Merge remote-tracking branch 'origin/master'

armor/include/armor_finder/armor_finder.h

@@ -124,6 +124,7 @@ private:
 
     bool findLightBlobs(const cv::Mat &src, LightBlobs &light_blobs);
     bool findArmorBox(const cv::Mat &src, ArmorBox &box);
+    bool matchArmorBoxes(const cv::Mat &src, const LightBlobs &light_blobs, ArmorBoxes &armor_boxes);
 
     bool stateSearchingTarget(cv::Mat &src);            // searching state主函数
     bool stateTrackingTarget(cv::Mat &src);             // tracking state主函数

armor/src/armor_finder/classifier/classifier.cpp

@@ -324,7 +324,7 @@ int Classifier::operator()(const cv::Mat &image) {
 //    cout << result << "==============" <<endl;
     MatrixXd::Index minRow, minCol;
     result.maxCoeff(&minRow, &minCol);
-    if(result(minRow, minCol) > 0.90){
+    if(result(minRow, minCol) > 0.50){
         return minRow;
     }else{
         return 0;

armor/src/armor_finder/find/find_armor_box.cpp

@@ -83,11 +83,11 @@ static double centerDistance(const cv::Rect2d &box) {
     return dx * dx + dy * dy;
 }
 
-bool matchArmorBoxes(const cv::Mat &src, const LightBlobs &light_blobs, ArmorBoxes &armor_boxes, uint8_t color) {
+bool ArmorFinder::matchArmorBoxes(const cv::Mat &src, const LightBlobs &light_blobs, ArmorBoxes &armor_boxes) {
     armor_boxes.clear();
     for (int i = 0; i < light_blobs.size() - 1; ++i) {
         for (int j = i + 1; j < light_blobs.size(); ++j) {
-            if (!isCoupleLight(light_blobs.at(i), light_blobs.at(j), color)) {
+            if (!isCoupleLight(light_blobs.at(i), light_blobs.at(j), enemy_color)) {
                 continue;
             }
             cv::Rect2d rect_left = light_blobs.at(static_cast<unsigned long>(i)).rect.boundingRect();
@@ -101,13 +101,13 @@ bool matchArmorBoxes(const cv::Mat &src, const LightBlobs &light_blobs, ArmorBox
             if (min_x < 0 || max_x > src.cols || min_y < 0 || max_y > src.rows) {
                 continue;
             }
-            if ((max_y + min_y) / 2 < 120) continue;
+            if (state == SEARCHING_STATE && (max_y + min_y) / 2 < 120) continue;
             if ((max_x - min_x) / (max_y - min_y) < 0.8) continue;
             LightBlobs pair_blobs = {light_blobs.at(i), light_blobs.at(j)};
             armor_boxes.emplace_back(
                     cv::Rect2d(min_x, min_y, max_x - min_x, max_y - min_y),
                     pair_blobs,
-                    color
+                    enemy_color
             );
         }
     }
@@ -130,8 +130,7 @@ bool ArmorFinder::findArmorBox(const cv::Mat &src, ArmorBox &box) {
         cv::waitKey(1);
     }
     CNT_TIME("boxes", {
-        if (!matchArmorBoxes(src, light_blobs, armor_boxes, enemy_color)) {
-            //        cout << "Box fail!" << endl;
+        if (!matchArmorBoxes(src, light_blobs, armor_boxes)) {
             return false;
         }
     });

armor/src/armor_finder/tracking_state/tracking_state.cpp

@@ -1,6 +1,7 @@
 //
 // Created by xinyang on 19-3-27.
 //
+#define LOG_LEVEL LOG_NONE
 #include <log.h>
 #include <options.h>
 #include <armor_finder/armor_finder.h>
@@ -10,10 +11,12 @@ bool ArmorFinder::stateTrackingTarget(cv::Mat &src) {
     auto pos = target_box.rect;
     if(!tracker->update(src, pos)){
         target_box = ArmorBox();
+        LOGW("Track fail!");
         return false;
     }
     if((pos & cv::Rect2d(0, 0, 640, 480)) != pos){
         target_box = ArmorBox();
+        LOGW("Track out range!");
         return false;
     }
 
@@ -25,8 +28,8 @@ bool ArmorFinder::stateTrackingTarget(cv::Mat &src) {
     bigger_rect.width  = pos.width * 2;
     bigger_rect &= cv::Rect2d(0, 0, 640, 480);
 
-    if(show_armor_box)
-        showTrackSearchingPos("track", src, bigger_rect);
+//    if(show_armor_box)
+//        showTrackSearchingPos("track", src, bigger_rect);
 
     cv::Mat roi = src(bigger_rect).clone();
 
@@ -42,27 +45,27 @@ bool ArmorFinder::stateTrackingTarget(cv::Mat &src) {
         tracker = TrackerToUse::create();
         tracker->init(src, target_box.rect);
     }else{
-//        roi = src(pos).clone();
-//        if(classifier){
-//            cv::resize(roi, roi, cv::Size(48, 36));
-//            if(classifier(roi) == 0){
-//                target_box = ArmorBox();
-//                return false;
-//            }
-//        }else{
-//            cv::Mat roi_gray;
-//            cv::cvtColor(roi, roi_gray, CV_RGB2GRAY);
-//            cv::threshold(roi_gray, roi_gray, 180, 255, cv::THRESH_BINARY);
-//            contour_area = cv::countNonZero(roi_gray);
-//            if(abs(cv::countNonZero(roi_gray) - contour_area) > contour_area * 0.3){
-//                target_box = ArmorBox();
-//                return false;
-//            }
-//        }
-//        target_box.rect = pos;
-//        target_box.light_blobs.clear();
+        roi = src(pos).clone();
+        if(classifier){
+            cv::resize(roi, roi, cv::Size(48, 36));
+            if(classifier(roi) == 0){
+                target_box = ArmorBox();
+                LOGW("Track classify fail range!");
+                return false;
+            }
+        }else{
+            cv::Mat roi_gray;
+            cv::cvtColor(roi, roi_gray, CV_RGB2GRAY);
+            cv::threshold(roi_gray, roi_gray, 180, 255, cv::THRESH_BINARY);
+            contour_area = cv::countNonZero(roi_gray);
+            if(abs(cv::countNonZero(roi_gray) - contour_area) > contour_area * 0.3){
                 target_box = ArmorBox();
                 return false;
             }
+        }
+        target_box.rect = pos;
+        target_box.light_blobs.clear();
+        target_box = ArmorBox();
+    }
     return true;
 }

energy/include/energy/energy.h

@@ -52,6 +52,7 @@ private:
     bool is_chassis;//同时具有底盘和云台摄像头时，处于底盘摄像头击打过程
     bool is_guessing;//当前处于发弹到新目标出现的过程，则为true，此时猜测下一个目标
     bool is_predicting;//当前处于新目标出现到发弹的过程，则为true，此时正常击打
+    bool is_find_target;//判断当前是否找到了目标
     bool energy_mode_init;//正在进行大小符判断
     bool energy_rotation_init;//若仍在判断风车旋转方向，则为true
     bool manual_mark;//若操作手进行过手动标定，则为true
@@ -91,6 +92,7 @@ private:
     float sum_yaw, sum_pitch;//yaw和pitch的累计误差，即PID中积分项
 
     systime time_start_guess;
+    systime time_start_energy;
 
     cv::RotatedRect centerR;//风车中心字母R的可能候选区
     cv::RotatedRect flow_strip;//图像中所有流动条（理论上只有一个）
@@ -116,8 +118,6 @@ private:
     std::queue<float> recent_target_armor_centers;//记录最近一段时间的装甲板中心，用于判断大符还是小符
 
 
-
-
     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

energy/include/energy/param_struct_define.h

@@ -17,6 +17,7 @@ using std::vector;
 // ---------------------------------------------------------------------------------------------------------------------
 struct EnergyPartParam {
 	int GRAY_THRESH;//二值化阈值
+	int SUB_GRAY_THRESH;//备用二值化阈值
 	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

energy/src/energy/calibrate/structing.cpp

@@ -53,9 +53,9 @@ void Energy::ArmorStruct(cv::Mat &src) {
 //    imshow("dilate_1", src);
     erode(src,src, element_erode_1);
 //    imshow("erode_1", src);
-    erode(src,src, element_erode_2);
+//    erode(src,src, element_erode_2);
 //    imshow("erode_2", src);
-    erode(src,src, element_erode_3);
+//    erode(src,src, element_erode_3);
 //    imshow("erode_3", src);
 
 //    dilate(src, src, element_dilate_2);

energy/src/energy/clear/clear.cpp

@@ -26,8 +26,16 @@ void Energy::clearAll() {
 void Energy::initImage(cv::Mat &src) {
 //    imagePreprocess(src);
 //    if(show_process)imshow("img_preprocess", src);
+    systime cur_time;
+    getsystime(cur_time);
+    float interval = getTimeIntervalms(cur_time, time_start_energy);
+
     if (src.type() == CV_8UC3)cvtColor(src, src, COLOR_BGR2GRAY);
+    if(interval > 3000 && !is_find_target){
+        threshold(src, src, energy_part_param_.SUB_GRAY_THRESH, 255, THRESH_BINARY);
+    }else{
         threshold(src, src, energy_part_param_.GRAY_THRESH, 255, THRESH_BINARY);
+    }
     if (show_process)imshow("bin", src);
     if (show_energy)waitKey(1);
 }

energy/src/energy/clear/energy_init.cpp

@@ -17,6 +17,7 @@ void Energy::initEnergy() {
     is_mark = false;
     is_guessing = false;
     is_predicting = true;
+    is_find_target = false;
     energy_mode_init = true;
     energy_rotation_init = true;
     manual_mark = false;
@@ -83,6 +84,7 @@ void Energy::initEnergyPartParam() {
 //    gimbal_energy_part_param_.GRAY_THRESH = 120;//home
 //    gimbal_energy_part_param_.GRAY_THRESH = 200;//official
     gimbal_energy_part_param_.GRAY_THRESH = 180;//game
+    gimbal_energy_part_param_.SUB_GRAY_THRESH = 100;
     gimbal_energy_part_param_.SPLIT_GRAY_THRESH = 180;
     gimbal_energy_part_param_.FAN_GRAY_THRESH = 75;
     gimbal_energy_part_param_.ARMOR_GRAY_THRESH = 80;
@@ -157,7 +159,6 @@ void Energy::initEnergyPartParam() {
     gimbal_energy_part_param_.STRIP_ARMOR_DISTANCE_MAX = 52;
 
 
-
     chassis_energy_part_param_.GRAY_THRESH = 120;//home
 //    chassis_energy_part_param_.GRAY_THRESH = 200;//official
 //    chassis_energy_part_param_.GRAY_THRESH = 225;

energy/src/energy/energy.cpp

@@ -53,6 +53,8 @@ void Energy::setBigEnergyInit() {
     initEnergy();
     initEnergyPartParam();
 
+    getsystime(time_start_energy);
+
     is_big = true;
     is_small = false;
     is_gimbal = true;

energy/src/energy/find/energy_finder.cpp

@@ -1,4 +1,4 @@
-//
+//
 // Created by xixiliadorabarry on 1/24/19.
 //
 #include "energy/energy.h"

energy/src/energy/find/target_finder.cpp

@@ -54,7 +54,12 @@ void Energy::findTargetByIntersection() {
 // 此函数在流动条区域内寻找装甲板
 // ---------------------------------------------------------------------------------------------------------------------
 bool Energy::findTargetInFlowStripFan() {
+//    Mat draw(480,640,CV_8UC3,Scalar(0,0,0));
     for (auto &candidate_flow_strip_fan: flow_strip_fans) {
+//        Point2f vertices[4];      //定义矩形的4个顶点
+//        candidate_flow_strip_fan.points(vertices);   //计算矩形的4个顶点
+//        for (int i = 0; i < 4; i++)
+//            line(draw, vertices[i], vertices[(i + 1) % 4], Scalar(0, 0, 255), 2);
         int i = 0;
         for (i = 0; i < armors.size(); ++i) {
             std::vector<cv::Point2f> intersection;
@@ -67,9 +72,11 @@ bool Energy::findTargetInFlowStripFan() {
             }
         }
     }
+//    imshow("draw",draw);
+//    waitKey();
 //    cout << "target armor cnt: " << target_armors.size() << endl;
     if (target_armors.empty()) {
-        if (show_info)cout << "find target armor false" << endl;
+        if (show_info)cout << "t6find target armor false" << endl;
         return false;
     } else {
         return true;

energy/src/energy/run.cpp

@@ -79,12 +79,22 @@ void Energy::runBig(cv::Mat &gimbal_src) {
     if (findArmors(gimbal_src) < 1)return;
     if (show_energy)showArmors("armor", gimbal_src);
     if (!findFlowStripFan(gimbal_src)) {
-        if (!findFlowStripWeak(gimbal_src))return;
+        if (!findFlowStripWeak(gimbal_src)){
+            is_find_target = false;
+            return;
+        }
     } else {
         if (show_energy)showFlowStripFan("strip fan", gimbal_src);
-        if (!findTargetInFlowStripFan()) return;
-        if (!findFlowStrip(gimbal_src))return;
+        if (!findTargetInFlowStripFan()) {
+            is_find_target = false;
+            return;
         }
+        if (!findFlowStrip(gimbal_src)){
+            is_find_target = false;
+            return;
+        }
+    }
+    is_find_target = true;
     if (!findCenterROI(gimbal_src))return;
     if (show_energy)showFlowStrip("strip", gimbal_src);
     if (!findCenterR(gimbal_src))return;
@@ -125,12 +135,22 @@ void Energy::runSmall(cv::Mat &gimbal_src) {
     if (findArmors(gimbal_src) < 1)return;
     if (show_energy)showArmors("armor", gimbal_src);
     if (!findFlowStripFan(gimbal_src)) {
-        if (!findFlowStripWeak(gimbal_src))return;
+        if (!findFlowStripWeak(gimbal_src)){
+            is_find_target = false;
+            return;
+        }
     } else {
         if (show_energy)showFlowStripFan("strip fan", gimbal_src);
-        if (!findTargetInFlowStripFan()) return;
-        if (!findFlowStrip(gimbal_src))return;
+        if (!findTargetInFlowStripFan()) {
+            is_find_target = false;
+            return;
         }
+        if (!findFlowStrip(gimbal_src)){
+            is_find_target = false;
+            return;
+        }
+    }
+    is_find_target = true;
     if (show_energy)showTarget("target", gimbal_src);
     fans_cnt = findFans(gimbal_src);
     if (show_energy)showFans("fans", gimbal_src);

energy/src/energy/send/send.cpp

@@ -24,20 +24,30 @@ void Energy::sendEnergy() {
             } else if (ROBOT_ID == 7) {
                 float yaw_I_component = BIG_YAW_AIM_KI * sum_yaw;
                 float pitch_I_component = BIG_PITCH_AIM_KI * sum_pitch;
-                MINMAX(yaw_I_component, -3, 3);
-                MINMAX(pitch_I_component, -3, 3);
-//                MINMAX(yaw_I_component, -2, 2);
-//                MINMAX(pitch_I_component, -2, 2);
+//                MINMAX(yaw_I_component, -3, 3);
+//                MINMAX(pitch_I_component, -3, 3);
+                MINMAX(yaw_I_component, -2, 2);
+                MINMAX(pitch_I_component, -2, 2);
             }
 
             double tmp_yaw = yaw_rotation;
             double tmp_pitch = pitch_rotation;
+            if (mcu_data.mark == 1) {
+                yaw_rotation = TRY_BIG_YAW_AIM_KP * yaw_rotation + TRY_BIG_YAW_AIM_KI * sum_yaw +
+                               TRY_BIG_YAW_AIM_KD * (yaw_rotation - last_yaw);
+                pitch_rotation = TRY_BIG_PITCH_AIM_KP * pitch_rotation + TRY_BIG_PITCH_AIM_KI * sum_pitch +
+                                 TRY_BIG_PITCH_AIM_KD * (pitch_rotation - last_pitch);
+            } else {
                 yaw_rotation = BIG_YAW_AIM_KP * yaw_rotation + BIG_YAW_AIM_KI * sum_yaw +
                                BIG_YAW_AIM_KD * (yaw_rotation - last_yaw);
                 pitch_rotation = BIG_PITCH_AIM_KP * pitch_rotation + BIG_PITCH_AIM_KI * sum_pitch +
                                  BIG_PITCH_AIM_KD * (pitch_rotation - last_pitch);
-//            cout << BIG_YAW_AIM_KP * yaw_rotation << '\t' << BIG_YAW_AIM_KI * sum_yaw << '\t'
+            }
+
+//            cout << "yaw: "<<BIG_YAW_AIM_KP * yaw_rotation << '\t' << BIG_YAW_AIM_KI * sum_yaw << '\t'
 //                 << BIG_YAW_AIM_KD * (yaw_rotation - last_yaw) << endl;
+//            cout << "pitch: "<<BIG_PITCH_AIM_KP * pitch_rotation << '\t' << BIG_PITCH_AIM_KI * sum_pitch << '\t'
+//                 << BIG_PITCH_AIM_KD * (pitch_rotation - last_pitch) << endl;
             last_yaw = tmp_yaw;
             last_pitch = tmp_pitch;
             if (ROBOT_ID == 7) {
@@ -57,8 +67,14 @@ void Energy::sendEnergy() {
     } else if (is_small) {
         double tmp_yaw = yaw_rotation;
         double tmp_pitch = pitch_rotation;
+        if (mcu_data.mark == 1) {
+            yaw_rotation = TRY_SMALL_YAW_AIM_KP * yaw_rotation + TRY_SMALL_YAW_AIM_KD * (yaw_rotation - last_yaw);
+            pitch_rotation =
+                    TRY_SMALL_PITCH_AIM_KP * pitch_rotation + TRY_SMALL_PITCH_AIM_KD * (pitch_rotation - last_pitch);
+        } else {
             yaw_rotation = SMALL_YAW_AIM_KP * yaw_rotation + SMALL_YAW_AIM_KD * (yaw_rotation - last_yaw);
             pitch_rotation = SMALL_PITCH_AIM_KP * pitch_rotation + SMALL_PITCH_AIM_KD * (pitch_rotation - last_pitch);
+        }
         if (ROBOT_ID == 7) {
             MINMAX(yaw_rotation, -6, 6);
             MINMAX(pitch_rotation, -6, 6);

main.cpp

@@ -30,10 +30,10 @@ using namespace std;
 McuData mcu_data = {    // 单片机端回传结构体
         0,              // 当前云台yaw角
         0,              // 当前云台pitch角
-        ARMOR_STATE,    // 当前状态，自瞄-大符-小符
+        SMALL_ENERGY_STATE,    // 当前状态，自瞄-大符-小符
         0,              // 云台角度标记位
         1,              // 是否启用数字识别
-        ENEMY_BLUE,      // 敌方颜色
+        ENEMY_RED,      // 敌方颜色
         0,              // 能量机关x轴补偿量
         0,              // 能量机关y轴补偿量
 };
@@ -42,7 +42,7 @@ WrapperHead *video_gimbal = nullptr;    // 云台摄像头视频源
 WrapperHead *video_chassis = nullptr;   // 底盘摄像头视频源
 
 Serial serial(115200);                  // 串口对象
-uint8_t last_state = INIT_STATE;     // 上次状态，用于初始化
+uint8_t last_state = INIT_STATE;     // 上次状态，用于初始化y
 // 自瞄主程序对象
 ArmorFinder armor_finder(mcu_data.enemy_color, serial, PROJECT_DIR"/tools/para/");
 // 能量机关主程序对象
@@ -66,8 +66,8 @@ int main(int argc, char *argv[]) {
             video_gimbal = new CameraWrapper(ARMOR_CAMERA_EXPOSURE, ARMOR_CAMERA_GAIN, 2/*, "armor"*/);
             video_chassis = new CameraWrapper(ENERGY_CAMERA_EXPOSURE, ENERGY_CAMERA_GAIN, 2/*, "energy"*/);
         } else {
-            video_gimbal = new VideoWrapper(PROJECT_DIR"/5.avi");
-            video_chassis = new VideoWrapper(PROJECT_DIR"/5.avi");
+            video_gimbal = new VideoWrapper("/home/sun/桌面/video_8.7/round1-8-5-7-small.avi");
+            video_chassis = new VideoWrapper("/home/sun/桌面/video_8.7/round1-8-5-7-small.avi");
         }
         if (video_gimbal->init()) {
             LOGM("video_gimbal source initialization successfully.");
@@ -93,7 +93,7 @@ int main(int argc, char *argv[]) {
         bool ok = true;
         cout << "start running" << endl;
         do {
-            auto curr_state = mcu_data.state;
+            char curr_state = mcu_data.state;
             CNT_TIME("Total", {
             if (curr_state == BIG_ENERGY_STATE) {//大能量机关模式
                 if (last_state != BIG_ENERGY_STATE) {//若上一帧不是大能量机关模式，即刚往完成切换，则需要初始化

others/include/log.h

@@ -6,6 +6,7 @@
 #define _LOG_H_
 
 #include <stdio.h>
+#include <systime.h>
 
 /************** Define the control code *************/
 #define START_CTR           "\033[0"
@@ -130,28 +131,22 @@
 
 /******************** the time counter API ************************/
 #if !defined(DO_NOT_CNT_TIME) && LOG_LEVEL > LOG_NONE
-	#ifdef Windows
-		#include <Windows.h>
     #define CNT_TIME(tag, codes, ...) do{ \
-			static SYSTEMTIME ts, te; \
-			GetLocalTime(&ts); \
+        class TimeCounter{ \
+        private: \
+            systime begin; \
+        public: \
+            TimeCounter(){ \
+                getsystime(begin); \
+            } \
+            ~TimeCounter(){ \
+                systime end; \
+                getsystime(end); \
+                LOGM(tag": %.1lfms", ##__VA_ARGS__, getTimeIntervalms(end, begin)); \
+            } \
+        } time_cnt; \
         codes; \
-			GetLocalTime(&te); \
-			LOGM(tag": %dms", (te.wSecond-ts.wSecond)*1000+(te.wMilliseconds-ts.wMilliseconds)); \
     }while (0)
-	#elif defined(Linux)
-		#include <sys/time.h>
-		#define CNT_TIME(tag, codes, ...) do{ \
-			static timeval ts, te; \
-			gettimeofday(&ts, NULL); \
-			codes; \
-			gettimeofday(&te, NULL); \
-			LOGM(tag": %.1lfms", ##__VA_ARGS__, (te.tv_sec-ts.tv_sec)*1000.0+(te.tv_usec-ts.tv_usec)/1000.0); \
-		}while (0)
-    #else
-        #warning "Unsupport plantform for CNT_TIME"
-        #define CNT_TIME(tag, codes, ...) codes
-    #endif
 #else
 	#define CNT_TIME(tag, codes, ...) codes
 #endif

tools/TrainCNN/backward.py

@@ -52,8 +52,8 @@ def save_para(folder, paras, names, info):
 
 
 STEPS = 100000
-BATCH = 40
-LEARNING_RATE_BASE = 0.0002
+BATCH = 50
+LEARNING_RATE_BASE = 0.0005
 LEARNING_RATE_DECAY = 0.99
 MOVING_AVERAGE_DECAY = 0.99
 
@@ -98,7 +98,7 @@ def train(dataset, show_bar=False):
 
             _, loss_value, step = sess.run(
                 [train_op, loss, global_step],
-                feed_dict={x: images_samples, y_: labels_samples, keep_rate: 0.3}
+                feed_dict={x: images_samples, y_: labels_samples, keep_rate: 0.4}
             )
 
             if step % 500 == 0:

tools/TrainCNN/forward.py

@@ -41,7 +41,7 @@ CONV2_OUTPUT_CHANNELS = 8
 CONV3_KERNAL_SIZE = 3
 
 # 第三层卷积输出通道数
-CONV3_OUTPUT_CHANNELS = 16
+CONV3_OUTPUT_CHANNELS = 12
 
 # 第一层全连接宽度
 FC1_OUTPUT_NODES = 60
@@ -77,7 +77,6 @@ def forward(x, regularizer=None, keep_rate=tf.constant(1.0)):
     conv2 = tf.nn.relu(tf.nn.bias_add(conv2d(pool1, conv2_w), conv2_b))
     pool2 = avg_pool_2x2(conv2)
     print("conv2: ", conv2.shape)
-    print("pool2: ", pool2.shape)
     vars.extend([conv2_w, conv2_b])
     vars_name.extend(["conv2_w", "conv2_b"])
     nodes.extend([conv2, pool2])

tools/create-startup.sh

@@ -5,5 +5,5 @@ echo "echo sjturm | sudo -S cpufreq-set -g performance" >> $2/startup-run
 echo "mkdir $1/Mark" >> $2/startup-run
 echo "mkdir $1/gimbal_video" >> $2/startup-run
 echo "mkdir $1/armor_box_photo" >> $2/startup-run
-echo "gnome-terminal -- bash -c \"echo sjturm | sudo -S $1/tools/monitor.sh \\\"$2/run --run-with-camera --save-video --wait-uart --save-labelled-boxes\\\"\"" >> $2/startup-run
+echo "gnome-terminal -- bash -c \"echo sjturm | sudo -S $1/tools/monitor.sh \\\"$2/run --run-with-camera --save-video --save-mark --wait-uart --save-labelled-boxes\\\"\"" >> $2/startup-run
 chmod +x $2/startup-run

tools/para/conv1_b

@@ -1,5 +1,5 @@
 4
-0.021338634
--0.28292254
-0.39307028
-0.46493095
+1.0091771
+0.75360304
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tools/para/conv1_w

@@ -2,303 +2,303 @@
 4
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tools/para/conv2_b

@@ -1,9 +1,9 @@
 8
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tools/para/conv2_w

@@ -2,291 +2,291 @@
 8
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