整理代码，添加部分注释

CMakeLists.txt

@@ -1,17 +1,11 @@
 CMAKE_MINIMUM_REQUIRED(VERSION 3.5)
 
-PROJECT(AutoAim)
+PROJECT(SJTU-RM-CV)
 SET(CMAKE_CXX_STANDARD 11)
 SET(CMAKE_BUILD_TYPE RELEASE)
 SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3")
 SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DPATH=\"\\\"${PROJECT_SOURCE_DIR}\\\"\"")
 SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -D${CMAKE_SYSTEM_NAME}")
-# Todo
-## 使用编译期固定选项，以略微提升性能。
-#SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DFIX_OPTIONS")
-## 固定使用相机运行
-#SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DRUN_WITH_CAMERA")
-
 SET(BIN_NAME "run")
 
 FIND_PROGRAM(CCACHE_FOUND ccache)
@@ -21,7 +15,6 @@ IF(CCACHE_FOUND)
     MESSAGE("< Use ccache for compiler >")
 ENDIF()
 
-
 FIND_PACKAGE(Eigen3 REQUIRED)
 FIND_PACKAGE(OpenCV 3 REQUIRED)
 FIND_PACKAGE(Threads)
@@ -34,7 +27,7 @@ INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR}/armor/include)
 INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR}/others/include)
 
 FILE(GLOB_RECURSE sourcefiles "others/src/*.cpp" "energy/src/*cpp" "armor/src/*.cpp")
-ADD_EXECUTABLE(${BIN_NAME} main.cpp ${sourcefiles} )
+ADD_EXECUTABLE(${BIN_NAME} main.cpp ${sourcefiles} others/include/constants.h)
 
 TARGET_LINK_LIBRARIES(${BIN_NAME} ${CMAKE_THREAD_LIBS_INIT})
 TARGET_LINK_LIBRARIES(${BIN_NAME} ${OpenCV_LIBS})
@@ -52,3 +45,4 @@ ELSE ()
 ENDIF()
 
 ADD_CUSTOM_TARGET(create-startup COMMAND "${PROJECT_SOURCE_DIR}/tools/create-startup.sh" "${PROJECT_SOURCE_DIR}" "${CMAKE_BINARY_DIR}")
+ADD_CUSTOM_TARGET(train-cnn COMMAND "gnome-terminal" "--" "bash" "-c" "${PROJECT_SOURCE_DIR}/tools/TrainCNN/backward.py")

armor/include/armor_finder/armor_finder.h

@@ -6,63 +6,61 @@
 #define _ARMOR_FINDER_H_
 
 #include <map>
+#include <constants.h>
 #include <opencv2/core.hpp>
 #include <opencv2/tracking.hpp>
 #include <serial/serial.h>
 #include <armor_finder/classifier/classifier.h>
-#include "additions/additions.h"
+#include <additions/additions.h>
-
-extern std::map<int, string> id2name;
-extern std::map<string, int> name2id;
-
-class ArmorFinder{
-public:
-    ArmorFinder(uint8_t &color, Serial &u, string paras_folder, const uint8_t &use);
-    ~ArmorFinder() = default;
-
-private:
-    typedef cv::TrackerKCF TrackerToUse;
-
-    typedef enum{
-        SEARCHING_STATE, TRACKING_STATE, STANDBY_STATE
-    } State;
-
-    const uint8_t &enemy_color;
-    State state;
-    cv::Rect2d armor_box;
-    int boxid;
-    cv::Ptr<cv::Tracker> tracker;
-
-    Classifier classifier;
-
-    int  contour_area;
-	Serial &serial;
-    const uint8_t &use_classifier;
-
-    bool stateSearchingTarget(cv::Mat &src);
-    bool stateTrackingTarget(cv::Mat &src);
-    bool stateStandBy();
-public:
-    void run(cv::Mat &src);
-    bool sendBoxPosition();
-};
 
 #define BLOB_RED ENEMY_RED
 #define BLOB_BLUE ENEMY_BLUE
 
+extern std::map<int, string> id2name;   //装甲板id到名称的map
+extern std::map<string, int> name2id;   //装甲板名称到id的map
+
+
+/********************* 自瞄类定义 **********************/
+class ArmorFinder{
+public:
+    ArmorFinder(uint8_t &color, Serial &u, const string &paras_folder, const uint8_t &use);
+    ~ArmorFinder() = default;
+
+private:
+    typedef cv::TrackerKCF TrackerToUse;                // Tracker类型定义
+
+    typedef enum{
+        SEARCHING_STATE, TRACKING_STATE, STANDBY_STATE
+    } State;                                            // 自瞄状态枚举定义
+
+    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
+    cv::Rect2d armor_box;                               // 当前目标位置
+    int boxid;                                          // 当前目标id
+    cv::Ptr<cv::Tracker> tracker;                       // tracker对象实例
+    Classifier classifier;                              // CNN分类器对象实例，用于数字识别
+    int  contour_area;                                  // 装甲区域亮点个数，用于数字识别未启用时判断是否跟丢（已弃用）
+	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
+
+    bool stateSearchingTarget(cv::Mat &src);            // searching state主函数
+    bool stateTrackingTarget(cv::Mat &src);             // tracking state主函数
+    bool stateStandBy();                                // stand by state主函数（已弃用）
+public:
+    void run(cv::Mat &src);                             // 自瞄主函数
+    bool sendBoxPosition();                             // 和主控板通讯
+};
+
+/******************* 灯条类定义 ***********************/
 class LightBlob {
 public:
-    cv::RotatedRect rect;
+    cv::RotatedRect rect;   //灯条位置
-    double length;
+    double length;          //灯条长度
-    uint8_t BlobColor;
+    uint8_t BlobColor;      //灯条颜色
 
     LightBlob(cv::RotatedRect &r) : rect(r) {
         length = max(rect.size.height, rect.size.width);
     };
-    bool operator<(LightBlob &l2) { return this->rect.center.x < l2.rect.center.x; }
-    bool operator<=(LightBlob &l2) { return this->rect.center.x <= l2.rect.center.x; }
-    bool operator>(LightBlob &l2) { return this->rect.center.x > l2.rect.center.x; }
-    bool operator>=(LightBlob &l2) { return this->rect.center.x >= l2.rect.center.x; }
 };
 
 #endif /* _ARMOR_FINDER_H_ */

armor/include/show_images/show_images.h

@@ -6,10 +6,9 @@
 #define _SHOW_IMAGES_H_
 
 #include <opencv2/core.hpp>
-#include <opencv2/highgui.hpp>
-#include <opencv2/imgproc.hpp>
 #include <armor_finder/armor_finder.h>
 
+//
 void showArmorBoxVector(std::string windows_name, const cv::Mat &src, const std::vector<cv::Rect2d> &armor_box);
 void showArmorBox(std::string windows_name, const cv::Mat &src, cv::Rect2d armor_box, int boxid);
 void showContours(std::string windows_name, const cv::Mat &src, const std::vector<LightBlob> &light_blobs);

armor/src/armor_finder/armor_finder.cpp

@@ -12,19 +12,19 @@ std::map<int, string> id2name = {
         {-1, "OO"},{ 0, "NO"},
         { 1, "B1"},{ 2, "B2"},{ 3, "B3"},{ 4, "B4"},{ 5, "B5"},{ 6, "B7"},{ 7, "B8"},
         { 8, "R1"},{ 9, "R2"},{10, "R3"},{11, "R4"},{12, "R5"},{13, "R7"},{14, "R8"},
-};
+};                                                              //装甲板id到名称的map
 
 std::map<string, int> name2id = {
         {"OO", -1},{"NO",  0},
         {"B1",  1},{"B2",  2},{"B3",  3},{"B4",  4},{"B5",  5},{"B7",  6},{"B8",  7},
         {"R1",  8},{"R2",  9},{"R3", 10},{"R4", 11},{"R5", 12},{"R7", 13},{"R8", 14},
-};
+};                                                              //装甲板名称到id的map
 
-ArmorFinder::ArmorFinder(uint8_t &color, Serial &u, string paras_folder, const uint8_t &use) :
+ArmorFinder::ArmorFinder(uint8_t &color, Serial &u, const string &paras_folder, const uint8_t &use) :
             serial(u),
             enemy_color(color),
             state(STANDBY_STATE),
-            classifier(std::move(paras_folder)),
+            classifier(paras_folder),
             contour_area(0),
             use_classifier(use),
             boxid(-1)
@@ -32,11 +32,10 @@ ArmorFinder::ArmorFinder(uint8_t &color, Serial &u, string paras_folder, const u
 }
 
 void ArmorFinder::run(cv::Mat &src) {
-    static int tracking_cnt = 0;
+    static int tracking_cnt = 0;        // 记录追踪帧数，用于定时退出追踪
-    cv::Mat src_use;
+    cv::Mat src_use = src.clone();      // 实际参与计算的图像对象
-    src_use = src.clone();
 
-    if(show_armor_box){
+    if(show_armor_box){                 // 根据条件显示当前目标装甲板
         showArmorBox("box", src, armor_box, boxid);
         cv::waitKey(1);
     }
@@ -45,14 +44,14 @@ void ArmorFinder::run(cv::Mat &src) {
     switch (state){
         case SEARCHING_STATE:
             if(stateSearchingTarget(src_use)){
-                if((armor_box & cv::Rect2d(0, 0, 640, 480)) == armor_box) {
+                if((armor_box & cv::Rect2d(0, 0, 640, 480)) == armor_box) { // 判断装甲板区域是否脱离图像区域
-                    if(!classifier && use_classifier){
+                    if(!classifier || !use_classifier){                     /* 如果分类器不可用或者不使用分类器 */
-                        cv::Mat roi = src_use.clone()(armor_box), roi_gray;
+                        cv::Mat roi = src_use.clone()(armor_box), roi_gray; /* 就使用装甲区域亮点数判断是否跟丢 */
                         cv::cvtColor(roi, roi_gray, CV_RGB2GRAY);
                         cv::threshold(roi_gray, roi_gray, 180, 255, cv::THRESH_BINARY);
                         contour_area = cv::countNonZero(roi_gray);
                     }
-                    tracker = TrackerToUse::create();
+                    tracker = TrackerToUse::create();                       // 成功搜寻到装甲板，创建tracker对象
                     tracker->init(src_use, armor_box);
                     state = TRACKING_STATE;
                     tracking_cnt = 0;
@@ -61,7 +60,7 @@ void ArmorFinder::run(cv::Mat &src) {
             }
             break;
         case TRACKING_STATE:
-            if(++tracking_cnt>100 || !stateTrackingTarget(src_use)){
+            if(++tracking_cnt>100 || !stateTrackingTarget(src_use)){    // 最多追踪100帧图像
                 state = SEARCHING_STATE;
                 LOGM(STR_CTR(WORD_LIGHT_YELLOW ,"into search!"));
             }

armor/src/armor_finder/searching_state/searching_state.cpp

@@ -4,10 +4,10 @@
 
 #include <armor_finder/armor_finder.h>
 #include <opencv2/highgui.hpp>
-#include <image_process/image_process.h>
-#include <log.h>
 #include <show_images/show_images.h>
 #include <options/options.h>
+#include <log.h>
+#include "image_process.h"
 
 typedef std::vector<LightBlob> LightBlobs;
 
@@ -255,20 +255,21 @@ static string prior_red[] = {
 };
 
 bool ArmorFinder::stateSearchingTarget(cv::Mat &src) {
-    cv::Mat split, src_bin, color;
+    std::vector<cv::Mat> channels;      // 通道拆分
-    LightBlobs light_blobs;
+    cv::Mat src_bin, color; // 二值图和颜色通道图
-    std::vector<cv::Rect2d> armor_boxes, boxes_number[14];
+    LightBlobs light_blobs; // 存储所有可能的灯条
-    std::vector<cv::Mat> channels;
+    std::vector<cv::Rect2d> armor_boxes; // 装甲板候选区
+    std::vector<cv::Rect2d> boxes_number[15]; // 装甲板候选区放置在对应id位置
 
-    armor_box = cv::Rect2d(0, 0, 0, 0);
+    armor_box = cv::Rect2d(0, 0, 0, 0);     // 重置目标装甲板位置
 
-    cv::split(src, channels);
+    cv::split(src, channels);               /************************/
-    if (enemy_color == ENEMY_BLUE)
+    if (enemy_color == ENEMY_BLUE)          /*                      */
-        color = channels[0];
+        color = channels[0];                /* 根据目标颜色进行通道提取 */
-    else if (enemy_color == ENEMY_RED)
+    else if (enemy_color == ENEMY_RED)      /*                      */
-        color = channels[2];
+        color = channels[2];                /************************/
-    cv::threshold(color, src_bin, 170, 255, CV_THRESH_BINARY);
+    cv::threshold(color, src_bin, 170, 255, CV_THRESH_BINARY); // 二值化对应通道
-    imagePreProcess(src_bin);
+    imagePreProcess(src_bin);                                  // 开闭运算
     if (!findLightBlobs(src_bin, light_blobs)) {
         return false;
     }

armor/src/show_images/show_images.cpp

@@ -1,8 +1,12 @@
 #include <show_images/show_images.h>
+#include <opencv2/highgui.hpp>
 #include <log.h>
 
 using namespace cv;
 
+/**************************
+ *     显示多个装甲板区域    *
+ **************************/
 void showArmorBoxVector(std::string windows_name, const cv::Mat &src, const std::vector<cv::Rect2d> &armor_box) {
     static Mat image2show;
     if (src.type() == CV_8UC1) {// 黑白图像
@@ -17,6 +21,9 @@ void showArmorBoxVector(std::string windows_name, const cv::Mat &src, const std:
     imshow(windows_name, image2show);
 }
 
+/**************************
+ * 显示多个装甲板区域及其类别 *
+ **************************/
 void showArmorBoxClass(std::string window_names, const cv::Mat &src, vector<cv::Rect2d> boxes[10]) {
     static Mat image2show;
     if (src.type() == CV_8UC1) { // 黑白图像
@@ -45,6 +52,9 @@ void showArmorBoxClass(std::string window_names, const cv::Mat &src, vector<cv::
     imshow(window_names, image2show);
 }
 
+/**************************
+ * 显示多个装甲板区域及其类别 *
+ **************************/
 void showArmorBox(std::string windows_name, const cv::Mat &src, cv::Rect2d armor_box, int boxid) {
     static Mat image2show;
     if (src.type() == CV_8UC1) { // 黑白图像
@@ -67,6 +77,9 @@ void showArmorBox(std::string windows_name, const cv::Mat &src, cv::Rect2d armor
     imshow(windows_name, image2show);
 }
 
+/**************************
+ *      显示多个灯条区域     *
+ **************************/
 void showContours(std::string windows_name, const cv::Mat &src, const std::vector<LightBlob> &light_blobs) {
     static Mat image2show;
 

energy/include/energy/constant.h

@@ -14,7 +14,6 @@ const int SRC_WIDTH_CAMERA = 640;
 const int SRC_HEIGHT_CAMERA = 480;
 const int SRC_WIDTH = 320;
 const int SRC_HEIGHT = 240;
-const double PI = 3.1415926;
 const int CLOCKWISE = 1;
 const int ANTICLOCKWISE = -1;
 const float ATTACK_DISTANCE = 718;//cm

energy/include/energy/energy.h

@@ -9,6 +9,7 @@
 #include <opencv2/core/core.hpp>
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
+#include <constants.h>
 #include <stdio.h>
 #include <time.h>
 #include <sys/timeb.h>

main.cpp

@@ -2,22 +2,17 @@
 // Created by xixiliadorabarry on 1/24/19.
 //
 #include <iostream>
+#include <thread>
 #include <opencv2/core/core.hpp>
-#include <fstream>
-#include <energy/energy.h>
 #include <serial/serial.h>
-#include <energy/param_struct_define.h>
-#include <energy/constant.h>
 #include <camera/camera_wrapper.h>
 #include <camera/video_wrapper.h>
 #include <camera/wrapper_head.h>
+#include <energy/energy.h>
 #include <armor_finder/armor_finder.h>
 #include <options/options.h>
 #include <additions/additions.h>
-#include <thread>
-
 #define DO_NOT_CNT_TIME
-
 #include <log.h>
 
 using namespace cv;

others/include/additions/additions.h

@@ -7,15 +7,6 @@
 
 #include <stdint.h>
 #include <serial/serial.h>
-#include <opencv2/videoio.hpp>
-#include <camera/wrapper_head.h>
-
-#define ENEMY_BLUE 0
-#define ENEMY_RED  1
-
-#define BIG_ENERGY_STATE 'b'
-#define SMALL_ENERGY_STATE 's'
-#define ARMOR_STATE  'a'
 
 struct mcu_data{
     float curr_yaw;

others/include/constants.h

@@ -0,0 +1,17 @@
+//
+// Created by xinyang on 19-7-8.
+//
+
+#ifndef _CONSTANTS_H_
+#define _CONSTANTS_H_
+
+#define PI (3.14159265459)
+
+#define ENEMY_BLUE 0
+#define ENEMY_RED  1
+
+#define BIG_ENERGY_STATE   'b'
+#define SMALL_ENERGY_STATE 's'
+#define ARMOR_STATE        'a'
+
+#endif /* _CONSTANTS_H */

others/src/additions/additions.cpp

@@ -3,17 +3,17 @@
 //
 
 #include <cstring>
+#include <iostream>
 #include <fstream>
 #include <opencv2/core/core.hpp>
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
+#include <opencv2/videoio/videoio_c.h>
 #include <additions/additions.h>
 #include <camera/camera_wrapper.h>
-#include <log.h>
-#include <opencv2/videoio/videoio_c.h>
-#include <iostream>
 #include <energy/energy.h>
 #include <armor_finder/armor_finder.h>
+#include <log.h>
 
 #define RECEIVE_LOG_LEVEL LOG_MSG