, pitch_rotation, target_cnt); @@ -79,3 +86,26 @@ int Energy::run(cv::Mat &gimble_src, cv::Mat &base_src){ + +//---------------------------------------------------------------------------------------------------------------------- +// 此函数为小能量机关模式主控制流函数，且步兵需要同时拥有云台摄像头和底盘摄像头 +// --------------------------------------------------------------------------------------------------------------------- +int Energy::runSmall(cv::Mat &gimble_src, cv::Mat &chassis_src){ + if(chassis_src.empty())runSmall(gimble_src);//仅拥有云台摄像头则调用单摄像头的run函数 + else return 0; +} + + + + + +//---------------------------------------------------------------------------------------------------------------------- +// 此函数为小能量机关模式主控制流函数，且步兵仅拥有云台摄像头 +// --------------------------------------------------------------------------------------------------------------------- +int Energy::runSmall(cv::Mat &gimble_src){ + +} + + + + diff --git a/energy/src/energy/show/show.cpp b/energy/src/energy/show/show.cpp index ce5e198..a226857 100644 --- a/energy/src/energy/show/show.cpp +++ b/energy/src/energy/show/show.cpp @@ -8,6 +8,8 @@ using std::cout; using std::endl; using std::vector; + + //---------------------------------------------------------------------------------------------------------------------- // 此函数用于显示图像中所有扇叶 // --------------------------------------------------------------------------------------------------------------------- @@ -23,19 +25,18 @@ void Energy::showFanContours(std::string windows_name, const cv::Mat src) { { image2show = src.clone(); } - //cvtColor(image2show, image2show, COLOR_GRAY2RGB); for (const auto &fan : fans) { Point2f vertices[4]; //定义矩形的4个顶点 fan.rect.points(vertices); //计算矩形的4个顶点 for (int i = 0; i < 4; i++) line(image2show, vertices[i], vertices[(i + 1) % 4], Scalar(255, 0, 0), 2); - //cout << fan.rect.center << '\t' << fan.rect.angle << '\t'; - //cout << endl; } imshow(windows_name, image2show); } + + //---------------------------------------------------------------------------------------------------------------------- // 此函数用于显示图像中所有装甲板 // --------------------------------------------------------------------------------------------------------------------- @@ -51,19 +52,21 @@ void Energy::showArmorContours(std::string windows_name, const cv::Mat src) { { image2show = src.clone(); } - //cvtColor(image2show, image2show, COLOR_GRAY2RGB); for (const auto &armor : armors) { Point2f vertices[4]; //定义矩形的4个顶点 armor.rect.points(vertices); //计算矩形的4个顶点 for (int i = 0; i < 4; i++) line(image2show, vertices[i], vertices[(i + 1) % 4], Scalar(0, 0, 255), 2); - //cout << armor.rect.center << '\t' << armor.rect.angle << '\t'; - //cout << endl; } imshow(windows_name, image2show); } + + +//---------------------------------------------------------------------------------------------------------------------- +// 此函数用于显示图像中所有扇叶和装甲板,并框出待击打装甲板 +// --------------------------------------------------------------------------------------------------------------------- void Energy::showBothContours(std::string windows_name, const cv::Mat src) { if (src.empty())return; static Mat image2show; @@ -75,25 +78,23 @@ void Energy::showBothContours(std::string windows_name, const cv::Mat src) { { image2show = src.clone(); } - //cvtColor(image2show, image2show, COLOR_GRAY2RGB); for (const auto &fan : fans) { Point2f vertices[4]; //定义矩形的4个顶点 fan.rect.points(vertices); //计算矩形的4个顶点 for (int i = 0; i < 4; i++) line(image2show, vertices[i], vertices[(i + 1) % 4], Scalar(255, 0, 0), 4); -// cout << "fan" << fan.rect.size.height <<'\t'<< fan.rect.size.width << '\t' << '\t'; -// cout << endl; } for (const auto &armor : armors) { Point2f vertices[4]; //定义矩形的4个顶点 armor.rect.points(vertices); //计算矩形的4个顶点 - for (int i = 0; i < 4; i++) - line(image2show, vertices[i], vertices[(i + 1) % 4], Scalar(0, 0, 255), 4); -// cout << "armor center: "<< armor.rect.center << '\t'<< "armor angle: "<< armor.rect.angle; -// cout << endl; - + for (int i = 0; i < 4; i++){ + if(pointDistance(static_cast(armor.rect.center),target_point) < 5) + line(image2show, vertices[i], vertices[(i + 1) % 4], Scalar(255, 255, 0), 4); + else + line(image2show, vertices[i], vertices[(i + 1) % 4], Scalar(0, 0, 255), 4); + } cv::Point2f point = armor.rect.center; cv::circle(image2show, point, 2, cv::Scalar(0, 0, 255));//在图像中画出特征点，2是圆的半径 @@ -102,6 +103,8 @@ void Energy::showBothContours(std::string windows_name, const cv::Mat src) { imshow(windows_name, image2show); } + + //---------------------------------------------------------------------------------------------------------------------- // 此函数用于显示图像中所有可能的风车中心候选区R // --------------------------------------------------------------------------------------------------------------------- diff --git a/energy/src/energy/tool/tool.cpp b/energy/src/energy/tool/tool.cpp index e4a9c7d..6818636 100644 --- a/energy/src/energy/tool/tool.cpp +++ b/energy/src/energy/tool/tool.cpp @@ -58,4 +58,16 @@ void Energy::stretch(cv::Point point_1, cv::Point2f &point_2){ point_2.x = static_cast( ARMOR_CENTER_TO_CYCLE_CENTER * x_0 / r_0); point_2.y = static_cast( ARMOR_CENTER_TO_CYCLE_CENTER * y_0 / r_0); +} + + +//---------------------------------------------------------------------------------------------------------------------- +// 此函数用于计算两点距离 +// --------------------------------------------------------------------------------------------------------------------- + +double Energy::pointDistance(cv::Point point_1, cv::Point point_2){ + double distance = 0; + distance = sqrt(pow(static_cast(point_1.x - point_2.x),2) + + pow(static_cast(point_1.y - point_2.y),2)); + return distance; } \ No newline at end of file diff --git a/main.cpp b/main.cpp index eec46a4..624fb61 100644 --- a/main.cpp +++ b/main.cpp @@ -26,16 +26,23 @@ using namespace std; mcu_data mcuData = { 0, 0, - BIG_ENERGY_STATE, + ARMOR_STATE, 0, 1, ENEMY_RED, }; +WrapperHead *video_gimble = nullptr; +WrapperHead *video_chassis = nullptr; + +Serial serial(115200); +uint8_t last_state = mcuData.state; + +ArmorFinder armorFinder(mcuData.enemy_color, serial, PROJECT_DIR"/tools/para/", mcuData.use_classifier); +Energy energy(serial, mcuData.enemy_color); + int main(int argc, char *argv[]) { process_options(argc, argv); - Serial serial(115200); - uint8_t last_state = mcuData.state; thread receive(uartReceive, &serial); int from_camera = 1; @@ -45,170 +52,81 @@ int main(int argc, char *argv[]) { } while (true) { - VideoWriter armor_video_writer, energy_video_writer; - if (save_video) { - initVideoWriter(armor_video_writer, PROJECT_DIR"/armor_video/"); - initVideoWriter(energy_video_writer, PROJECT_DIR"/energy_video/"); - } - - WrapperHead *video_armor=nullptr; - WrapperHead *video_energy=nullptr; if (from_camera) { - video_armor = new CameraWrapper(0, "armor"); - video_energy = new CameraWrapper(1, "energy"); + video_gimble = new CameraWrapper(0, "armor"); + video_chassis = new CameraWrapper(1, "energy"); } else { -// string armor_video, energy_video; -// lastVideo(armor_video, PROJECT_DIR"/armor_video/"); -// video_armor = new VideoWrapper(armor_video); -// lastVideo(energy_video, PROJECT_DIR"/energy_video/"); -// video_energy = new VideoWrapper(energy_video); - video_armor = new VideoWrapper("/home/sun/项目/energy_video/energy_test.avi"); - video_energy = new VideoWrapper("/home/sun/项目/energy_video/energy_test.avi"); + video_gimble = new VideoWrapper("/home/sun/项目/energy_video/energy_test.avi"); + video_chassis = new VideoWrapper("/home/sun/项目/energy_video/energy_test.avi"); } - if (video_armor->init()) { + if (video_gimble->init()) { LOGM("video_armor source initialization successfully."); } else { LOGW("video_armor source unavailable!"); - delete video_armor; - video_armor = nullptr; + delete video_gimble; + video_gimble = nullptr; } - if (video_energy->init()) { + if (video_chassis->init()) { LOGM("video_energy source initialization successfully."); } else { LOGW("video_energy source unavailable!"); - delete video_energy; - video_energy = nullptr; + delete video_chassis; + video_chassis = nullptr; } - Mat energy_src, armor_src; + Mat gimble_src, chassis_src; for (int i = 0; i < 10; i++) { - if (video_armor) { - video_armor->read(armor_src); + if (video_gimble) { + video_gimble->read(gimble_src); } - if (video_energy) { - video_energy->read(energy_src); + if (video_chassis) { + video_chassis->read(chassis_src); } } - - ArmorFinder armorFinder(mcuData.enemy_color, serial, PROJECT_DIR"/tools/para/", mcuData.use_classifier); - - Energy energy(serial, mcuData.enemy_color); - bool ok = true; cout<<"start running"<read(armor_src) && video_energy->read(energy_src); - if (!ok) { - delete video_armor; - delete video_energy; - video_armor = nullptr; - video_energy = nullptr; - } - if(save_video){ - Mat energy_save = energy_src.clone(); - cvtColor(energy_save,energy_save,COLOR_GRAY2BGR); - armor_video_writer.write(armor_src); - energy_video_writer.write(energy_save); - } - if (show_origin) { - imshow("armor src", armor_src); - imshow("energy src", energy_src); - } + if (mcuData.state != ARMOR_STATE) {//能量机关模式 + ok = checkReconnect(video_gimble->read(gimble_src), video_chassis->read(chassis_src));//检查有几个摄像头 + if (save_video) saveVideos(gimble_src, chassis_src);//保存视频 + if (show_origin) showOrigin(gimble_src, chassis_src);//显示原始图像 + + if (mcuData.state == BIG_ENERGY_STATE) {//大符模式 // if (from_camera == 0) { -// cv::resize(energy_src, energy_src, cv::Size(640, 480), 2); -// imshow("resize", energy_src); +// cv::resize(energy_src, energy_src, cv::Size(640, 480), 2); +// imshow("resize", energy_src); // energy.extract(energy_src); // } - energy.run(armor_src, energy_src); - waitKey(1); - } - else { - video_energy = new CameraWrapper(1, "energy"); - if(!video_energy->init()){ - delete video_energy; - video_energy = nullptr; + if (last_state != BIG_ENERGY_STATE) {//若上一帧不是大符模式，即刚往完成切换，则需要初始化 + energy.setEnergyRotationInit(); + cout << "set" << endl; } + energy.runBig(gimble_src, chassis_src);//击打大符 } + else if (mcuData.state == SMALL_ENERGY_STATE) { + energy.runSmall(gimble_src, chassis_src);//击打小符 + } + last_state = mcuData.state;//更新上一帧状态 } - - else if (mcuData.state == SMALL_ENERGY_STATE) { + else if (mcuData.state == ARMOR_STATE) {//自瞄模式 last_state = mcuData.state; - if (video_armor && video_energy) { - ok = video_armor->read(armor_src) && video_energy->read(energy_src); - if (!ok) { - delete video_armor; - delete video_energy; - video_armor = nullptr; - video_energy = nullptr; - } - if(save_video){ - Mat energy_save = energy_src.clone(); - cvtColor(energy_save,energy_save,COLOR_GRAY2BGR); - armor_video_writer.write(armor_src); - energy_video_writer.write(energy_save); - } - if (show_origin) { - imshow("armor src", armor_src); - imshow("energy src", energy_src); - } -// if (from_camera == 0) { -// cv::resize(energy_src, energy_src, cv::Size(640, 480), 2); -// imshow("resize", energy_src); -// energy.extract(energy_src); -// } - energy.run(armor_src, energy_src); - waitKey(1); - } - else { - video_energy = new CameraWrapper(1, "energy"); - if(!video_energy->init()){ - delete video_energy; - video_energy = nullptr; - } - } - } + ok = checkReconnect(video_gimble->read(gimble_src)); + if (save_video) saveVideos(gimble_src); + if (show_origin) showOrigin(gimble_src); + CNT_TIME("Armor Time", { + armorFinder.run(gimble_src); + }); - else if (mcuData.state == ARMOR_STATE) { - last_state = mcuData.state; - if (video_armor) { - ok = video_armor->read(armor_src); - if (!ok) { - delete video_armor; - video_armor = nullptr; - } - if(save_video){ - armor_video_writer.write(armor_src); - } -// flip(armor_src, armor_src, 0); - if (show_origin) { - imshow("armor src", armor_src); - } - CNT_TIME("Armor Time", { - armorFinder.run(armor_src); - }); - } - else { - video_armor = new CameraWrapper(0, "armor"); - if(!video_armor->init()){ - delete video_armor; - video_armor = nullptr; - } - } } - + cv::waitKey(1); }); } while (ok); - delete video_armor; - delete video_energy; + delete video_gimble; + video_gimble = nullptr; + delete video_chassis; + video_chassis = nullptr; cout << "Program fails. Restarting" << endl; } return 0; diff --git a/others/include/additions/additions.h b/others/include/additions/additions.h index 13fbaa1..2cfe668 100644 --- a/others/include/additions/additions.h +++ b/others/include/additions/additions.h @@ -29,7 +29,11 @@ struct mcu_data{ extern mcu_data mcuData; void uartReceive(Serial *pSerial); -void initVideoWriter(cv::VideoWriter& video, const std::string &filename_prefix); -void lastVideo(std::string &video_name, const std::string &filename_prefix); +bool checkReconnect(bool is_gimble_connect, bool is_chassis_connect); +bool checkReconnect(bool is_gimble_connect); +void saveVideos(const cv::Mat &gimble_src, const cv::Mat &chassis_src); +void saveVideos(const cv::Mat &gimble_src); +void showOrigin(const cv::Mat &gimble_src, const cv::Mat &chassis_src); +void showOrigin(const cv::Mat &gimble_src); #endif /* _ADDITIONS_H_ */ diff --git a/others/include/camera/wrapper_head.h b/others/include/camera/wrapper_head.h index bb9dfea..d92906c 100644 --- a/others/include/camera/wrapper_head.h +++ b/others/include/camera/wrapper_head.h @@ -15,7 +15,6 @@ public: virtual ~WrapperHead() = default;; virtual bool init() = 0; virtual bool read(cv::Mat &src) = 0; - }; diff --git a/others/src/additions/additions.cpp b/others/src/additions/additions.cpp index 851d253..339748c 100644 --- a/others/src/additions/additions.cpp +++ b/others/src/additions/additions.cpp @@ -4,14 +4,30 @@ #include #include +#include +#include +#include #include +#include #include #include #include +#include +#include #define RECEIVE_LOG_LEVEL LOG_MSG using namespace std; +using namespace cv; + +extern WrapperHead *video_gimble; +extern WrapperHead *video_chassis; + +extern Serial serial; +extern uint8_t last_state; + +extern ArmorFinder armorFinder; +extern Energy energy; void uartReceive(Serial* pSerial) { char buffer[20]; @@ -38,7 +54,8 @@ void uartReceive(Serial* pSerial) { } } -void initVideoWriter(cv::VideoWriter& video, const std::string &filename_prefix){ +cv::VideoWriter initVideoWriter(const std::string &filename_prefix){ + cv::VideoWriter video; std::ifstream in(filename_prefix + "cnt.txt"); int cnt = 0; if (in.is_open()) @@ -54,15 +71,85 @@ void initVideoWriter(cv::VideoWriter& video, const std::string &filename_prefix) out.close(); } video.open(file_name, CV_FOURCC('P', 'I', 'M', '1'), 90, cv::Size(640, 480), true); + return video; } -void lastVideo(std::string &video_name, const std::string &filename_prefix){ - std::ifstream in(filename_prefix + "cnt.txt"); - int cnt = 0; - if (in.is_open()) - { - in >> cnt; - in.close(); +bool checkReconnect(bool is_gimble_connect, bool is_chassis_connect){ + if(!is_gimble_connect){ + video_gimble = new CameraWrapper(0, "armor"); + if(!(is_gimble_connect = video_gimble->init())){ + delete video_gimble; + video_gimble = nullptr; + } } - if(cnt > 1) std::string video_name = filename_prefix + std::to_string(cnt) + ".avi"; + if(!is_chassis_connect){ + video_chassis = new CameraWrapper(1, "energy"); + if(!(is_chassis_connect = video_chassis->init())){ + delete video_chassis; + video_chassis = nullptr; + } + } + return is_gimble_connect && is_chassis_connect; } + +bool checkReconnect(bool is_gimble_connect){ + if(!is_gimble_connect){ + video_gimble = new CameraWrapper(0, "armor"); + if(!(is_gimble_connect = video_gimble->init())){ + delete video_gimble; + video_gimble = nullptr; + } + } + return is_gimble_connect; +} + +auto gimble_video_writer = initVideoWriter(PROJECT_DIR"/gimble_video/"); +auto chassis_video_writer = initVideoWriter(PROJECT_DIR"/chassis_video/"); + +void saveVideos(const cv::Mat &gimble_src, const cv::Mat &chassis_src){ + if(!gimble_src.empty() && !chassis_src.empty()){ + gimble_video_writer.write(gimble_src); + Mat chassis_save = chassis_src.clone(); + cvtColor(chassis_save,chassis_save,COLOR_GRAY2BGR); + chassis_video_writer.write(chassis_save); + } + else if(!gimble_src.empty() && chassis_src.empty()){ + gimble_video_writer.write(gimble_src); + } + else if(gimble_src.empty() && !chassis_src.empty()){ + Mat chassis_save = chassis_src.clone(); + cvtColor(chassis_save,chassis_save,COLOR_GRAY2BGR); + chassis_video_writer.write(chassis_save); + } + else return; +} + +void saveVideos(const cv::Mat &gimble_src){ + if(!gimble_src.empty()){ + gimble_video_writer.write(gimble_src); + } + else return; +} + +void showOrigin(const cv::Mat &gimble_src, const cv::Mat &chassis_src){ + if(!gimble_src.empty() && !chassis_src.empty()){ + imshow("gimble", gimble_src); + imshow("chassis", chassis_src); + } + else if(!gimble_src.empty() && chassis_src.empty()){ + imshow("gimble", gimble_src); + } + else if(gimble_src.empty() && !chassis_src.empty()){ + imshow("chassis", chassis_src); + } + else return; + cv::waitKey(1); +} + +void showOrigin(const cv::Mat &gimble_src){ + if(!gimble_src.empty()){ + imshow("gimble", gimble_src); + } + else return; + cv::waitKey(1); +} \ No newline at end of file diff --git a/others/src/camera/camera_wrapper.cpp b/others/src/camera/camera_wrapper.cpp index 3d4a6cc..b45982c 100644 --- a/others/src/camera/camera_wrapper.cpp +++ b/others/src/camera/camera_wrapper.cpp @@ -136,6 +136,7 @@ bool CameraWrapper::readRaw(cv::Mat &src) { return true; } else { + src = cv::Mat(); return false; } } @@ -155,6 +156,7 @@ bool CameraWrapper::readProcessed(cv::Mat &src) { CameraReleaseImageBuffer(h_camera, pby_buffer); return true; } else { + src = cv::Mat(); return false; } } From aedee4b723eff3ef570f96086b66188d6e776f7c Mon Sep 17 00:00:00 2001 From: sun Date: Sat, 6 Jul 2019 10:28:42 +0800 Subject: [PATCH 07/12] energy changed --- .../src/energy/calculate/circle_calculate.cpp | 63 +++++++++++++++++++ energy/src/energy/get/polar_angle_get.cpp | 57 +++++++++++++++++ energy/src/energy/get/predict_point_get.cpp | 37 +++++++++++ 3 files changed, 157 insertions(+) create mode 100644 energy/src/energy/calculate/circle_calculate.cpp create mode 100644 energy/src/energy/get/polar_angle_get.cpp create mode 100644 energy/src/energy/get/predict_point_get.cpp diff --git a/energy/src/energy/calculate/circle_calculate.cpp b/energy/src/energy/calculate/circle_calculate.cpp new file mode 100644 index 0000000..c8fc691 --- /dev/null +++ b/energy/src/energy/calculate/circle_calculate.cpp @@ -0,0 +1,63 @@ +// +// Created by xixiliadorabarry on 1/24/19. +// +#include "energy/energy.h" + +using namespace cv; +using std::cout; +using std::endl; +using std::vector; + + + + +//---------------------------------------------------------------------------------------------------------------------- +// 此函数通过最小二乘法计算大风车圆心和半径 +// --------------------------------------------------------------------------------------------------------------------- +void Energy::circleLeastFit() +{ + circle_center_point.x = 0; + circle_center_point.y = 0; + radius = 0.0f; + if (all_armor_centers.size() < 3) + { +// cout<<"Cannot calculate a circle"<(all_armor_centers.size()); + for (int i = 0; i < N; i++) + { + double x = all_armor_centers.at(i).x; + double y = all_armor_centers.at(i).y; + double x2 = x * x; + double y2 = y * y; + sum_x += x; + sum_y += y; + sum_x2 += x2; + sum_y2 += y2; + sum_x3 += x2 * x; + sum_y3 += y2 * y; + sum_xy += x * y; + sum_x1y2 += x * y2; + sum_x2y1 += x2 * y; + } + double C, D, E, G, H; + double a, b, c; + C = N * sum_x2 - sum_x * sum_x; + D = N * sum_xy - sum_x * sum_y; + E = N * sum_x3 + N * sum_x1y2 - (sum_x2 + sum_y2) * sum_x; + G = N * sum_y2 - sum_y * sum_y; + H = N * sum_x2y1 + N * sum_y3 - (sum_x2 + sum_y2) * sum_y; + a = (H * D - E * G) / (C * G - D * D); + b = (H * C - E * D) / (D * D - G * C); + c = -(a * sum_x + b * sum_y + sum_x2 + sum_y2) / N; + circle_center_point.x = static_cast(a / (-2)); + circle_center_point.y = static_cast(b / (-2)); + radius = sqrt(a * a + b * b - 4 * c) / 2; +// cout << "The cycle center is: " << cycle_center << endl; +// cout << "The radius is: " << radius << endl; +} diff --git a/energy/src/energy/get/polar_angle_get.cpp b/energy/src/energy/get/polar_angle_get.cpp new file mode 100644 index 0000000..33d59d3 --- /dev/null +++ b/energy/src/energy/get/polar_angle_get.cpp @@ -0,0 +1,57 @@ +// +// Created by xixiliadorabarry on 1/24/19. +// +#include "energy/energy.h" + +using namespace cv; +using std::cout; +using std::endl; +using std::vector; + + + + +//---------------------------------------------------------------------------------------------------------------------- +// 此函数用于获得图像中所有扇叶的当前极坐标角度 +// --------------------------------------------------------------------------------------------------------------------- +void Energy::getFanPolarAngle() { + if (radius == 0)return; + for (const auto &fan : fans) + { + float angle = static_cast(180 / PI * atan2(-1 * (fan.rect.center.y - circle_center_point.y), + (fan.rect.center.x - circle_center_point.x))); + fan_polar_angle.push_back(angle); + } +// cout << "fanPosition.size() = " << fanPosition.size() << '\t' << endl; +} + + + + +//---------------------------------------------------------------------------------------------------------------------- +// 此函数用于获得图像中所有装甲板的当前极坐标角度 +// --------------------------------------------------------------------------------------------------------------------- +void Energy::getArmorPolarAngle() { + if (radius == 0)return; + for (const auto &armor : armors) + { + float angle = static_cast(180 / PI * atan2(-1 * (armor.rect.center.y - circle_center_point.y), + (armor.rect.center.x - circle_center_point.x))); + armor_polar_angle.push_back(angle); + + } +// cout << "armorPosition.size() = " << armorPosition.size() << '\t' << endl; +} + + + + +//---------------------------------------------------------------------------------------------------------------------- +// 此函数用于存储图像中所有装甲板的中心坐标，以便后续最小二乘法计算圆心和半径 +// --------------------------------------------------------------------------------------------------------------------- +void Energy::getAllArmorCenters() +{ + for (const auto &armor : armors) { + all_armor_centers.push_back(armor.rect.center); + } +} \ No newline at end of file diff --git a/energy/src/energy/get/predict_point_get.cpp b/energy/src/energy/get/predict_point_get.cpp new file mode 100644 index 0000000..45491de --- /dev/null +++ b/energy/src/energy/get/predict_point_get.cpp @@ -0,0 +1,37 @@ +// +// Created by xixiliadorabarry on 1/24/19. +// + +#include "energy/energy.h" +#include "energy/constant.h" + +using namespace cv; +using std::cout; +using std::endl; +using std::vector; + + + +//---------------------------------------------------------------------------------------------------------------------- +// 此函数获取预测点坐标 +// --------------------------------------------------------------------------------------------------------------------- +void Energy::getPredictPoint(){ + if(energy_rotation_direction==1) rotate(); + if(energy_rotation_direction==-1) rotate(); +} + + + +//---------------------------------------------------------------------------------------------------------------------- +// 此函数用于操作手手动标定 +// --------------------------------------------------------------------------------------------------------------------- +bool Energy::changeTarget(){ + if(fabs(target_polar_angle - last_target_polar_angle) < 30||fabs(target_polar_angle - last_target_polar_angle) > 330){ + last_target_polar_angle = target_polar_angle; + return false; + } + else{ + last_target_polar_angle = target_polar_angle; + return true; + } +} \ No newline at end of file From 370114db37468e546d60c377f6e71fa5aeb92799 Mon Sep 17 00:00:00 2001 From: wanpiqiu123 <46051943+wanpiqiu123@users.noreply.github.com> Date: Sat, 6 Jul 2019 10:42:23 +0800 Subject: [PATCH 08/12] verified something and made it possible to run on a OSX machine (videos input only) --- CMakeLists.txt | 5 +++++ main.cpp | 6 +++--- others/include/camera/camera_wrapper.h | 2 +- others/include/serial/serial.h | 2 +- others/src/serial/serial.cpp | 2 +- 5 files changed, 11 insertions(+), 6 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index dae52f9..e54c7c9 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -26,6 +26,8 @@ FIND_PACKAGE(Eigen3 REQUIRED) FIND_PACKAGE(OpenCV 3 REQUIRED) FIND_PACKAGE(Threads) +LINK_DIRECTORIES(${PROJECT_SOURCE_DIR}/others) + INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIR}) INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR}/energy/include) INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR}/armor/include) @@ -42,6 +44,9 @@ IF (CMAKE_SYSTEM_NAME MATCHES "Linux") ELSEIF (CMAKE_SYSTEM_NAME MATCHES "Windows") MESSAGE(STATUS "current platform: Windows") TARGET_LINK_LIBRARIES(${BIN_NAME} "${PROJECT_SOURCE_DIR}/others/MVCAMSDK_X64.lib") +ELSEIF (CMAKE_SYSTEM_NAME MATCHES "Darwin") + MESSAGE(STATUS "current platform: Mac") + TARGET_LINK_LIBRARIES(${BIN_NAME} "${PROJECT_SOURCE_DIR}/others/libmvsdk.dylib") ELSE () MESSAGE(STATUS "Unsupport platform: ${CMAKE_SYSTEM_NAME}") ENDIF() diff --git a/main.cpp b/main.cpp index 624fb61..9ad9f28 100644 --- a/main.cpp +++ b/main.cpp @@ -26,7 +26,7 @@ using namespace std; mcu_data mcuData = { 0, 0, - ARMOR_STATE, + BIG_ENERGY_STATE, 0, 1, ENEMY_RED, @@ -56,8 +56,8 @@ int main(int argc, char *argv[]) { video_gimble = new CameraWrapper(0, "armor"); video_chassis = new CameraWrapper(1, "energy"); } else { - video_gimble = new VideoWrapper("/home/sun/项目/energy_video/energy_test.avi"); - video_chassis = new VideoWrapper("/home/sun/项目/energy_video/energy_test.avi"); + video_gimble = new VideoWrapper("/Users/leo/Desktop/videos/170.avi"); + video_chassis = new VideoWrapper("/Users/leo/Desktop/videos/170.avi"); } if (video_gimble->init()) { LOGM("video_armor source initialization successfully."); diff --git a/others/include/camera/camera_wrapper.h b/others/include/camera/camera_wrapper.h index e6f9d75..06496a8 100644 --- a/others/include/camera/camera_wrapper.h +++ b/others/include/camera/camera_wrapper.h @@ -16,7 +16,7 @@ #include "camera/wrapper_head.h" #ifdef Windows #include "camera/CameraApi.h" -#elif defined(Linux) +#elif defined(Linux) || defined(Darwin) #include "camera/camera_api.h" #endif diff --git a/others/include/serial/serial.h b/others/include/serial/serial.h index e6a525b..5419604 100644 --- a/others/include/serial/serial.h +++ b/others/include/serial/serial.h @@ -29,7 +29,7 @@ private: DWORD dwCommEvents; }; -#elif defined(Linux) +#elif defined(Linux) || defined(Darwin) #include #include diff --git a/others/src/serial/serial.cpp b/others/src/serial/serial.cpp index b292f97..f9c1507 100644 --- a/others/src/serial/serial.cpp +++ b/others/src/serial/serial.cpp @@ -174,7 +174,7 @@ bool Serial::ReadData(unsigned char *buffer, unsigned int length) { return bResult; } -#elif defined(Linux) +#elif defined(Linux) || defined(Darwin) #include From 5093e84b2f11bd4e3afad929b22e675d069e6ea5 Mon Sep 17 00:00:00 2001 From: wanpiqiu123 <46051943+wanpiqiu123@users.noreply.github.com> Date: Sat, 6 Jul 2019 12:10:50 +0800 Subject: [PATCH 09/12] =?UTF-8?q?=E5=A4=A7=E7=AC=A6=EF=BC=9A=E4=BA=91?= =?UTF-8?q?=E5=8F=B0=E6=91=84=E5=83=8F=E5=A4=B4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .gitignore | 3 +- energy/include/energy/energy.h | 5 ++-- energy/src/energy/param_init.cpp | 4 ++- energy/src/energy/run.cpp | 49 +++++++++++++++++++++++++++++-- others/libmvsdk.dylib | Bin 0 -> 1476592 bytes 5 files changed, 54 insertions(+), 7 deletions(-) create mode 100644 others/libmvsdk.dylib diff --git a/.gitignore b/.gitignore index 00b23c5..662e092 100644 --- a/.gitignore +++ b/.gitignore @@ -3,4 +3,5 @@ build .idea Mark tools/TrainCNN/.idea -tools/TrainCNN/__pycache__ \ No newline at end of file +tools/TrainCNN/__pycache__ +.DS_Store diff --git a/energy/include/energy/energy.h b/energy/include/energy/energy.h index 9d615ca..ff9798e 100644 --- a/energy/include/energy/energy.h +++ b/energy/include/energy/energy.h @@ -18,7 +18,6 @@ #include "additions/additions.h" #include "options/options.h" - using std::vector; class Energy { @@ -38,11 +37,13 @@ public: private: EnergyPartParam energy_part_param_;//能量机关的参数设置 bool isMark;//若操作手正在手动标定，则为true + bool centered=false;//云台是否对准中心 int fans_cnt;//图像中的扇叶个数 int armors_cnt;//图像中的装甲板个数 int centerRs_cnt;//图像中可能的风车中心字母R选区个数 int last_fans_cnt;//上一帧的扇叶个数 int last_armors_cnt;//上一帧的装甲板个数 + int gimble_cnt; //经过的帧数 double radius;//大风车半径 float target_polar_angle;//待击打装甲板的极坐标角度 float last_target_polar_angle;//上一帧待击打装甲板的极坐标角度 @@ -62,7 +63,6 @@ private: float origin_yaw, origin_pitch;//初始的云台角度设定值 float target_cnt;//用于记录寻找到的装甲板总数，该值变化则立即中断主控板发射进程，防止重复击打已点亮的装甲板 bool save_new_mark;//若操作手进行过手动标定，则为true - std::vector fans;//图像中所有扇叶 std::vector armors;//图像中所有装甲板 std::vector centerRs;//风车中心字母R的可能候选区 @@ -70,6 +70,7 @@ private: cv::Point circle_center_point;//风车圆心坐标 cv::Point target_point;//目标装甲板中心坐标 cv::Point predict_point;//预测的击打点坐标 + cv::Point former_point;//之前预测的圆心坐标 std::vectorfan_polar_angle;//当前帧所有扇叶的极坐标角度 std::vectorarmor_polar_angle;//当前帧所有装甲板的极坐标角度 std::vector all_armor_centers;//记录全部的装甲板中心，用于风车圆心和半径的计算 diff --git a/energy/src/energy/param_init.cpp b/energy/src/energy/param_init.cpp index 8779cf6..97b66a9 100644 --- a/energy/src/energy/param_init.cpp +++ b/energy/src/energy/param_init.cpp @@ -16,13 +16,15 @@ using std::vector; // --------------------------------------------------------------------------------------------------------------------- void Energy::initEnergy() { isMark = false; - + centered=false; fans_cnt = 0; armors_cnt = 0; centerRs_cnt = 0; + gimble_cnt = 0; circle_center_point = Point(0, 0); target_point = Point(0, 0); predict_point = Point(0, 0); + former_point = Point(0,0); target_polar_angle = -1000; last_target_polar_angle = -1000; radius = 0; diff --git a/energy/src/energy/run.cpp b/energy/src/energy/run.cpp index 84c20c6..2f57cd3 100644 --- a/energy/src/energy/run.cpp +++ b/energy/src/energy/run.cpp @@ -15,11 +15,53 @@ using std::vector; // 此函数为大能量机关模式主控制流函数，且步兵需要同时拥有云台摄像头和底盘摄像头 // --------------------------------------------------------------------------------------------------------------------- int Energy::runBig(cv::Mat &gimble_src, cv::Mat &chassis_src){ - if(chassis_src.empty())runBig(gimble_src);//仅拥有云台摄像头则调用单摄像头的run函数 - else { - runBig(chassis_src); + if(chassis_src.empty()) + runBig(gimble_src);//仅拥有云台摄像头则调用单摄像头的run函数 + else if(!centered) { + armors.clear(); + armor_polar_angle.clear(); + changeMark(); + if (isMark)return 0; + + threshold(gimble_src, gimble_src, energy_part_param_.GRAY_THRESH, 255, THRESH_BINARY); + imshow("yun",gimble_src); + + armors_cnt = findArmor(gimble_src, last_armors_cnt); + if(armors_cnt!=1) return 0;//滤去漏判的帧 + + getAllArmorCenters(); + circleLeastFit(); + +// attack_distance = 752;//单项赛 + attack_distance = 718; + + if (energy_rotation_init) { + initRotation(); + return 0; + } + + if(++gimble_cnt==10){ + former_point=circle_center_point; + gimble_cnt=0; + } + + 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zS~oq+)-Onhlseteva^kaHBw()QE=rRQ56V6)}!}y)u;Gu{Et1tf#sVIGF<}PE-Yj< zF}A`72WheL9rLC&YeHxIBJl&I_gW+HB~cTU4J+Yw?>(%#0^18S3sci!HRV1AQ);7O ziiH~+JxxU=a}?E^^$`}!Tg2!>NrsH~{?^aPlYL8^kNrkkxae&&pFT#s(oV<)B@bI- zx^lw_xfWo%DB{GlP9#kCfhN(vneCsT-V7R_PqoWzk|4(?ho9nOrrB166)eh)>@^g+ z{=5T1qVo)^4iP&mK;Pab>Q1fRsEk`!8?M0YvaF}@xL{3ZxZtF=KkLX2y8$A5C8-K0YCr{00aO5 zKmZT`1ONd*01yBK00BS%5C8-K0YCr{00aO5KmZT`1ONd*01yBK00BVY|5xBYf5F)( literal 0 HcmV?d00001 From 1929c39d70d5dfb502024f40ba8b296f9e49b376 Mon Sep 17 00:00:00 2001 From: sun Date: Sat, 6 Jul 2019 14:01:17 +0800 Subject: [PATCH 10/12] energy changed --- energy/include/energy/energy.h | 6 ++- energy/include/energy/param_struct_define.h | 3 ++ energy/src/energy/find/target_finder.cpp | 42 +++++++++++++-- energy/src/energy/get/aim_point_get.cpp | 23 ++++++++ energy/src/energy/get/predict_point_get.cpp | 6 +-- energy/src/energy/param_init.cpp | 4 ++ energy/src/energy/run.cpp | 34 ++++++------ energy/src/energy/tool/tool.cpp | 4 +- main.cpp | 58 ++++++++++----------- 9 files changed, 123 insertions(+), 57 deletions(-) create mode 100644 energy/src/energy/get/aim_point_get.cpp diff --git a/energy/include/energy/energy.h b/energy/include/energy/energy.h index ff9798e..283ad25 100644 --- a/energy/include/energy/energy.h +++ b/energy/include/energy/energy.h @@ -26,7 +26,6 @@ public: ~Energy();//默认析构函数 int runBig(cv::Mat &gimble_src, cv::Mat &chassis_src); int runBig(cv::Mat &gimble_src); - int runSmall(cv::Mat &gimble_src, cv::Mat &chassis_src); int runSmall(cv::Mat &gimble_src); Serial &serial;//串口 void setEnergyRotationInit();//判断顺逆时针函数 @@ -69,6 +68,7 @@ private: cv::Point circle_center_point;//风车圆心坐标 cv::Point target_point;//目标装甲板中心坐标 + cv::Point last_target_point;//上一帧目标装甲板中心坐标 cv::Point predict_point;//预测的击打点坐标 cv::Point former_point;//之前预测的圆心坐标 std::vectorfan_polar_angle;//当前帧所有扇叶的极坐标角度 @@ -99,7 +99,8 @@ private: void circleLeastFit();//利用所有记录的装甲板中心最小二乘法计算圆心和半径 - void findTarget();//获取目标装甲板的极坐标角度和装甲板中心坐标 + void findTargetByPolar();//通过极坐标角度匹配获取目标装甲板的极坐标角度和装甲板中心坐标 + void findTargetByIntersection();//通过面积重合度匹配获取目标装甲板的极坐标角度和装甲板中心坐标 void rotate();//获取预测点位 void stretch(cv::Point point_1, cv::Point2f &point_2);//将像素差转换为实际距离差 @@ -108,6 +109,7 @@ private: void writeDownMark();//记录操作手标定的云台初始角度 void getPredictPoint();//获取预测点位 + void getAimPoint();//通过自瞄逻辑计算点位 bool changeTarget();//判断目标是否改变 void changeMark();//操作手手动修改标定值 void gimbleRotation();//计算云台旋转角度 diff --git a/energy/include/energy/param_struct_define.h b/energy/include/energy/param_struct_define.h index 3e6f3b1..9682ddf 100644 --- a/energy/include/energy/param_struct_define.h +++ b/energy/include/energy/param_struct_define.h @@ -65,6 +65,9 @@ struct EnergyPartParam { float CENTER_R_CONTOUR_HW_RATIO_MIN;//风车中心R长宽比最小值 float TWIN_ANGEL_MAX;//扇叶和装甲板匹配时极坐标角度差的最大值 + long INTERSETION_CONTOUR_AREA_MIN;//扇叶与装甲板匹配时的最小重合面积 + + long TARGET_CHANGE_DISTANCE_MAX;//目标未更改时，目标装甲板中心与原目标装甲板中心的距离变化最大值 }; diff --git a/energy/src/energy/find/target_finder.cpp b/energy/src/energy/find/target_finder.cpp index d2dce40..f1a5bdb 100644 --- a/energy/src/energy/find/target_finder.cpp +++ b/energy/src/energy/find/target_finder.cpp @@ -11,9 +11,9 @@ using std::vector; //---------------------------------------------------------------------------------------------------------------------- -// 此函数用于匹配扇叶和装甲板，找到目标装甲板,计算其极坐标角度和中心坐标 +// 此函数通过极坐标角度匹配扇叶和装甲板，找到目标装甲板,计算其极坐标角度和中心坐标 // --------------------------------------------------------------------------------------------------------------------- -void Energy::findTarget() { +void Energy::findTargetByPolar() { if (fan_polar_angle.size() >= armor_polar_angle.size()) return;//扇叶多于装甲板，识别错误 if (armor_polar_angle.empty())return;//找不到扇叶，识别错误 if (fan_polar_angle.empty()) { @@ -26,7 +26,7 @@ void Energy::findTarget() { } sort(fan_polar_angle.begin(), fan_polar_angle.end());//对扇叶的极坐标角度进行排序 sort(armor_polar_angle.begin(), armor_polar_angle.end());//对装甲板的极坐标角度进行排序 - int i, j = 0; + int i = 0, j = 0; for (i = 0; i < fan_polar_angle.size(); ++i) { if (armor_polar_angle.at(i) - fan_polar_angle.at(j) < energy_part_param_.TWIN_ANGEL_MAX && armor_polar_angle.at(i) - fan_polar_angle.at(j) > -1 * energy_part_param_.TWIN_ANGEL_MAX) { @@ -55,6 +55,40 @@ void Energy::findTarget() { target_point = armor.rect.center;//根据已经确定的目标装甲板极坐标角度，获得该装甲板的中心坐标 } } - } + + +//---------------------------------------------------------------------------------------------------------------------- +// 此函数根据矩形重合面积匹配扇叶与装甲板 +// --------------------------------------------------------------------------------------------------------------------- +void Energy::findTargetByIntersection() { + if (fans.size() >= armors.size()) return;//扇叶多于装甲板，识别错误 + if (armors.empty())return;//找不到扇叶，识别错误 + if (fans.empty()) { + target_point = armors.at(0).rect.center; + return; + } + int i = 0, j = 0; + while (i < armors.size()) { + for (j = 0; j < fans.size(); ++j) { + std::vector intersection; + if(rotatedRectangleIntersection(armors.at(i).rect, fans.at(j).rect, intersection) == 0)//返回0表示没有重合面积 + continue; + else + rotatedRectangleIntersection(armors.at(i).rect, fans.at(j).rect, intersection); + double cur_contour_area = contourArea(intersection); + if (cur_contour_area > energy_part_param_.INTERSETION_CONTOUR_AREA_MIN) { +// cout << endl; +// cout << "NO. " << i << " armor and No. " << j << "fans are matched, the intersection area is" +// << cur_contour_area << endl; + break; + } + } + if(j == fans.size()){ + target_point = armors.at(i).rect.center; + break; + } + i++; + } +} \ No newline at end of file diff --git a/energy/src/energy/get/aim_point_get.cpp b/energy/src/energy/get/aim_point_get.cpp new file mode 100644 index 0000000..243ea6d --- /dev/null +++ b/energy/src/energy/get/aim_point_get.cpp @@ -0,0 +1,23 @@ +// +// Created by sun on 19-7-6. +// + +#include "energy/energy.h" +#include "energy/constant.h" + +using namespace std; +using namespace cv; + +#define FOCUS_PIXAL_5MM (917) +#define FOCUS_PIXAL FOCUS_PIXAL_5MM + + +//---------------------------------------------------------------------------------------------------------------------- +// 此函数通过自瞄逻辑击打目标点，用于大符的自动对心和小符直接打击 +// --------------------------------------------------------------------------------------------------------------------- +void Energy::getAimPoint(){ + double dx = target_point.x - 320; + double dy = target_point.y - 240; + yaw_rotation = atan(dx / FOCUS_PIXAL) * 180 / PI; + pitch_rotation = atan(dy / FOCUS_PIXAL) * 180 / PI; +} diff --git a/energy/src/energy/get/predict_point_get.cpp b/energy/src/energy/get/predict_point_get.cpp index 45491de..956ad61 100644 --- a/energy/src/energy/get/predict_point_get.cpp +++ b/energy/src/energy/get/predict_point_get.cpp @@ -26,12 +26,12 @@ void Energy::getPredictPoint(){ // 此函数用于操作手手动标定 // --------------------------------------------------------------------------------------------------------------------- bool Energy::changeTarget(){ - if(fabs(target_polar_angle - last_target_polar_angle) < 30||fabs(target_polar_angle - last_target_polar_angle) > 330){ - last_target_polar_angle = target_polar_angle; + if(pointDistance(target_point,last_target_point) < energy_part_param_.TARGET_CHANGE_DISTANCE_MAX){ + last_target_point = target_point; return false; } else{ - last_target_polar_angle = target_polar_angle; + last_target_point= target_point; return true; } } \ No newline at end of file diff --git a/energy/src/energy/param_init.cpp b/energy/src/energy/param_init.cpp index 97b66a9..a25219e 100644 --- a/energy/src/energy/param_init.cpp +++ b/energy/src/energy/param_init.cpp @@ -23,6 +23,7 @@ void Energy::initEnergy() { gimble_cnt = 0; circle_center_point = Point(0, 0); target_point = Point(0, 0); + last_target_point = Point(0, 0); predict_point = Point(0, 0); former_point = Point(0,0); target_polar_angle = -1000; @@ -98,6 +99,9 @@ void Energy::initEnergyPartParam() { energy_part_param_.CENTER_R_CONTOUR_HW_RATIO_MIN = 1; energy_part_param_.TWIN_ANGEL_MAX = 10; + energy_part_param_.INTERSETION_CONTOUR_AREA_MIN = 60; + + energy_part_param_.TARGET_CHANGE_DISTANCE_MAX = 20; } diff --git a/energy/src/energy/run.cpp b/energy/src/energy/run.cpp index 2f57cd3..901bd20 100644 --- a/energy/src/energy/run.cpp +++ b/energy/src/energy/run.cpp @@ -102,13 +102,16 @@ int Energy::runBig(cv::Mat &gimble_src){ centerRs_cnt = findCenterR(gimble_src); // if(centerRs_cnt>0)showCenterRContours("R", gimble_src); + writeDownMark(); + getAllArmorCenters(); circleLeastFit(); - attack_distance = ATTACK_DISTANCE; +// attack_distance = ATTACK_DISTANCE; getFanPolarAngle(); getArmorPolarAngle(); - findTarget(); + findTargetByPolar(); +// findTargetByIntersection(); if(armors_cnt>0||fans_cnt>0) showBothContours("Both", gimble_src); @@ -129,24 +132,21 @@ int Energy::runBig(cv::Mat &gimble_src){ - //---------------------------------------------------------------------------------------------------------------------- -// 此函数为小能量机关模式主控制流函数，且步兵需要同时拥有云台摄像头和底盘摄像头 -// --------------------------------------------------------------------------------------------------------------------- -int Energy::runSmall(cv::Mat &gimble_src, cv::Mat &chassis_src){ - if(chassis_src.empty())runSmall(gimble_src);//仅拥有云台摄像头则调用单摄像头的run函数 - else return 0; -} - - - - - -//---------------------------------------------------------------------------------------------------------------------- -// 此函数为小能量机关模式主控制流函数，且步兵仅拥有云台摄像头 +// 此函数为小能量机关模式主控制流函数，击打小符只需要拥有云台摄像头 // --------------------------------------------------------------------------------------------------------------------- int Energy::runSmall(cv::Mat &gimble_src){ - + imshow("gimble src", gimble_src); + fans.clear(); + armors.clear(); + threshold(gimble_src, gimble_src, energy_part_param_.GRAY_THRESH, 255, THRESH_BINARY); + fans_cnt = findFan(gimble_src, last_fans_cnt); + armors_cnt = findArmor(gimble_src, last_armors_cnt); + if(fans_cnt==-1 || armors_cnt==-1 || armors_cnt != fans_cnt+1) return 0; + findTargetByIntersection(); + if(armors_cnt>0||fans_cnt>0) showBothContours("Both", gimble_src); + getAimPoint(); + sendTargetByUart(yaw_rotation, pitch_rotation, target_cnt); } diff --git a/energy/src/energy/tool/tool.cpp b/energy/src/energy/tool/tool.cpp index 6818636..ffd3bbb 100644 --- a/energy/src/energy/tool/tool.cpp +++ b/energy/src/energy/tool/tool.cpp @@ -70,4 +70,6 @@ double Energy::pointDistance(cv::Point point_1, cv::Point point_2){ distance = sqrt(pow(static_cast(point_1.x - point_2.x),2) + pow(static_cast(point_1.y - point_2.y),2)); return distance; -} \ No newline at end of file +} + + diff --git a/main.cpp b/main.cpp index 9ad9f28..7bd5237 100644 --- a/main.cpp +++ b/main.cpp @@ -26,7 +26,7 @@ using namespace std; mcu_data mcuData = { 0, 0, - BIG_ENERGY_STATE, + SMALL_ENERGY_STATE, 0, 1, ENEMY_RED, @@ -53,23 +53,23 @@ int main(int argc, char *argv[]) { while (true) { if (from_camera) { - video_gimble = new CameraWrapper(0, "armor"); - video_chassis = new CameraWrapper(1, "energy"); + video_gimble = new CameraWrapper(0/*, "armor"*/); + video_chassis = new CameraWrapper(1/*, "energy"*/); } else { - video_gimble = new VideoWrapper("/Users/leo/Desktop/videos/170.avi"); - video_chassis = new VideoWrapper("/Users/leo/Desktop/videos/170.avi"); + video_gimble = new VideoWrapper("/home/sun/项目/energy_video/energy_test.avi"); + video_chassis = new VideoWrapper("/home/sun/项目/energy_video/energy_test.avi"); } if (video_gimble->init()) { - LOGM("video_armor source initialization successfully."); + LOGM("video_gimble source initialization successfully."); } else { - LOGW("video_armor source unavailable!"); + LOGW("video_gimble source unavailable!"); delete video_gimble; video_gimble = nullptr; } if (video_chassis->init()) { - LOGM("video_energy source initialization successfully."); + LOGM("video_chassis source initialization successfully."); } else { - LOGW("video_energy source unavailable!"); + LOGW("video_chassis source unavailable!"); delete video_chassis; video_chassis = nullptr; } @@ -87,37 +87,35 @@ int main(int argc, char *argv[]) { cout<<"start running"<read(gimble_src), video_chassis->read(chassis_src));//检查有几个摄像头 if (save_video) saveVideos(gimble_src, chassis_src);//保存视频 if (show_origin) showOrigin(gimble_src, chassis_src);//显示原始图像 - - if (mcuData.state == BIG_ENERGY_STATE) {//大符模式 -// if (from_camera == 0) { -// cv::resize(energy_src, energy_src, cv::Size(640, 480), 2); -// imshow("resize", energy_src); -// energy.extract(energy_src); -// } - if (last_state != BIG_ENERGY_STATE) {//若上一帧不是大符模式，即刚往完成切换，则需要初始化 - energy.setEnergyRotationInit(); - cout << "set" << endl; - } - energy.runBig(gimble_src, chassis_src);//击打大符 - } - else if (mcuData.state == SMALL_ENERGY_STATE) { - energy.runSmall(gimble_src, chassis_src);//击打小符 +// if (from_camera == 0) { +// cv::resize(chassis_src, chassis_src, cv::Size(640, 480), 2); +// imshow("resize", chassis_src); +// energy.extract(chassis_src); +// } + if (last_state != BIG_ENERGY_STATE) {//若上一帧不是大符模式，即刚往完成切换，则需要初始化 + energy.setEnergyRotationInit(); + cout << "set" << endl; } + energy.runBig(gimble_src, chassis_src);//击打大符 last_state = mcuData.state;//更新上一帧状态 } - else if (mcuData.state == ARMOR_STATE) {//自瞄模式 + else if (mcuData.state != BIG_ENERGY_STATE) {//自瞄或小符模式 last_state = mcuData.state; ok = checkReconnect(video_gimble->read(gimble_src)); if (save_video) saveVideos(gimble_src); if (show_origin) showOrigin(gimble_src); - CNT_TIME("Armor Time", { - armorFinder.run(gimble_src); - }); - + if (mcuData.state == ARMOR_STATE){ + CNT_TIME("Armor Time", { + armorFinder.run(gimble_src); + }); + } + else if(mcuData.state == SMALL_ENERGY_STATE){ + energy.runSmall(gimble_src); + } } cv::waitKey(1); }); From cec8fe4dad145734d6d79c789950a86c88b8788a Mon Sep 17 00:00:00 2001 From: wanpiqiu123 <46051943+wanpiqiu123@users.noreply.github.com> Date: Sat, 6 Jul 2019 17:04:39 +0800 Subject: [PATCH 11/12] =?UTF-8?q?=E8=B0=83=E9=98=88=E5=80=BC+=E6=9F=A5?= =?UTF-8?q?=E7=9C=8B=E7=A1=AE=E5=AE=9A=E4=B8=AD=E5=BF=83=E6=89=80=E7=94=A8?= =?UTF-8?q?=E5=B8=A7=E6=95=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- energy/src/energy/param_init.cpp | 2 +- energy/src/energy/run.cpp | 11 ++++++----- main.cpp | 6 +++--- 3 files changed, 10 insertions(+), 9 deletions(-) diff --git a/energy/src/energy/param_init.cpp b/energy/src/energy/param_init.cpp index a25219e..ce5d38b 100644 --- a/energy/src/energy/param_init.cpp +++ b/energy/src/energy/param_init.cpp @@ -66,7 +66,7 @@ void Energy::initEnergy() { // 此函数对能量机关参数进行初始化 // --------------------------------------------------------------------------------------------------------------------- void Energy::initEnergyPartParam() { - energy_part_param_.GRAY_THRESH = 240; + energy_part_param_.GRAY_THRESH = 235; energy_part_param_.SPLIT_GRAY_THRESH = 60; energy_part_param_.FAN_GRAY_THRESH = 75; energy_part_param_.ARMOR_GRAY_THRESH = 80; diff --git a/energy/src/energy/run.cpp b/energy/src/energy/run.cpp index 901bd20..d6512b2 100644 --- a/energy/src/energy/run.cpp +++ b/energy/src/energy/run.cpp @@ -40,18 +40,19 @@ int Energy::runBig(cv::Mat &gimble_src, cv::Mat &chassis_src){ return 0; } - if(++gimble_cnt==10){ + if(++gimble_cnt%8==0){ former_point=circle_center_point; - gimble_cnt=0; + //gimble_cnt=0; } - if(former_point==predict_point&&gimble_cnt==9&&predict_point!=Point(0,0)) { + if(former_point==predict_point&&gimble_cnt%8==7&&predict_point!=Point(0,0)) { centered=true; cout<<"gimble focused!"<init()) { LOGM("video_gimble source initialization successfully."); From 07af506821ef2bbae4fa43ef62fd33eba6e2202c Mon Sep 17 00:00:00 2001 From: sun Date: Sat, 6 Jul 2019 20:15:09 +0800 Subject: [PATCH 12/12] energy changed --- energy/src/energy/calibrate/structing.cpp | 10 +++++----- energy/src/energy/find/energy_finder.cpp | 18 +++++++++--------- energy/src/energy/param_init.cpp | 10 +++++----- energy/src/energy/run.cpp | 2 ++ 4 files changed, 21 insertions(+), 19 deletions(-) diff --git a/energy/src/energy/calibrate/structing.cpp b/energy/src/energy/calibrate/structing.cpp index 5b80be8..356e66c 100644 --- a/energy/src/energy/calibrate/structing.cpp +++ b/energy/src/energy/calibrate/structing.cpp @@ -27,9 +27,9 @@ void Energy::StructingElementClose(cv::Mat &src,int length, int width){ void Energy::StructingElementErodeDilate(cv::Mat &src) { cv::Mat src_out, src_out_out; Mat element_dilate_1 = getStructuringElement(MORPH_RECT, Size(3, 3)); - Mat element_erode_1 = getStructuringElement(MORPH_RECT, Size(2, 1)); + Mat element_erode_1 = getStructuringElement(MORPH_RECT, Size(3, 4)); Mat element_dilate_2 = getStructuringElement(MORPH_RECT, Size(8, 6)); - Mat element_erode_2 = getStructuringElement(MORPH_RECT, Size(4,4)); + Mat element_erode_2 = getStructuringElement(MORPH_RECT, Size(4 , 4)); Mat element_dilate_3 = getStructuringElement(MORPH_RECT, Size(3, 3)); @@ -42,9 +42,9 @@ void Energy::StructingElementErodeDilate(cv::Mat &src) { dilate(src, src, element_dilate_2); // imshow("dilate_2", src); - erode(src,src, element_erode_2); -// imshow("erode_2", src); - dilate(src, src, element_dilate_3); // imshow("dilate_3", src); + + erode(src,src, element_erode_2); + imshow("erode_2", src); } diff --git a/energy/src/energy/find/energy_finder.cpp b/energy/src/energy/find/energy_finder.cpp index 7f6ee9b..8e9f390 100644 --- a/energy/src/energy/find/energy_finder.cpp +++ b/energy/src/energy/find/energy_finder.cpp @@ -103,15 +103,15 @@ int Energy::findArmor(const cv::Mat src, int &last_armors_cnt) { } armors.emplace_back(armor_contour); - /* RotatedRect cur_rect = minAreaRect(armor_contour); - Size2f cur_size = cur_rect.size; - float length = cur_size.height > cur_size.width ? cur_size.height : cur_size.width; - float width = cur_size.height < cur_size.width ? cur_size.height : cur_size.width; - if(length>10&&width>5){ - armors.emplace_back(armor_contour); - cout<<"armor area: "< cur_size.width ? cur_size.height : cur_size.width; +// float width = cur_size.height < cur_size.width ? cur_size.height : cur_size.width; +// if(length>10&&width>5){ +// armors.emplace_back(armor_contour); +// cout<<"armor area: "<(armors.size()); diff --git a/energy/src/energy/param_init.cpp b/energy/src/energy/param_init.cpp index a25219e..02251b5 100644 --- a/energy/src/energy/param_init.cpp +++ b/energy/src/energy/param_init.cpp @@ -66,7 +66,7 @@ void Energy::initEnergy() { // 此函数对能量机关参数进行初始化 // --------------------------------------------------------------------------------------------------------------------- void Energy::initEnergyPartParam() { - energy_part_param_.GRAY_THRESH = 240; + energy_part_param_.GRAY_THRESH = 235; energy_part_param_.SPLIT_GRAY_THRESH = 60; energy_part_param_.FAN_GRAY_THRESH = 75; energy_part_param_.ARMOR_GRAY_THRESH = 80; @@ -82,10 +82,10 @@ void Energy::initEnergyPartParam() { energy_part_param_.ARMOR_CONTOUR_AREA_MAX = 100000; energy_part_param_.ARMOR_CONTOUR_AREA_MIN = 0; - energy_part_param_.ARMOR_CONTOUR_LENGTH_MIN = 30; - energy_part_param_.ARMOR_CONTOUR_WIDTH_MIN = 15; - energy_part_param_.ARMOR_CONTOUR_LENGTH_MAX = 50; - energy_part_param_.ARMOR_CONTOUR_WIDTH_MAX = 45; + energy_part_param_.ARMOR_CONTOUR_LENGTH_MIN = 15; + energy_part_param_.ARMOR_CONTOUR_WIDTH_MIN = 5; + energy_part_param_.ARMOR_CONTOUR_LENGTH_MAX = 30; + energy_part_param_.ARMOR_CONTOUR_WIDTH_MAX = 20; energy_part_param_.ARMOR_CONTOUR_HW_RATIO_MAX = 3; energy_part_param_.ARMOR_CONTOUR_HW_RATIO_MIN = 1; diff --git a/energy/src/energy/run.cpp b/energy/src/energy/run.cpp index 901bd20..25e8799 100644 --- a/energy/src/energy/run.cpp +++ b/energy/src/energy/run.cpp @@ -137,9 +137,11 @@ int Energy::runBig(cv::Mat &gimble_src){ // --------------------------------------------------------------------------------------------------------------------- int Energy::runSmall(cv::Mat &gimble_src){ imshow("gimble src", gimble_src); + if(gimble_src.type()== CV_8UC3)cvtColor(gimble_src, gimble_src, COLOR_BGR2GRAY); fans.clear(); armors.clear(); threshold(gimble_src, gimble_src, energy_part_param_.GRAY_THRESH, 255, THRESH_BINARY); + imshow("bin",gimble_src); fans_cnt = findFan(gimble_src, last_fans_cnt); armors_cnt = findArmor(gimble_src, last_armors_cnt); if(fans_cnt==-1 || armors_cnt==-1 || armors_cnt != fans_cnt+1) return 0;