陀螺识别方式改变,参数更新。

2019-07-29 16:26:29 +08:00
parent 550d51049d
commit 2d399cc567
18 changed files with 17906 additions and 17919 deletions
--- a/armor/include/armor_finder/armor_finder.h
+++ b/armor/include/armor_finder/armor_finder.h
@@ -107,6 +107,11 @@ private:
        NORMAL, ANTI_TOP
    } AntiTopState;

+    typedef enum{
+        INCREASE, DECREASE, NOCHANGE
+    } BoxRatioChangeType;
+
+    timeval frame_time;                                 // 当前帧对应时间;
    const uint8_t &enemy_color;                         // 敌方颜色，引用外部变量，自动变化
    State state;                                        // 自瞄状态对象实例
    ArmorBox armor_box;                                 // 当前目标装甲板
@@ -116,8 +121,10 @@ private:
    int tracking_cnt;                                   // 记录追踪帧数，用于定时退出追踪
    Serial &serial;                                     // 串口对象，引用外部变量，用于和能量机关共享同一个变量
    const uint8_t &use_classifier;                      // 标记是否启用CNN分类器，引用外部变量，自动变化
-    ArmorBox::BoxOrientation last_orient;               // 上一帧目标装甲板方向，用于反陀螺
+    RoundQueue<double, 4> top_periodms;
+    RoundQueue<double, 5> box_ratioes;
    timeval last_front_time;                            // 上一次发生装甲板方向切换的时间
+    BoxRatioChangeType last_ratio_type;
    int anti_top_cnt;                                   // 满足条件的装甲板方向切换持续次数，用于反陀螺
    AntiTopState anti_top_state;                        // 当前是否识别到陀螺

@@ -129,6 +136,7 @@ private:
    bool stateStandBy();                                // stand by state主函数（已弃用）

    void antiTop();                                    // 反小陀螺
+    BoxRatioChangeType getRatioChangeType(RoundQueue<double, 5> &vec);

 public:
    void run(cv::Mat &src);                             // 自瞄主函数
--- a/armor/src/armor_finder/anti_top/anti_top.cpp
+++ b/armor/src/armor_finder/anti_top/anti_top.cpp
@@ -13,51 +13,61 @@ static double boxDistance(const cv::Rect2d &a, const cv::Rect2d &b){
    return sqrt(dist.x * dist.x + dist.y * dist.y);
 }

+template <int length>
+static double mean(RoundQueue<double, length> &vec) {
+    double sum = 0;
+    for (int i = 0; i < vec.size(); i++) {
+        sum += vec[i];
+    }
+    return sum / length;
+}
+
+ArmorFinder::BoxRatioChangeType ArmorFinder::getRatioChangeType(RoundQueue<double, 5> &vec) {
+    auto d = (vec[0] - vec[1] + vec[3] + vec[4]) / 3.0;
+    if (d > 0.1) {
+        return INCREASE;
+    } else if (d < -0.1) {
+        return DECREASE;
+    } else {
+        return NOCHANGE;
+    }
+}
+
 void ArmorFinder::antiTop() {
-    static double top_periodms = 0;
-    static double last_top_periodms = 0;
-    static cv::Rect2d last_pos;
+    if (armor_box.rect == cv::Rect2d()) return;
    uint16_t shoot_delay = 0;
-    timeval curr_time;
-//    if(anti_top_state == ANTI_TOP){
-//        cout << "anti top" << endl;
-//    }else if(anti_top_state == NORMAL){
-//        cout << "Normal" << endl;
-//    }
-    gettimeofday(&curr_time, nullptr);
-    auto interval = getTimeIntervalms(curr_time, last_front_time);
+    auto interval = getTimeIntervalms(frame_time, last_front_time);
+    box_ratioes.push(armor_box.rect.width / armor_box.rect.height);
+    auto change_type = getRatioChangeType(box_ratioes);
+    auto orientation = armor_box.getOrientation();
    if (interval > 700) {
-        anti_top_state = NORMAL;
        anti_top_cnt = 0;
+        if (anti_top_state == ANTI_TOP) {
+            anti_top_state = NORMAL;
+            LOGM(STR_CTR(WORD_YELLOW, "switch to normal"));
        }
-    
-    ArmorBox::BoxOrientation orientation = armor_box.getOrientation();
-    if(orientation == ArmorBox::UNKNOWN){
-        if(anti_top_state == NORMAL){
-            sendBoxPosition(shoot_delay);
    }
-        return;
-    }
-
-    auto dist = boxDistance(last_pos, armor_box.rect);
-    if(orientation!=last_orient && orientation==ArmorBox::FRONT && dist>=6){
-        last_front_time = curr_time;
+    if (change_type == INCREASE && last_ratio_type != change_type) {
+        last_front_time = frame_time;
        if (150 < interval && interval < 700) {
            if (anti_top_state == ANTI_TOP) {
-                last_top_periodms = top_periodms;
-                top_periodms = interval;
-                LOGM(STR_CTR(WORD_LIGHT_GREEN, "top period: %.1lf ms"), top_periodms);
-                shoot_delay = (last_top_periodms+top_periodms)/2.0-110;
-                last_orient = orientation;
+                top_periodms.push(interval);
+                LOGM(STR_CTR(WORD_LIGHT_GREEN, "top period: %.1lf ms"), interval);
+                timeval curr_time;
+                gettimeofday(&curr_time, nullptr);
+                auto calculate_time = getTimeIntervalms(curr_time, frame_time);
+                shoot_delay = mean(top_periodms) - calculate_time;
            } else if (anti_top_state == NORMAL) {
-//                LOGM("interval:%.1lf", interval);
                if (++anti_top_cnt > 4) {
                    anti_top_state = ANTI_TOP;
+                    LOGM(STR_CTR(WORD_CYAN, "switch to anti-top"));
                }
            }
        }
    }
-
+    if (change_type != NOCHANGE) {
+        last_ratio_type = change_type;
+    }
    if (anti_top_state == ANTI_TOP) {
        if (orientation == ArmorBox::FRONT) {
            sendBoxPosition(shoot_delay);
@@ -65,7 +75,5 @@ void ArmorFinder::antiTop() {
    } else if (anti_top_state == NORMAL) {
        sendBoxPosition(shoot_delay);
    }
-
-    last_orient = orientation;
 }

--- a/armor/src/armor_finder/armor_finder.cpp
+++ b/armor/src/armor_finder/armor_finder.cpp
@@ -58,12 +58,12 @@ ArmorFinder::ArmorFinder(uint8_t &color, Serial &u, const string &paras_folder,
 }

 void ArmorFinder::run(cv::Mat &src) {
+    gettimeofday(&frame_time, nullptr);
 //    stateSearchingTarget(src);                    // for debug
 //    goto end;
    switch (state) {
        case SEARCHING_STATE:
            if (stateSearchingTarget(src)) {
-//                cout << armor_box.rect << endl;
                if ((armor_box.rect & cv::Rect2d(0, 0, 640, 480)) == armor_box.rect) { // 判断装甲板区域是否脱离图像区域
                    if (!classifier || !use_classifier) {                    /* 如果分类器不可用或者不使用分类器 */
                        cv::Mat roi = src(armor_box.rect).clone(), roi_gray;  /* 就使用装甲区域亮点数判断是否跟丢 */
--- a/armor/src/armor_finder/send_target/send_target.cpp
+++ b/armor/src/armor_finder/send_target/send_target.cpp
@@ -52,6 +52,5 @@ bool ArmorFinder::sendBoxPosition(uint16_t shoot_delay) {
    double yaw = atan(dx / FOCUS_PIXAL) * 180 / PI;
    double pitch = atan(dy / FOCUS_PIXAL) * 180 / PI;
    double dist = DISTANCE_HEIGHT / rect.height;
-//    cout << yaw << endl;
    return sendTarget(serial, yaw, -pitch, dist, shoot_delay);
 }
--- a/armor/src/armor_finder/tracking_state/tracking_state.cpp
+++ b/armor/src/armor_finder/tracking_state/tracking_state.cpp
@@ -39,6 +39,8 @@ bool ArmorFinder::stateTrackingTarget(cv::Mat &src) {
            blob.rect.center.x += bigger_rect.x;
            blob.rect.center.y += bigger_rect.y;
        }
+        tracker = TrackerToUse::create();
+        tracker->init(src, armor_box.rect);
    }else{
        roi = src(pos).clone();
        if(classifier){
@@ -60,18 +62,5 @@ bool ArmorFinder::stateTrackingTarget(cv::Mat &src) {
        armor_box.rect = pos;
        armor_box.light_blobs.clear();
    }
-
-
-//    armor_box.x -= armor_box.width / 4.0;
-//    armor_box.y -= armor_box.height / 4.0;
-//    armor_box.height *= 1.5;
-//    armor_box.width *= 1.5;
-
-//    roi = src(armor_box);
-//    if(findSearchingTarget(roi)){
-//
-//    }
-
-//    sendBoxPosition();
    return true;
 }
--- a/others/include/additions/additions.h
+++ b/others/include/additions/additions.h
@@ -8,6 +8,7 @@
 #include <stdint.h>
 #include <sys/time.h>
 #include <serial/serial.h>
+#include <opencv2/core.hpp>

 struct mcu_data {
    float curr_yaw;
@@ -23,14 +24,61 @@ struct mcu_data{
 extern mcu_data mcuData;

 void uartReceive(Serial *pSerial);
+
 bool checkReconnect(bool is_camera_0_connect, bool is_camera_1_connect);
+
 bool checkReconnect(bool is_camera_connect);
+
 void saveVideos(const cv::Mat &gimbal_src, const cv::Mat &chassis_src);
+
 void saveVideos(const cv::Mat &gimbal_src);
+
 void showOrigin(const cv::Mat &gimbal_src, const cv::Mat &chassis_src);
+
 void showOrigin(const cv::Mat &gimbal_src);
+
 void extract(cv::Mat &gimbal_src, cv::Mat &chassis_src);
+
 void extract(cv::Mat &gimbal_src);
+
 double getTimeIntervalms(const timeval &now, const timeval &last);

+template<class type, int length>
+class RoundQueue {
+private:
+    type data[length];
+    int head;
+    int tail;
+public:
+    RoundQueue<type, length>() : head(0), tail(0) {};
+
+    constexpr int size() const {
+        return length;
+    };
+
+    bool empty() const {
+        return head == tail;
+    };
+
+    void push(const type &obj) {
+        data[head] = obj;
+        head = (head + 1) % length;
+        if (head == tail) {
+            tail = (tail + 1) % length;
+        }
+    };
+
+    bool pop(type &obj) {
+        if (empty()) return false;
+        obj = data[tail];
+        tail = (tail + 1) % length;
+        return true;
+    };
+
+    type &operator[](int idx) {
+        while (tail + idx < 0) idx += length;
+        return data[(tail + idx) % length];
+    };
+};
+
 #endif /* _ADDITIONS_H_ */
--- a/others/include/camera/camera_wrapper.h
+++ b/others/include/camera/camera_wrapper.h
@@ -7,18 +7,14 @@
 #ifndef VIDEO_TEST1_CAMERA_WRAPPER_H
 #define VIDEO_TEST1_CAMERA_WRAPPER_H

-#include <stdio.h>
-#include <iostream>
-#include <thread>
-#include "opencv2/core/core.hpp"
-#include "opencv2/highgui/highgui.hpp"
-#include <opencv2/imgproc/imgproc.hpp>
-#include "camera/wrapper_head.h"
+#include <additions/additions.h>
+#include <opencv2/core/core.hpp>
+#include <camera/wrapper_head.h>

 #ifdef Windows
    #include "camera/CameraApi.h"
 #elif defined(Linux) || defined(Darwin)
-    #include "camera/camera_api.h"
+    #include <camera/camera_api.h>
 #endif

 class CameraWrapper: public WrapperHead {
@@ -42,11 +38,7 @@ private:
    IplImage* iplImage;
    int channel;

-    cv::Mat src_queue[2];
-    volatile int qhead;
-    volatile int qtail;
-
-    std::thread *readThread;
+    RoundQueue<cv::Mat, 2> src_queue;
 public:
    int gain;

@@ -58,9 +50,6 @@ public:
    bool readRaw(cv::Mat& src);
    bool readProcessed(cv::Mat& src);
    bool readCallback(cv::Mat& src);
-    bool readWithThread(cv::Mat &src);
-    bool changeBrightness(int brightness);
-//    bool once
 };


--- a/others/src/camera/camera_wrapper.cpp
+++ b/others/src/camera/camera_wrapper.cpp
@@ -1,7 +1,7 @@
 //
 // Created by zhikun on 18-11-7.
 //
-
+#include <iostream>
 #include <camera/camera_wrapper.h>
 #include <log.h>
 #include <additions/additions.h>
@@ -9,9 +9,6 @@
 #include <config/setconfig.h>

 using namespace std;
-
-using std::cout;
-using std::endl;
 using namespace cv;

 CameraWrapper::CameraWrapper(int gain, int camera_mode, const std::string &n) :
@@ -23,10 +20,7 @@ CameraWrapper::CameraWrapper(int gain, int camera_mode, const std::string &n) :
        iplImage(nullptr),
        rgb_buffer(nullptr),
        channel(3),
-        gain(gain),
-        qhead(0),
-        qtail(0),
-        readThread(nullptr){
+        gain(gain){
 }

 void cameraCallback(CameraHandle hCamera, BYTE *pFrameBuffer, tSdkFrameHead* pFrameHead,PVOID pContext){
@@ -34,14 +28,7 @@ void cameraCallback(CameraHandle hCamera, BYTE *pFrameBuffer, tSdkFrameHead* pFr
    CameraImageProcess(hCamera, pFrameBuffer, c->rgb_buffer, pFrameHead);
    auto iplImage = cvCreateImageHeader(cvSize(pFrameHead->iWidth, pFrameHead->iHeight), IPL_DEPTH_8U, c->channel);
    cvSetData(iplImage, c->rgb_buffer, pFrameHead->iWidth * c->channel);  //此处只是设置指针，无图像块数据拷贝，不需担心转换效率
-    c->src_queue[c->qhead] = cv::cvarrToMat(iplImage).clone();
-    if((c->qhead+1)%2 == c->qtail){
-        c->qhead = (c->qhead+1)%2;
-        c->qtail = (c->qtail+1)%2;
-    } else {
-        c->qhead = (c->qhead+1)%2;
-    }
-//    LOGM("Get image, [%d %d]", c->qhead, c->qtail);
+    c->src_queue.push(cv::cvarrToMat(iplImage).clone());
 }

 bool CameraWrapper::init() {
@@ -162,17 +149,11 @@ bool CameraWrapper::init() {
    return true;
 }

-bool CameraWrapper::changeBrightness(int brightness) {
-    CameraUnInit(h_camera);
-    CameraSetAnalogGain(h_camera, brightness);
-}
-
 bool CameraWrapper::read(cv::Mat &src) {
    if(init_done) {
        if (mode == 0)return readProcessed(src);
        if (mode == 1)return readRaw(src);
        if (mode == 2)return readCallback(src);
-        if (mode == 3)return readWithThread(src);
    } else {
        return false;
    }
@@ -225,44 +206,13 @@ bool CameraWrapper::readProcessed(cv::Mat &src) {
 bool CameraWrapper::readCallback(cv::Mat &src) {
    timeval ts, te;
    gettimeofday(&ts, NULL);
-    while(qtail==qhead){
+    while(src_queue.empty()){
        gettimeofday(&te, NULL);
        if(getTimeIntervalms(te, ts) > 500){
            return false;
        }
    }
-
-    src = src_queue[qtail];
-//    cout << src.size << endl;
-    qtail = (qtail+1)%2;
-    return true;
-}
-
-bool CameraWrapper::readWithThread(cv::Mat &src){
-    if(readThread != nullptr){
-        readThread->join();
-        src = src_queue[qtail];
-        qtail = (qtail+1)%2;
-        delete readThread;
-        readThread = new std::thread([&](){
-            readProcessed(src_queue[qhead]);
-            qhead = (qhead+1)%2;
-        });
-    }else{
-        readThread = new std::thread([&](){
-            readProcessed(src_queue[qhead]);
-            qhead = (qhead+1)%2;
-        });
-        readThread->join();
-        src = src_queue[qtail];
-        qtail = (qtail+1)%2;
-        delete readThread;
-        readThread = new std::thread([&](){
-            readProcessed(src_queue[qhead]);
-            qhead = (qhead+1)%2;
-        });
-    }
-    return true;
+    return src_queue.pop(src);
 }

 CameraWrapper::~CameraWrapper() {
@@ -270,8 +220,4 @@ CameraWrapper::~CameraWrapper() {
    //注意，先反初始化后再free
    if (rgb_buffer != nullptr)
        free(rgb_buffer);
-    if(readThread != nullptr){
-        readThread->detach();
-        delete readThread;
-    }
 }
--- a/tools/para/conv1_b
+++ b/tools/para/conv1_b
@@ -1,5 +1,5 @@
 4
-0.30789205
-0.043525748
-0.2050164
-0.74044687
+-0.012226976
+0.20247674
+0.58870643
+0.5527098
--- a/tools/para/conv1_w
+++ b/tools/para/conv1_w
@@ -2,303 +2,303 @@
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 5
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--- a/tools/para/conv2_b
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--- a/tools/para/conv3_b
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--- a/tools/para/fc1_b
+++ b/tools/para/fc1_b
@@ -1,51 +1,51 @@
 50
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--- a/tools/para/fc1_w
+++ b/tools/para/fc1_w
--- a/tools/para/fc2_b
+++ b/tools/para/fc2_b
@@ -1,16 +1,16 @@
 15
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--- a/tools/para/fc2_w
+++ b/tools/para/fc2_w