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整理代码

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This commit is contained in:
xinyang
2019-08-14 11:48:41 +08:00
parent 9d94de939b
commit 20d95b3f81
11 changed files with 124 additions and 91 deletions
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12
armor/include/armor_finder/classifier/classifier.h
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@@ -1,6 +1,9 @@
//
// Created by xinyang on 19-4-19.
//
// 为了一时方便，使用循环和Eigen自行编写的CNN前向传播类。
// 没有显著的性能损失。
// 但类定义了网络结构，同时实现的操作较少，可扩展性较差
#ifndef _CLASSIFIER_H_
#define _CLASSIFIER_H_
@@ -16,18 +19,19 @@ using namespace Eigen;
class Classifier {
private:
bool state;
bool state; // 标志分类器是否正确初始化
// 所有网络参数
vector<vector<MatrixXd>> conv1_w, conv2_w, conv3_w;
vector<double> conv1_b, conv2_b, conv3_b;
MatrixXd fc1_w, fc2_w;
VectorXd fc1_b, fc2_b;
// 读取网络参数的函数
vector<vector<MatrixXd>> load_conv_w(const string &file);
vector<double> load_conv_b(const string &file);
MatrixXd load_fc_w(const string &file);
VectorXd load_fc_b(const string &file);
// 目前支持的所有操作
MatrixXd softmax(const MatrixXd &input);
MatrixXd relu(const MatrixXd &input);
MatrixXd leaky_relu(const MatrixXd &input, float alpha);
@@ -51,4 +55,4 @@ public:
};
#endif //RUNCNN_CLASSIFIER_H
#endif /* _CLASSIFIER_H */

6
armor/src/armor_finder/anti_top/anti_top.cpp
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@@ -32,6 +32,11 @@ static systime getFrontTime(const vector<systime> time_seq, const vector<float>
void ArmorFinder::antiTop() {
if (target_box.rect == cv::Rect2d()) return;
// 判断是否发生装甲目标切换。
// 记录切换前一段时间目标装甲的角度和时间
// 通过线性拟合计算出角度为0时对应的时间点
// 通过两次装甲角度为零的时间差计算陀螺旋转周期
// 根据旋转周期计算下一次装甲出现在角度为零的时间点
if (getPointLength(last_box.getCenter() - target_box.getCenter()) > last_box.rect.height * 1.5) {
auto front_time = getFrontTime(time_seq, angle_seq);
auto once_periodms = getTimeIntervalms(front_time, last_front_time);
@@ -39,7 +44,6 @@ void ArmorFinder::antiTop() {
// sendBoxPosition(0);
// return;
// }
LOGM(STR_CTR(WORD_GREEN, "Top period: %.1lf"), once_periodms);
top_periodms.push(once_periodms);
auto periodms = mean(top_periodms);

6
armor/src/armor_finder/armor_finder.cpp
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@@ -58,7 +58,7 @@ ArmorFinder::ArmorFinder(uint8_t &color, Serial &u, const string &paras_folder,
}
void ArmorFinder::run(cv::Mat &src) {
getsystime(frame_time);
getsystime(frame_time); //　获取当前帧时间(不是足够精确)
// stateSearchingTarget(src); // for debug
// goto end;
switch (state) {
@@ -87,10 +87,10 @@ void ArmorFinder::run(cv::Mat &src) {
break;
case STANDBY_STATE:
default:
stateStandBy();
stateStandBy(); // currently meaningless
}
end:
if(is_anti_top) {
if(is_anti_top) { // 判断当前是否为反陀螺模式
antiTop();
}else if(target_box.rect != cv::Rect2d()) {
anti_top_cnt = 0;

2
armor/src/armor_finder/classifier/classifier.cpp
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@@ -1,6 +1,7 @@
//
// Created by xinyang on 19-4-19.
//
// 对本文件的大致描述请看classifier.h
//#define LOG_LEVEL LOG_NONE
#include <armor_finder/classifier/classifier.h>
@@ -321,7 +322,6 @@ int Classifier::operator()(const cv::Mat &image) {
vector<MatrixXd> sub = {b, g, r};
vector<vector<MatrixXd>> in = {sub};
MatrixXd result = calculate(in);
// cout << result << "==============" <<endl;
MatrixXd::Index minRow, minCol;
result.maxCoeff(&minRow, &minCol);
if(result(minRow, minCol) > 0.50){

10
armor/src/armor_finder/searching_state/searching_state.cpp
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@@ -8,13 +8,13 @@
#include <log.h>
bool ArmorFinder::stateSearchingTarget(cv::Mat &src) {
if (findArmorBox(src, target_box)) {
if (findArmorBox(src, target_box)) { // 在原图中寻找目标，并返回是否找到
if (last_box.rect != cv::Rect2d() &&
(getPointLength(last_box.getCenter() - target_box.getCenter()) > last_box.rect.height * 2.0) &&
anti_switch_cnt++ < 3) {
target_box = ArmorBox();
LOGM("anti-switch!");
return false;
anti_switch_cnt++ < 3) { // 判断当前目标和上次有效目标是否为同一个目标
target_box = ArmorBox(); // 并给３帧的时间，试图找到相同目标
LOGM("anti-switch!"); // 即刚发生目标切换内的３帧内不发送目标位置
return false; // 可以一定程度避免频繁多目标切换
} else {
anti_switch_cnt = 0;
return true;

20
armor/src/armor_finder/tracking_state/tracking_state.cpp
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@@ -9,7 +9,7 @@
bool ArmorFinder::stateTrackingTarget(cv::Mat &src) {
auto pos = target_box.rect;
if(!tracker->update(src, pos)){
if(!tracker->update(src, pos)){ // 使用KCFTracker进行追踪
target_box = ArmorBox();
LOGW("Track fail!");
return false;
@@ -20,23 +20,20 @@ bool ArmorFinder::stateTrackingTarget(cv::Mat &src) {
return false;
}
// 获取相较于追踪区域两倍长款的区域，用于重新搜索，获取灯条信息
cv::Rect2d bigger_rect;
bigger_rect.x = pos.x - pos.width / 2.0;
bigger_rect.y = pos.y - pos.height / 2.0;
bigger_rect.height = pos.height * 2;
bigger_rect.width = pos.width * 2;
bigger_rect &= cv::Rect2d(0, 0, 640, 480);
// if(show_armor_box)
// showTrackSearchingPos("track", src, bigger_rect);
cv::Mat roi = src(bigger_rect).clone();
ArmorBox box;
if(findArmorBox(roi, box)) {
// 在区域内重新搜索。
if(findArmorBox(roi, box)) { // 如果成功获取目标，则利用搜索区域重新更新追踪器
target_box = box;
target_box.rect.x += bigger_rect.x;
target_box.rect.x += bigger_rect.x; //　添加roi偏移量
target_box.rect.y += bigger_rect.y;
for(auto &blob : target_box.light_blobs){
blob.rect.center.x += bigger_rect.x;
@@ -44,16 +41,16 @@ bool ArmorFinder::stateTrackingTarget(cv::Mat &src) {
}
tracker = TrackerToUse::create();
tracker->init(src, target_box.rect);
}else{
}else{ // 如果没有成功搜索目标，则使用判断是否跟丢。
roi = src(pos).clone();
if(classifier){
if(classifier){ // 分类器可用，使用分类器判断。
cv::resize(roi, roi, cv::Size(48, 36));
if(classifier(roi) == 0){
target_box = ArmorBox();
LOGW("Track classify fail range!");
return false;
}
}else{
}else{ //　分类器不可用，使用常规方法判断
cv::Mat roi_gray;
cv::cvtColor(roi, roi_gray, CV_RGB2GRAY);
cv::threshold(roi_gray, roi_gray, 180, 255, cv::THRESH_BINARY);
@@ -65,7 +62,6 @@ bool ArmorFinder::stateTrackingTarget(cv::Mat &src) {
}
target_box.rect = pos;
target_box.light_blobs.clear();
target_box = ArmorBox();
}
return true;
}

121
main.cpp
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@@ -47,10 +47,8 @@ ArmorFinder armor_finder(mcu_data.enemy_color, serial, PROJECT_DIR"/tools/para/"
// 能量机关主程序对象
Energy energy(serial, mcu_data.enemy_color);
int box_distance = 0;
int main(int argc, char *argv[]) {
processOptions(argc, argv); // 处理命令行参数
processOptions(argc, argv); // 处理命令行参数
thread receive(uartReceive, &serial); // 开启串口接收线程
int from_camera = 1; // 根据条件选择视频源
@@ -84,69 +82,68 @@ int main(int argc, char *argv[]) {
do {
char curr_state = mcu_data.state;
CNT_TIME("Total", {
if (curr_state != ARMOR_STATE) {//大能量机关模式
if (last_state == ARMOR_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
destroyAllWindows();
if (from_camera) {
delete video;
video = new CameraWrapper(ENERGY_CAMERA_EXPOSURE, ENERGY_CAMERA_GAIN, 2);
if (video->init()) {
LOGM("video_gimbal source initialization successfully.");
} else {
LOGW("video_gimbal source unavailable!");
if (curr_state != ARMOR_STATE) {//大能量机关模式
if (last_state == ARMOR_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
destroyAllWindows();
if (from_camera) {
delete video;
video = new CameraWrapper(ENERGY_CAMERA_EXPOSURE, ENERGY_CAMERA_GAIN, 2);
if (video->init()) {
LOGM("video_gimbal source initialization successfully.");
} else {
LOGW("video_gimbal source unavailable!");
}
}
if(curr_state == BIG_ENERGY_STATE){
energy.is_small = false;
energy.is_big = true;
LOGM(STR_CTR(WORD_BLUE, "Start Big Energy!"));
} else if (curr_state == SMALL_ENERGY_STATE){
energy.is_small = true;
energy.is_big = false;
LOGM(STR_CTR(WORD_GREEN, "Start Small Energy!"));
}
energy.setEnergyInit();
}
ok = checkReconnect(video->read(src));
#ifdef GIMBAL_FLIP_MODE
flip(src, src, GIMBAL_FLIP_MODE);
#endif
if (!from_camera) extract(src);
if (save_video) saveVideos(src);//保存视频
if (show_origin) showOrigin(src);//显示原始图像
energy.run(src);
} else { // 自瞄模式
if (last_state != ARMOR_STATE) {
LOGM(STR_CTR(WORD_RED, "Start Armor!"));
destroyAllWindows();
if (from_camera) {
delete video;
video = new CameraWrapper(ARMOR_CAMERA_EXPOSURE, ARMOR_CAMERA_GAIN, 2/*, "armor"*/);
if (video->init()) {
LOGM("video_gimbal source initialization successfully.");
} else {
LOGW("video_gimbal source unavailable!");
}
}
}
if(curr_state == BIG_ENERGY_STATE){
energy.is_small = false;
energy.is_big = true;
LOGM(STR_CTR(WORD_BLUE, "Start Big Energy!"));
} else if (curr_state == SMALL_ENERGY_STATE){
energy.is_small = true;
energy.is_big = false;
LOGM(STR_CTR(WORD_GREEN, "Start Small Energy!"));
}
energy.setEnergyInit();
CNT_TIME(STR_CTR(WORD_GREEN, "read img"), {
if(!checkReconnect(video->read(src))) continue;
});
#ifdef GIMBAL_FLIP_MODE
flip(src, src, GIMBAL_FLIP_MODE);
#endif
CNT_TIME("something whatever", {
if (!from_camera) extract(src);
if (save_video) saveVideos(src);
if (show_origin) showOrigin(src);
});
CNT_TIME(STR_CTR(WORD_CYAN, "Armor Time"), {
armor_finder.run(src);
});
}
last_state = curr_state;//更新上一帧状态
ok = checkReconnect(video->read(src));
#ifdef GIMBAL_FLIP_MODE
flip(src, src, GIMBAL_FLIP_MODE);
#endif
if (!from_camera) extract(src);
if (save_video) saveVideos(src);//保存视频
if (show_origin) showOrigin(src);//显示原始图像
energy.run(src);
} else { // 自瞄模式
if (last_state != ARMOR_STATE) {
LOGM(STR_CTR(WORD_RED, "Start Armor!"));
destroyAllWindows();
if (from_camera) {
delete video;
video = new CameraWrapper(ARMOR_CAMERA_EXPOSURE, ARMOR_CAMERA_GAIN, 2/*, "armor"*/);
if (video->init()) {
LOGM("video_gimbal source initialization successfully.");
} else {
LOGW("video_gimbal source unavailable!");
}
}
}
last_state = curr_state;
CNT_TIME(STR_CTR(WORD_GREEN, "read img"), {
if(!checkReconnect(video->read(src))) continue;
});
#ifdef GIMBAL_FLIP_MODE
flip(src, src, GIMBAL_FLIP_MODE);
#endif
// CNT_TIME("something whatever", {
if (!from_camera) extract(src);
if (save_video) saveVideos(src);
if (show_origin) showOrigin(src);
// });
CNT_TIME(STR_CTR(WORD_CYAN, "Armor Time"), {
armor_finder.run(src);
});
}
// cv::waitKey(0);
if(run_by_frame) cv::waitKey(0);
});
} while (ok);
delete video;

27
others/include/log.h
View File

@@ -1,7 +1,30 @@
//
// Created by xinyang on 19-2-19.
//
// 该文件提供一个更加方便的调试信息输出方式
// 所有输出信息分为三个LEVEL:MSG,WARNING,ERROR
// 可使用宏LOG_LEVEL定义当前文件使用的输出LEVEL
// 高于该LEVEL的输出讲不会被显示
// ============================================================
// 输出API：
// LOG(level, format, ...)
// arguments: level:当前输出的level
// format:标准printf格式化字符串
// LOGM(format, ...) 使用MSG level进行输出
// LOGW(format, ...) 使用WARNING level进行输出
// LOGE(format, ...) 使用ERROR level进行输出
// ============================================================
// 输出颜色API：(仅对部分终端生效)
// STR_CTR(ctrs, str)
// arguments: ctrs:该字符串对应的颜色(所有以WORD开头的宏)
//　　　　　　　str:需要上色的字符串
// ============================================================
// 时间计算API：(需要配合systime.h使用)
// CNT_TIME(tag, codes, ...)
// arguments: tag:显示代码块执行时间前的用户信息，支持printf格式化字符串
// codes:需要被统计时间的代码块
// attention: 代码块内定义的局部变量作用域仅限于该代码块
//
#ifndef _LOG_H_
#define _LOG_H_
@@ -35,6 +58,7 @@
#define BACK_GRAY_CODE ";47"
#define CTRS(ctrs) START_CTR ctrs END_CTR
#define STR_CTR(ctrs, str) START_CTR ctrs END_CTR str CLEAR_ALL
#define WORD_WHITE WORD_WHITE_CODE
#define WORD_RED WORD_RED_CODE
@@ -106,7 +130,6 @@
#define LOG_4(format, ...) ((void)0)
#define LOG_(level, format, ...) LOG_##level (format, ##__VA_ARGS__)
#define LOG(level, format, ...) LOG_(level, format"\n", ##__VA_ARGS__)
#define STR_CTR(ctrs, str) START_CTR ctrs END_CTR str CLEAR_ALL
#define LOGA(format, ...) LOG(LOG_NONE, format, ##__VA_ARGS__)
#define LOGA_INFO(format, ...) LOG(LOG_NONE, "<%s:%d>: " format, ##__VA_ARGS__)

2
others/include/options.h
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@@ -23,6 +23,8 @@ extern bool show_process;
extern bool show_energy;
extern bool save_mark;
extern bool show_info;
extern bool run_by_frame;
void processOptions(int argc, char **argv);

7
others/src/options.cpp
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@@ -19,6 +19,7 @@ bool show_process = false;
bool show_energy = false;
bool save_mark = false;
bool show_info = false;
bool run_by_frame = false;
// 使用map保存所有选项及其描述和操作，加快查找速度。
std::map<std::string, std::pair<std::string, void(*)(void)>> options = {
@@ -78,6 +79,12 @@ std::map<std::string, std::pair<std::string, void(*)(void)>> options = {
LOGM("Enable wait uart!");
}
}},
{"--run-by-frame",{
"run the code frame by frame.(normally used when run video)", [](){
run_by_frame = true;
LOGM("Enable run frame by frame");
}
}},
{"--show-process", {
"", [](){
show_process = true;

2
tools/TrainCNN/generate.py
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@@ -43,7 +43,7 @@ class DataSet:
if file[-3:] == "jpg":
sample = self.file2nparray("%s/%s" % (dir, file))
label = self.id2label(i)
if random.random() > 0.7:
if random.random() < 0.7:
self.train_samples.append(sample)
self.train_labels.append(label)
if i == 0: