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Merge branch 'master' of /home/sjturm/Desktop/RM_auto-aim with conflicts.

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xinyang
2019-07-23 14:06:32 +08:00
parent 7201dacad3
commit 465507edb0
3 changed files with 251 additions and 15 deletions
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68
armor/src/armor_finder/anti_top/anti_top.cpp Normal file
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@@ -0,0 +1,68 @@
//
// Created by xinyang on 19-7-15.
//
#include <armor_finder/armor_finder.h>
#include <log.h>
static double getTimeIntervalms(const timeval& now, const timeval &last){
return (now.tv_sec-last.tv_sec)*1000.0 + (now.tv_usec-last.tv_usec)/1000.0;
}
void ArmorFinder::antiTop() {
static double top_periodms = 0;
static double last1_top_periodms = 0;
static double last2_top_periodms = 0;
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);
if(interval > 700){
anti_top_state = NORMAL;
anti_top_cnt = 0;
}
ArmorBox::BoxOrientation orientation = armor_box.getOrientation();
if(orientation == ArmorBox::UNKNOWN){
if(anti_top_state == NORMAL){
sendBoxPosition(shoot_delay);
}
return;
}
if(orientation!=last_orient && orientation==ArmorBox::FRONT){
last_front_time = curr_time;
if(150<interval && interval<700){
if(anti_top_state == ANTI_TOP){
last2_top_periodms = last1_top_periodms;
last1_top_periodms = top_periodms;
top_periodms = interval;
LOGM(STR_CTR(WORD_LIGHT_GREEN, "top period: %.1lf ms"), top_periodms);
shoot_delay = (last1_top_periodms+last1_top_periodms+top_periodms)/3.0-105;
last_orient = orientation;
}else if(anti_top_state == NORMAL){
// LOGM("interval:%.1lf", interval);
if(++anti_top_cnt > 4){
anti_top_state = ANTI_TOP;
}
}
}
}
if(anti_top_state == ANTI_TOP){
if(orientation == ArmorBox::FRONT){
sendBoxPosition(shoot_delay);
}
}else if(anti_top_state == NORMAL){
sendBoxPosition(shoot_delay);
}
last_orient = orientation;
}

157
armor/src/armor_finder/find/find_light_blobs.cpp Normal file
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@@ -0,0 +1,157 @@
//
// Created by xinyang on 19-7-10.
//
#include <armor_finder/armor_finder.h>
#include <options/options.h>
#include <opencv2/highgui.hpp>
static double lw_rate(const cv::RotatedRect &rect) {
return rect.size.height > rect.size.width ?
rect.size.height / rect.size.width :
rect.size.width / rect.size.height;
}
static double areaRatio(const std::vector<cv::Point> &contour, const cv::RotatedRect &rect){
return cv::contourArea(contour) / rect.size.area();
}
static bool isValidLightBlob(const std::vector<cv::Point> &contour, const cv::RotatedRect &rect) {
return (1.5 < lw_rate(rect) && lw_rate(rect) < 10) &&
// (rect.size.area() < 3000) &&
((rect.size.area() < 50 && areaRatio(contour, rect) > 0.4) ||
(rect.size.area() >= 50 && areaRatio(contour, rect) > 0.6));
}
// 此函数可以有性能优化.
static uint8_t get_blob_color(const cv::Mat &src, const cv::RotatedRect &blobPos) {
auto region = blobPos.boundingRect();
region.x -= fmax(2, region.width * 0.1);
region.y -= fmax(2, region.height * 0.05);
region.width += 2 * fmax(2, region.width * 0.1);
region.height += 2 * fmax(2, region.height * 0.05);
region &= cv::Rect(0, 0, src.cols, src.rows);
cv::Mat roi = src(region);
int red_cnt = 0, blue_cnt = 0;
for (int row = 0; row < roi.rows; row++) {
for (int col = 0; col < roi.cols; col++) {
red_cnt += roi.at<cv::Vec3b>(row, col)[2];
blue_cnt += roi.at<cv::Vec3b>(row, col)[0];
}
}
if (red_cnt > blue_cnt) {
return BLOB_RED;
} else {
return BLOB_BLUE;
}
}
static float linePointX(const cv::Point2f &p1, const cv::Point2f &p2, int y) {
return (p2.x - p1.x) / (p2.y - p1.y) * (y - p1.y) + p1.x;
}
/// Todo:性能优化后的函数（还有点问题）
static double get_blob_color_opt(const cv::Mat &src, cv::RotatedRect blobPos) {
int blue_cnt=0, red_cnt=0;
blobPos.size.height *= 1.05;
blobPos.size.width *= 1.1;
cv::Point2f corners[4];
blobPos.points(corners);
sort(corners, &corners[4], [](cv::Point2f p1, cv::Point2f p2) {
return p1.y < p2.y;
});
for (int r = corners[0].y; r < corners[1].y; r++) {
auto start = min(linePointX(corners[0], corners[1], r), linePointX(corners[0], corners[2], r)) - 1;
auto end = max(linePointX(corners[0], corners[1], r), linePointX(corners[0], corners[2], r)) + 1;
if (start < 0 || end > 640) return 0;
for (int c = start; c < end; c++) {
red_cnt += src.at<cv::Vec3b>(r, c)[2];
blue_cnt += src.at<cv::Vec3b>(r, c)[0];
}
}
for (int r = corners[1].y; r < corners[2].y; r++) {
auto start = min(linePointX(corners[0], corners[2], r), linePointX(corners[1], corners[3], r)) - 1;
auto end = max(linePointX(corners[0], corners[2], r), linePointX(corners[1], corners[3], r)) + 1;
if (start < 0 || end > 640) return 0;
for (int c = start; c < end; c++) {
red_cnt += src.at<cv::Vec3b>(r, c)[2];
blue_cnt += src.at<cv::Vec3b>(r, c)[0];
}
}
for (int r = corners[2].y; r < corners[3].y; r++) {
auto start = min(linePointX(corners[1], corners[3], r), linePointX(corners[2], corners[3], r)) - 1;
auto end = max(linePointX(corners[1], corners[3], r), linePointX(corners[2], corners[3], r)) + 1;
if (start < 0 || end > 640) return 0;
for (int c = start; c < end; c++) {
red_cnt += src.at<cv::Vec3b>(r, c)[2];
blue_cnt += src.at<cv::Vec3b>(r, c)[0];
}
}
if (red_cnt > blue_cnt) {
return BLOB_RED;
} else {
return BLOB_BLUE;
}
}
static void imagePreProcess(cv::Mat &src) {
static cv::Mat kernel_erode = getStructuringElement(cv::MORPH_RECT, cv::Size(3, 5));
erode(src, src, kernel_erode);
static cv::Mat kernel_dilate = getStructuringElement(cv::MORPH_RECT, cv::Size(3, 5));
dilate(src, src, kernel_dilate);
static cv::Mat kernel_dilate2 = getStructuringElement(cv::MORPH_RECT, cv::Size(3, 5));
dilate(src, src, kernel_dilate2);
static cv::Mat kernel_erode2 = getStructuringElement(cv::MORPH_RECT, cv::Size(3, 5));
erode(src, src, kernel_erode2);
// float alpha = 1.5;
// int beta = 0;
// src.convertTo(src, -1, alpha, beta);
}
bool ArmorFinder::findLightBlobs(const cv::Mat &src, LightBlobs &light_blobs) {
cv::Mat color_channel;
cv::Mat src_bin_light, src_bin_dim;
std::vector<cv::Mat> channels; // 通道拆分
cv::split(src, channels); /************************/
if (enemy_color == ENEMY_BLUE){ /* */
color_channel = channels[0]; /* 根据目标颜色进行通道提取 */
}else if (enemy_color == ENEMY_RED){ /* */
color_channel = channels[2]; /************************/
}
cv::threshold(color_channel, src_bin_light, 200, 255, CV_THRESH_BINARY); // 二值化对应通道
imagePreProcess(src_bin_light); // 开闭运算
cv::threshold(color_channel, src_bin_dim, 160, 255, CV_THRESH_BINARY); // 二值化对应通道
imagePreProcess(src_bin_dim); // 开闭运算
if(src_bin_light.size() == cv::Size(640, 480) && show_light_blobs) {
imshow("bin_light", src_bin_light);
imshow("bin_dim", src_bin_dim);
}
std::vector<std::vector<cv::Point> > light_contours_light, light_contours_dim;
cv::findContours(src_bin_light, light_contours_light, CV_RETR_LIST, CV_CHAIN_APPROX_NONE);
cv::findContours(src_bin_dim, light_contours_dim, CV_RETR_LIST, CV_CHAIN_APPROX_NONE);
for (auto &light_contour : light_contours_light) {
cv::RotatedRect rect = cv::minAreaRect(light_contour);
if (isValidLightBlob(light_contour, rect)) {
light_blobs.emplace_back(rect, get_blob_color(src, rect));
}
}
for (auto &light_contour : light_contours_dim) {
cv::RotatedRect rect = cv::minAreaRect(light_contour);
if (isValidLightBlob(light_contour, rect)) {
light_blobs.emplace_back(rect, get_blob_color(src, rect));
}
}
return light_blobs.size() >= 2;
}

41
main.cpp
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@@ -30,10 +30,10 @@ using namespace std;
mcu_data mcuData = { // 单片机端回传结构体
0, // 当前云台yaw角
0, // 当前云台pitch角
BIG_ENERGY_STATE, // 当前状态，自瞄-大符-小符
ARMOR_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_RED, // 敌方颜色
ENEMY_BLUE, // 敌方颜色
};
WrapperHead *video_gimbal = nullptr; // 云台摄像头视频源
@@ -64,10 +64,8 @@ int main(int argc, char *argv[]) {
video_gimbal = new CameraWrapper(0/*, "armor"*/);
video_chassis = new CameraWrapper(1/*, "energy"*/);
} else {
// video_gimbal = new VideoWrapper("/home/sjturm/Desktop/videos/147.avi");
// video_chassis = new VideoWrapper("/home/sjturm/Desktop/videos/147.avi");
video_gimbal = new VideoWrapper("/home/sjturm/Desktop/dafu/gimble3.avi");
video_chassis = new VideoWrapper("/home/sjturm/Desktop/dafu/chassis3.avi");
video_gimbal = new VideoWrapper("/home/sun/项目/energy_video/gimble3.avi");
video_chassis = new VideoWrapper("/home/sun/项目/energy_video/gimble3.avi");
}
if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully.");
@@ -93,19 +91,18 @@ int main(int argc, char *argv[]) {
bool ok = true;
cout << "start running" << endl;
do {
CNT_TIME("Total", {
if (mcuData.state != ARMOR_STATE) {//能量机关模式
if (last_state == ARMOR_STATE) {//若上一帧是自瞄模式，即刚往完成切换，则需要初始化
// CNT_TIME("Total", {
if (mcuData.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
destroyAllWindows();
((CameraWrapper *) video_gimbal)->changeBrightness(ENERGY_CAMERA_GAIN);
energy.setEnergyInit();
energy.setBigEnergyInit();
checkReconnect(video_chassis->read(chassis_src));
#ifdef CHASSIS_FLIP_MODE
flip(chassis_src, chassis_src, CHASSIS_FLIP_MODE);
#endif
}
ok = checkReconnect(video_gimbal->read(gimbal_src));
video_gimbal->read(gimbal_src);
video_chassis->read(chassis_src);
#ifdef GIMBAL_FLIP_MODE
flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
@@ -113,8 +110,22 @@ int main(int argc, char *argv[]) {
if (!from_camera) extract(gimbal_src, chassis_src);
if (save_video) saveVideos(gimbal_src, chassis_src);//保存视频
if (show_origin) showOrigin(gimbal_src, chassis_src);//显示原始图像
energy.run(gimbal_src, chassis_src);
// energy.run(gimbal_src);
energy.runBig(gimbal_src, chassis_src);
last_state = mcuData.state;//更新上一帧状态
} else if (mcuData.state == SMALL_ENERGY_STATE) {
if (mcuData.state != SMALL_ENERGY_STATE) {
destroyAllWindows();
((CameraWrapper *) video_gimbal)->changeBrightness(ENERGY_CAMERA_GAIN);
energy.setSmallEnergyInit();
}
ok = checkReconnect(video_gimbal->read(gimbal_src));
#ifdef GIMBAL_FLIP_MODE
flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
#endif
if (!from_camera) extract(gimbal_src);
if (save_video) saveVideos(gimbal_src);//保存视频
if (show_origin) showOrigin(gimbal_src);//显示原始图像
energy.runSmall(gimbal_src);
last_state = mcuData.state;//更新上一帧状态
} else { // 自瞄模式
if (last_state != ARMOR_STATE) {
@@ -133,8 +144,8 @@ int main(int argc, char *argv[]) {
armorFinder.run(gimbal_src);
});
}
cv::waitKey(1);
});
// cv::waitKey(1);
// });
} while (ok);
delete video_gimbal;
video_gimbal = nullptr;