计算速度优化，摄像头读取逻辑改变，分类器更新。

2019-07-28 15:59:01 +08:00
parent a5259cbd1f
commit 5a0fdb30af
24 changed files with 17667 additions and 115529 deletions
--- a/.gitignore
+++ b/.gitignore
@@ -4,6 +4,7 @@ build
 Mark
 armor_box_photo
 tools/TrainCNN/.idea
+tools/TrainCNN/model
 tools/TrainCNN/__pycache__
 others/include/config/config.h
 .DS_Store
--- a/armor/include/armor_finder/armor_finder.h
+++ b/armor/include/armor_finder/armor_finder.h
@@ -51,10 +51,11 @@ extern std::map<string, int> prior_red;
 class LightBlob {
 public:
    cv::RotatedRect rect;   //灯条位置
+    double areaRatio;
    double length;          //灯条长度
    uint8_t blob_color;      //灯条颜色

-    LightBlob(cv::RotatedRect &r, uint8_t color) : rect(r), blob_color(color) {
+    LightBlob(cv::RotatedRect &r, double ratio, uint8_t color) : rect(r), areaRatio(ratio), blob_color(color) {
        length = max(rect.size.height, rect.size.width);
    };
    LightBlob() = default;
--- a/armor/include/armor_finder/classifier/classifier.h
+++ b/armor/include/armor_finder/classifier/classifier.h
@@ -18,8 +18,8 @@ class Classifier {
 private:
    bool state;

-    vector<vector<MatrixXd>> conv1_w, conv2_w;
-    vector<double> conv1_b, conv2_b;
+    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;

@@ -30,8 +30,10 @@ private:

    MatrixXd softmax(const MatrixXd &input);
    MatrixXd relu(const MatrixXd &input);
+    MatrixXd leaky_relu(const MatrixXd &input, float alpha);
    vector<vector<MatrixXd>> apply_bias(const vector<vector<MatrixXd>> &input, const vector<double> &bias);
    vector<vector<MatrixXd>> relu(const vector<vector<MatrixXd>> &input);
+    vector<vector<MatrixXd>> leaky_relu(const vector<vector<MatrixXd>> &input, float alpha);
    vector<vector<MatrixXd>> max_pool(const vector<vector<MatrixXd>> &input, int size);
    vector<vector<MatrixXd>> mean_pool(const vector<vector<MatrixXd>> &input, int size);
    vector<vector<MatrixXd>> pand(const vector<vector<MatrixXd>> &input, int val);
--- a/armor/src/armor_finder/anti_top/anti_top.cpp
+++ b/armor/src/armor_finder/anti_top/anti_top.cpp
@@ -3,12 +3,9 @@
 //

 #include <armor_finder/armor_finder.h>
+#include <additions/additions.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 last_top_periodms = 0;
--- a/armor/src/armor_finder/armor_finder.cpp
+++ b/armor/src/armor_finder/armor_finder.cpp
@@ -58,8 +58,8 @@ ArmorFinder::ArmorFinder(uint8_t &color, Serial &u, const string &paras_folder,
 }

 void ArmorFinder::run(cv::Mat &src) {
-//    stateSearchingTarget(src);                    // for debug
-//    goto end;
+    stateSearchingTarget(src);                    // for debug
+    goto end;
    switch (state) {
        case SEARCHING_STATE:
            if (stateSearchingTarget(src)) {
--- a/armor/src/armor_finder/classifier/classifier.cpp
+++ b/armor/src/armor_finder/classifier/classifier.cpp
@@ -162,6 +162,12 @@ MatrixXd Classifier::relu(const MatrixXd &input){
    });
 }

+MatrixXd Classifier::leaky_relu(const MatrixXd &input, float alpha){
+    return input.unaryExpr([&](double val){
+        return (val>0)?(val):(alpha*val);
+    });
+}
+
 vector<vector<MatrixXd>> Classifier::relu(const vector<vector<MatrixXd>> &input){
    vector<vector<MatrixXd>> result;
    for(int samples=0; samples<input.size(); samples++){
@@ -174,6 +180,18 @@ vector<vector<MatrixXd>> Classifier::relu(const vector<vector<MatrixXd>> &input)
    return result;
 }

+vector<vector<MatrixXd>> Classifier::leaky_relu(const vector<vector<MatrixXd>> &input, float alpha){
+    vector<vector<MatrixXd>> result;
+    for(int samples=0; samples<input.size(); samples++){
+        vector<MatrixXd> sub;
+        for(int channels=0; channels<input[0].size(); channels++){
+            sub.emplace_back(leaky_relu(input[samples][channels], alpha));
+        }
+        result.emplace_back(sub);
+    }
+    return result;
+}
+
 vector<vector<MatrixXd>> Classifier::pand(const vector<vector<MatrixXd>> &input, int val){
    vector<vector<MatrixXd>> result;
    for(int sample=0; sample<input.size(); sample++){
@@ -254,6 +272,8 @@ Classifier::Classifier(const string &folder) : state(true){
    conv1_b = load_conv_b(folder+"conv1_b");
    conv2_w = load_conv_w(folder+"conv2_w");
    conv2_b = load_conv_b(folder+"conv2_b");
+    conv3_w = load_conv_w(folder+"conv3_w");
+    conv3_b = load_conv_b(folder+"conv3_b");
    fc1_w = load_fc_w(folder+"fc1_w");
    fc1_b = load_fc_b(folder+"fc1_b");
    fc2_w = load_fc_w(folder+"fc2_w");
@@ -273,7 +293,8 @@ MatrixXd Classifier::calculate(const vector<vector<MatrixXd>> &input) {
    vector<vector<MatrixXd>> pool1_result = mean_pool(conv1_result, 2);
    vector<vector<MatrixXd>> conv2_result = relu(apply_bias(conv2(conv2_w, pool1_result), conv2_b));
    vector<vector<MatrixXd>> pool2_result = mean_pool(conv2_result, 2);
-    MatrixXd flattened = flatten(pool2_result);
+    vector<vector<MatrixXd>> conv3_result = relu(apply_bias(conv2(conv3_w, pool2_result), conv3_b));
+    MatrixXd flattened = flatten(conv3_result);
    MatrixXd y1 = fc1_w * flattened;
    y1.colwise() += fc1_b;
    MatrixXd fc1 = relu(y1);
@@ -303,7 +324,7 @@ int Classifier::operator()(const cv::Mat &image) {
 //    cout << result << "==============" <<endl;
    MatrixXd::Index minRow, minCol;
    result.maxCoeff(&minRow, &minCol);
-    if(result(minRow, minCol) > 0.9){
+    if(result(minRow, minCol) > 0.90){
        return minRow;
    }else{
        return 0;
--- a/armor/src/armor_finder/find/find_armor_box.cpp
+++ b/armor/src/armor_finder/find/find_armor_box.cpp
@@ -6,6 +6,7 @@
 #include <show_images/show_images.h>
 #include <options/options.h>
 #include <opencv2/highgui.hpp>
+#define DO_NOT_CNT_TIME
 #include <log.h>


@@ -27,7 +28,7 @@ static bool lengthJudge(const LightBlob &light_blob_i, const LightBlob &light_bl
    double side_length;
    cv::Point2f centers = light_blob_i.rect.center - light_blob_j.rect.center;
    side_length = sqrt(centers.ddot(centers));
-    return (side_length / light_blob_i.length < 8 && side_length / light_blob_i.length > 0.5);
+    return (side_length / light_blob_i.length < 10 && side_length / light_blob_i.length > 0.5);
 }

 static bool lengthRatioJudge(const LightBlob &light_blob_i, const LightBlob &light_blob_j) {
@@ -99,6 +100,7 @@ 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_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),
@@ -116,31 +118,35 @@ bool ArmorFinder::findArmorBox(const cv::Mat &src, ArmorBox &box) {

    box.rect = cv::Rect2d(0, 0, 0, 0);
    box.id = -1;
-
-    if (!findLightBlobs(src, light_blobs)) {
-        return false;
-    }
+    CNT_TIME("blob", {
+        if (!findLightBlobs(src, light_blobs)) {
+            return false;
+        }
+    });
    if (show_light_blobs && src.size() == cv::Size(640, 480)) {
        showLightBlobs("light_blobs", src, light_blobs);
        cv::waitKey(1);
    }
-
-    if (!matchArmorBoxes(src, light_blobs, armor_boxes, enemy_color)) {
-//        cout << "Box fail!" << endl;
-        return false;
-    }
+    CNT_TIME("boxes",{
+        if (!matchArmorBoxes(src, light_blobs, armor_boxes, enemy_color)) {
+    //        cout << "Box fail!" << endl;
+            return false;
+        }
+    });
    if (show_armor_boxes && src.size() == cv::Size(640, 480)) {
        showArmorBoxes("boxes", src, armor_boxes);
        cv::waitKey(1);
    }

    if (classifier && use_classifier) {
-        for (auto &armor_box : armor_boxes) {
-            cv::Mat roi = src(armor_box.rect).clone();
-            cv::resize(roi, roi, cv::Size(48, 36));
-            int c = classifier(roi);
-            armor_box.id = c;
-        }
+        CNT_TIME("classify: %d", {
+            for (auto &armor_box : armor_boxes) {
+                cv::Mat roi = src(armor_box.rect).clone();
+                cv::resize(roi, roi, cv::Size(48, 36));
+                int c = classifier(roi);
+                armor_box.id = c;
+            }
+        }, armor_boxes.size());
        sort(armor_boxes.begin(), armor_boxes.end());
        if(armor_boxes[0].id != 0){
            box = armor_boxes[0];
--- a/armor/src/armor_finder/find/find_light_blobs.cpp
+++ b/armor/src/armor_finder/find/find_light_blobs.cpp
@@ -13,14 +13,14 @@ static double lw_rate(const cv::RotatedRect &rect) {
 }


-static double areaRatio(const std::vector<cv::Point> &contour, const cv::RotatedRect &rect){
+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() < 3000) &&
+           ((rect.size.area() < 50 && areaRatio(contour, rect) > 0.4) ||
            (rect.size.area() >= 50 && areaRatio(contour, rect) > 0.6));
 }

@@ -53,7 +53,7 @@ static float linePointX(const cv::Point2f &p1, const cv::Point2f &p2, int y) {

 /// 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;
+    int blue_cnt = 0, red_cnt = 0;
    blobPos.size.height *= 1.05;
    blobPos.size.width *= 1.1;
    cv::Point2f corners[4];
@@ -95,6 +95,11 @@ static double get_blob_color_opt(const cv::Mat &src, cv::RotatedRect blobPos) {
    }
 }

+static bool isSameBlob(LightBlob blob1, LightBlob blob2) {
+    auto dist = blob1.rect.center - blob2.rect.center;
+    return (dist.x * dist.x + dist.y * dist.y) < 9;
+}
+
 static void imagePreProcess(cv::Mat &src) {
    static cv::Mat kernel_erode = getStructuringElement(cv::MORPH_RECT, cv::Size(3, 5));
    erode(src, src, kernel_erode);
@@ -119,41 +124,76 @@ bool ArmorFinder::findLightBlobs(const cv::Mat &src, LightBlobs &light_blobs) {
    std::vector<cv::Mat> channels;       // 通道拆分

    cv::split(src, channels);               /************************/
-    if (enemy_color == ENEMY_BLUE){         /*                      */
+    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){    /*                      */
+    } 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
-    if(src_bin_light.empty()) return false;
+    if (src_bin_light.empty()) return false;
    imagePreProcess(src_bin_light);                                  // 开闭运算

    cv::threshold(color_channel, src_bin_dim, 140, 255, CV_THRESH_BINARY); // 二值化对应通道
-    if(src_bin_dim.empty()) return false;
+    if (src_bin_dim.empty()) return false;
    imagePreProcess(src_bin_dim);                                  // 开闭运算

-    if(src_bin_light.size() == cv::Size(640, 480) && show_light_blobs) {
+    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));
+    std::vector<std::vector<cv::Point>> light_contours_light, light_contours_dim;
+    LightBlobs light_blobs_light, light_blobs_dim;
+    std::vector<cv::Vec4i> hierarchy_light, hierarchy_dim;
+    cv::findContours(src_bin_light, light_contours_light, hierarchy_light, CV_RETR_CCOMP, CV_CHAIN_APPROX_NONE);
+    cv::findContours(src_bin_dim, light_contours_dim, hierarchy_dim, CV_RETR_CCOMP, CV_CHAIN_APPROX_NONE);
+    for (int i = 0; i < light_contours_light.size(); i++) {
+        if (hierarchy_light[i][2] == -1) {
+            cv::RotatedRect rect = cv::minAreaRect(light_contours_light[i]);
+            if (isValidLightBlob(light_contours_light[i], rect)) {
+                light_blobs_light.emplace_back(
+                        rect, areaRatio(light_contours_light[i], 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));
+    for (int i = 0; i < light_contours_dim.size(); i++) {
+        if (hierarchy_dim[i][2] == -1) {
+            cv::RotatedRect rect = cv::minAreaRect(light_contours_dim[i]);
+            if (isValidLightBlob(light_contours_dim[i], rect)) {
+                light_blobs_dim.emplace_back(
+                        rect, areaRatio(light_contours_dim[i], rect), get_blob_color(src, rect)
+                );
+            }
        }
    }
+    vector<int> light_to_remove, dim_to_remove;
+    for (int l = 0; l != light_blobs_light.size(); l++) {
+        for (int d = 0; d != light_blobs_dim.size(); d++) {
+            if (isSameBlob(light_blobs_light[l], light_blobs_dim[d])) {
+                if (light_blobs_light[l].areaRatio > light_blobs_dim[d].areaRatio) {
+                    dim_to_remove.emplace_back(d);
+                } else {
+                    light_to_remove.emplace_back(l);
+                }
+            }
+        }
+    }
+    sort(light_to_remove.begin(), light_to_remove.end(), [](int a, int b) { return a > b; });
+    sort(dim_to_remove.begin(), dim_to_remove.end(), [](int a, int b) { return a > b; });
+    for (auto x : light_to_remove) {
+        light_blobs_light.erase(light_blobs_light.begin() + x);
+    }
+    for (auto x : dim_to_remove) {
+        light_blobs_dim.erase(light_blobs_dim.begin() + x);
+    }
+    for (const auto &light : light_blobs_light) {
+        light_blobs.emplace_back(light);
+    }
+    for (const auto &dim : light_blobs_dim) {
+        light_blobs.emplace_back(dim);
+    }
    return light_blobs.size() >= 2;
 }
--- a/main.cpp
+++ b/main.cpp
@@ -20,7 +20,7 @@
 #include <additions/additions.h>
 #include <config/setconfig.h>

-#define DO_NOT_CNT_TIME
+//#define DO_NOT_CNT_TIME

 #include <log.h>

@@ -63,8 +63,8 @@ int main(int argc, char *argv[]) {
    while (true) {
        // 打开视频源
        if (from_camera) {
-            video_gimbal = new CameraWrapper(ARMOR_CAMERA_GAIN, 0/*, "armor"*/);
-            video_chassis = new CameraWrapper(ENERGY_CAMERA_GAIN, 0/*, "energy"*/);
+            video_gimbal = new CameraWrapper(ARMOR_CAMERA_GAIN, 2/*, "armor"*/);
+            video_chassis = new CameraWrapper(ENERGY_CAMERA_GAIN, 2/*, "energy"*/);
        } else {
            video_gimbal = new VideoWrapper("/home/sun/项目/energy_video/7.27.avi");
            video_chassis = new VideoWrapper("/home/sun/项目/energy_video/7.27.avi");
@@ -93,14 +93,14 @@ int main(int argc, char *argv[]) {
        bool ok = true;
        cout << "start running" << endl;
        do {
-//            CNT_TIME("Total", {
+            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
                    LOGM(STR_CTR(WORD_BLUE, "Start Big Energy!"));
                    destroyAllWindows();
                    if (from_camera) {
                        delete video_gimbal;
-                        video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 0/*, "armor"*/);
+                        video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 2/*, "armor"*/);
                        if (video_gimbal->init()) {
                            LOGM("video_gimbal source initialization successfully.");
                        } else {
@@ -130,7 +130,7 @@ int main(int argc, char *argv[]) {
                    destroyAllWindows();
                    if (from_camera) {
                        delete video_gimbal;
-                        video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 0/*, "armor"*/);
+                        video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 2/*, "armor"*/);
                        if (video_gimbal->init()) {
                            LOGM("video_gimbal source initialization successfully.");
                        } else {
@@ -154,7 +154,7 @@ int main(int argc, char *argv[]) {
                    destroyAllWindows();
                    if (from_camera) {
                        delete video_gimbal;
-                        video_gimbal = new CameraWrapper(ARMOR_CAMERA_GAIN, 0/*, "armor"*/);
+                        video_gimbal = new CameraWrapper(ARMOR_CAMERA_GAIN, 2/*, "armor"*/);
                        if (video_gimbal->init()) {
                            LOGM("video_gimbal source initialization successfully.");
                        } else {
@@ -163,19 +163,23 @@ int main(int argc, char *argv[]) {
                    }
                }
                last_state = mcuData.state;
-                ok = checkReconnect(video_gimbal->read(gimbal_src));
+                CNT_TIME(STR_CTR(WORD_GREEN, "read img"), {
+                    if(!checkReconnect(video_gimbal->read(gimbal_src))) continue;
+                });
 #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);
-                if (show_origin) showOrigin(gimbal_src);
-                CNT_TIME("Armor Time", {
+//                CNT_TIME("something whatever", {
+                    if (!from_camera) extract(gimbal_src);
+                    if (save_video) saveVideos(gimbal_src);
+                    if (show_origin) showOrigin(gimbal_src);
+//                });
+                CNT_TIME(STR_CTR(WORD_CYAN, "Armor Time"), {
                    armorFinder.run(gimbal_src);
                });
            }
 //                cv::waitKey(0);
-//            });
+            });
        } while (ok);
        delete video_gimbal;
        video_gimbal = nullptr;
--- a/others/include/additions/additions.h
+++ b/others/include/additions/additions.h
@@ -6,6 +6,7 @@
 #define _ADDITIONS_H_

 #include <stdint.h>
+#include <sys/time.h>
 #include <serial/serial.h>

 struct mcu_data{
@@ -30,5 +31,6 @@ 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);

 #endif /* _ADDITIONS_H_ */
--- a/others/include/camera/camera_wrapper.h
+++ b/others/include/camera/camera_wrapper.h
@@ -9,11 +9,12 @@

 #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"
+
 #ifdef Windows
    #include "camera/CameraApi.h"
 #elif defined(Linux) || defined(Darwin)
@@ -21,10 +22,13 @@
 #endif

 class CameraWrapper: public WrapperHead {
+    friend void cameraCallback(CameraHandle hCamera, BYTE *pFrameBuffer, tSdkFrameHead* pFrameHead,PVOID pContext);
 private:
    const std::string name;
    int mode;

+    bool init_done;
+
    unsigned char* rgb_buffer;
    int camera_cnts;
    int camera_status;
@@ -38,6 +42,11 @@ private:
    IplImage* iplImage;
    int channel;

+    cv::Mat src_queue[2];
+    volatile int qhead;
+    volatile int qtail;
+
+    std::thread *readThread;
 public:
    int gain;

@@ -48,6 +57,8 @@ public:
    bool read(cv::Mat& src) final;
    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/include/log.h
+++ b/others/include/log.h
@@ -146,7 +146,7 @@
 			gettimeofday(&ts, NULL); \
 			codes; \
 			gettimeofday(&te, NULL); \
-			LOGM(tag": %.1lfms", (te.tv_sec-ts.tv_sec)*1000.0+(te.tv_usec-ts.tv_usec)/1000.0); \
+			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"
--- a/others/src/additions/additions.cpp
+++ b/others/src/additions/additions.cpp
@@ -169,3 +169,7 @@ void extract(cv::Mat &gimbal_src) {//图像预处理，将视频切成640×480
        gimbal_src = gimbal_src(Rect(0, (width - 480) / 2, 640, 480));
    }
 }
+
+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;
+}
--- a/others/src/camera/camera_wrapper.cpp
+++ b/others/src/camera/camera_wrapper.cpp
@@ -4,6 +4,7 @@

 #include <camera/camera_wrapper.h>
 #include <log.h>
+#include <additions/additions.h>
 #include <options/options.h>
 #include <config/setconfig.h>

@@ -15,15 +16,33 @@ using namespace cv;

 CameraWrapper::CameraWrapper(int gain, int camera_mode, const std::string &n) :
        name(n),
+        init_done(false),
        mode(camera_mode),
        camera_cnts(2),
        camera_status(-1),
        iplImage(nullptr),
        rgb_buffer(nullptr),
        channel(3),
-        gain(gain){
+        gain(gain),
+        qhead(0),
+        qtail(0),
+        readThread(nullptr){
 }

+void cameraCallback(CameraHandle hCamera, BYTE *pFrameBuffer, tSdkFrameHead* pFrameHead,PVOID pContext){
+    CameraWrapper *c = (CameraWrapper*)pContext;
+    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);
+}

 bool CameraWrapper::init() {
    CameraSdkInit(1);
@@ -76,6 +95,8 @@ bool CameraWrapper::init() {
    }
    LOGM("successfully loaded %s!", filepath);
 #elif defined(Linux)
+    CameraReadParameterFromFile(h_camera, PROJECT_DIR"/others/MV-UB31-Group0.config");
+    CameraLoadParameter(h_camera, PARAMETER_TEAM_A);
    CameraSetAeState(h_camera, false);
    CameraSetExposureTime(h_camera, CAMERA_EXPOSURE * 1000);
 #ifndef WITH_TIME_BASED_CAMERA_GAIN
@@ -106,14 +127,13 @@ bool CameraWrapper::init() {
    }
    CameraSetAnalogGain(h_camera, gain);
 #endif
-    if (mode == 0) {
-        CameraSetGain(h_camera, CAMERA_RED_GAIN, CAMERA_GREEN_GAIN, CAMERA_BLUE_GAIN);
-        CameraSetLutMode(h_camera, LUTMODE_PRESET);
-    }
+
 #endif
    double t;
+    int g;
    CameraGetExposureTime(h_camera, &t);
-    LOGM("Exposure time: %lfms", t / 1000.0);
+    CameraGetAnalogGain(h_camera, &g);
+    LOGM("Exposure time: %lfms, gain:%d", t / 1000.0, g);
    /*让SDK进入工作模式，开始接收来自相机发送的图像
    数据。如果当前相机是触发模式，则需要接收到
    触发帧以后才会更新图像。    */
@@ -135,6 +155,10 @@ bool CameraWrapper::init() {
        CameraSetIspOutFormat(h_camera, CAMERA_MEDIA_TYPE_BGR8);
        LOGM("camera %s color ", camera_name);
    }
+    if(mode == 2){
+        CameraSetCallbackFunction(h_camera, cameraCallback, this, nullptr);
+    }
+    init_done = true;
    return true;
 }

@@ -144,12 +168,18 @@ bool CameraWrapper::changeBrightness(int brightness) {
 }

 bool CameraWrapper::read(cv::Mat &src) {
-    if (mode == 0)return readProcessed(src);
-    if (mode == 1)return readRaw(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;
+    }
 }

 bool CameraWrapper::readRaw(cv::Mat &src) {
-    if (CameraGetImageBuffer(h_camera, &frame_info, &pby_buffer, 1000) == CAMERA_STATUS_SUCCESS) {
+    if (CameraGetImageBuffer(h_camera, &frame_info, &pby_buffer, 500) == CAMERA_STATUS_SUCCESS) {
        if (iplImage) {
            cvReleaseImageHeader(&iplImage);
        }
@@ -173,7 +203,7 @@ bool CameraWrapper::readRaw(cv::Mat &src) {

 bool CameraWrapper::readProcessed(cv::Mat &src) {
 //	cerr << "Get-1" << endl;
-    if (CameraGetImageBuffer(h_camera, &frame_info, &pby_buffer, 1000) == CAMERA_STATUS_SUCCESS) {
+    if (CameraGetImageBuffer(h_camera, &frame_info, &pby_buffer, 500) == CAMERA_STATUS_SUCCESS) {
        CameraImageProcess(h_camera, pby_buffer, rgb_buffer,
                           &frame_info);  // this function is super slow, better not to use it.
        if (iplImage) {
@@ -192,9 +222,56 @@ bool CameraWrapper::readProcessed(cv::Mat &src) {
    }
 }

+bool CameraWrapper::readCallback(cv::Mat &src) {
+    timeval ts, te;
+    gettimeofday(&ts, NULL);
+    while(qtail==qhead){
+        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;
+}
+
 CameraWrapper::~CameraWrapper() {
    CameraUnInit(h_camera);
    //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/TrainCNN/backward.py
+++ b/tools/TrainCNN/backward.py
@@ -1,6 +1,7 @@
 #!/usr/bin/python3
 print("Preparing...")
 import tensorflow as tf
+import os
 from tqdm import tqdm
 import generate
 import forward
@@ -35,28 +36,22 @@ def save_bias(fp, val):
        print(val[i], file=fp)


-def save_para(folder, paras):
-    with open(folder + "/conv1_w", "w") as fp:
-        save_kernal(fp, paras[0])
-    with open(folder + "/conv1_b", "w") as fp:
-        save_bias(fp, paras[1])
-    with open(folder + "/conv2_w", "w") as fp:
-        save_kernal(fp, paras[2])
-    with open(folder + "/conv2_b", "w") as fp:
-        save_bias(fp, paras[3])
-    with open(folder + "/fc1_w", "w") as fp:
-        save_weight_mat(fp, paras[4])
-    with open(folder + "/fc1_b", "w") as fp:
-        save_bias(fp, paras[5])
-    with open(folder + "/fc2_w", "w") as fp:
-        save_weight_mat(fp, paras[6])
-    with open(folder + "/fc2_b", "w") as fp:
-        save_bias(fp, paras[7])
+def save_para(folder, paras, names, info):
+    os.system("mkdir %s/%s" % (folder, info))
+    for para, name in zip(paras, names):
+        fp = open("%s/%s/%s" % (folder, info, name), "w")
+        if name[-1:] == "b":
+            save_bias(fp, para)
+        elif name[:2] == "fc":
+            save_weight_mat(fp, para)
+        elif name[:4] == "conv":
+            save_kernal(fp, para)
+        fp.close()


-STEPS = 60000
-BATCH = 50
-LEARNING_RATE_BASE  = 0.001
+STEPS = 50000
+BATCH = 30
+LEARNING_RATE_BASE  = 0.0005
 LEARNING_RATE_DECAY = 0.99
 MOVING_AVERAGE_DECAY = 0.99

@@ -65,7 +60,7 @@ def train(dataset, show_bar=False):
    x = tf.placeholder(tf.float32, [None, generate.SRC_ROWS, generate.SRC_COLS, generate.SRC_CHANNELS])
    y_= tf.placeholder(tf.float32, [None, forward.OUTPUT_NODES])
    keep_rate = tf.placeholder(tf.float32)
-    nodes, vars = forward.forward(x, 0.01)
+    nodes, vars, vars_name = forward.forward(x, 0.01)
    y = nodes[-1]

    ce  = tf.nn.sparse_softmax_cross_entropy_with_logits(logits=y, labels=tf.argmax(y_, 1))
@@ -101,35 +96,38 @@ 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:0.2}
+                feed_dict={x: images_samples, y_: labels_samples, keep_rate:0.4}
            )

-            if (i-1) % 100 == 0:
-                if (i-1) % 500 == 0:
-                    test_images, test_labels = dataset.sample_test_sets(5000)
-                    test_acc, output = sess.run([accuracy, y], feed_dict={x: test_images, y_: test_labels, keep_rate:1.0})
-                    output = np.argmax(output, axis=1)
-                    real = np.argmax(test_labels, axis=1)
-                    print("=============test-set===============")
-                    for n in range(forward.OUTPUT_NODES):
-                        print("label: %d, precise: %f, recall: %f" %
-                            (n, np.mean(real[output==n]==n), np.mean(output[real==n]==n)))
-
-                    train_images, train_labels = dataset.sample_train_sets(5000)
-                    train_acc, output = sess.run([accuracy, y], feed_dict={x: train_images, y_: train_labels, keep_rate:1.0})
-                    output = np.argmax(output, axis=1)
-                    real = np.argmax(train_labels, axis=1)
-                    print("=============train-set===============")
-                    for n in range(forward.OUTPUT_NODES):
-                        print("label: %d, precise: %f, recall: %f" %
-                              (n, np.mean(real[output==n]==n), np.mean(output[real==n]==n)))
-                    print("\n")
+            if step % 500 == 0:
+                test_images, test_labels = dataset.sample_test_sets(6000)
+                test_acc, output = sess.run([accuracy, y], feed_dict={x: test_images, y_: test_labels, keep_rate:1.0})
+                output = np.argmax(output, axis=1)
+                real = np.argmax(test_labels, axis=1)
+                print("=============test-set===============")
+                for n in range(forward.OUTPUT_NODES):
+                    print("label: %d, precise: %f, recall: %f" %
+                        (n, np.mean(real[output==n]==n), np.mean(output[real==n]==n)))

+                train_images, train_labels = dataset.sample_train_sets(6000)
+                train_acc, output = sess.run([accuracy, y], feed_dict={x: train_images, y_: train_labels, keep_rate:1.0})
+                output = np.argmax(output, axis=1)
+                real = np.argmax(train_labels, axis=1)
+                print("=============train-set===============")
+                for n in range(forward.OUTPUT_NODES):
+                    print("label: %d, precise: %f, recall: %f" %
+                          (n, np.mean(real[output==n]==n), np.mean(output[real==n]==n)))
+                print("\n")
+                if train_acc >= 0.99 and test_acc >= 0.99:
+                    vars_val = sess.run(vars)
+                    save_para(
+                        "model",
+                        vars_val,
+                        vars_name,
+                        "steps:%d-train_acc:%f-test_acc:%f" % (step, train_acc, test_acc)
+                    )
                bar.set_postfix({"loss": loss_value, "train_acc": train_acc, "test_acc": test_acc})
-
-        vars_val = sess.run(vars)
-        save_para("/home/xinyang/Workspace/RM_auto-aim/tools/para", vars_val)
-        print("save done!")
+        # print("save done!")

        # pred = sess.run(y, feed_dict={x: test_images, keep_rate:1.0})

--- a/tools/TrainCNN/forward.py
+++ b/tools/TrainCNN/forward.py
@@ -29,16 +29,22 @@ def max_pool_2x2(x):
 CONV1_KERNAL_SIZE = 5

 # 第一层卷积输出通道数
-CONV1_OUTPUT_CHANNELS = 8
+CONV1_OUTPUT_CHANNELS = 4

 # 第二层卷积核大小
 CONV2_KERNAL_SIZE = 3

 # 第二层卷积输出通道数
-CONV2_OUTPUT_CHANNELS = 16
+CONV2_OUTPUT_CHANNELS = 6
+
+# 第三层卷积核大小
+CONV3_KERNAL_SIZE = 3
+
+# 第三层卷积输出通道数
+CONV3_OUTPUT_CHANNELS = 8

 # 第一层全连接宽度
-FC1_OUTPUT_NODES = 100
+FC1_OUTPUT_NODES = 50

 # 第二层全连接宽度（输出标签类型数）
 FC2_OUTPUT_NODES = 15
@@ -49,6 +55,7 @@ OUTPUT_NODES = FC2_OUTPUT_NODES

 def forward(x, regularizer=None, keep_rate=tf.constant(1.0)):
    vars = []
+    vars_name = []
    nodes = []

    conv1_w = get_weight(
@@ -57,7 +64,10 @@ def forward(x, regularizer=None, keep_rate=tf.constant(1.0)):
    conv1_b = get_bias([CONV1_OUTPUT_CHANNELS])
    conv1   = tf.nn.relu(tf.nn.bias_add(conv2d(x, conv1_w), conv1_b))
    pool1   = avg_pool_2x2(conv1)
+    print("conv1: ", conv1.shape)
+    print("pool1: ", pool1.shape)
    vars.extend([conv1_w, conv1_b])
+    vars_name.extend(["conv1_w", "conv1_b"])
    nodes.extend([conv1, pool1])

    conv2_w = get_weight(
@@ -66,27 +76,41 @@ def forward(x, regularizer=None, keep_rate=tf.constant(1.0)):
    conv2_b = get_bias([CONV2_OUTPUT_CHANNELS])
    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])

-    pool_shape = pool2.get_shape().as_list()
-    node = pool_shape[1] * pool_shape[2] * pool_shape[3]
-    reshaped = tf.reshape(pool2, [-1, node])
+    conv3_w = get_weight(
+        [CONV3_KERNAL_SIZE, CONV3_KERNAL_SIZE, CONV2_OUTPUT_CHANNELS, CONV3_OUTPUT_CHANNELS]
+    )
+    conv3_b = get_bias([CONV3_OUTPUT_CHANNELS])
+    conv3 = tf.nn.relu(tf.nn.bias_add(conv2d(pool2, conv3_w), conv3_b))
+    print("conv3: ", conv3.shape)
+    vars.extend([conv3_w, conv3_b])
+    vars_name.extend(["conv3_w", "conv3_b"])
+    nodes.extend([conv3])
+
+    conv_shape = conv3.get_shape().as_list()
+    node = conv_shape[1] * conv_shape[2] * conv_shape[3]
+    reshaped = tf.reshape(conv3, [-1, node])
    reshaped = tf.nn.dropout(reshaped, keep_rate)
+    print("reshaped: ", reshaped.shape)

    fc1_w = get_weight([node, FC1_OUTPUT_NODES], regularizer)
    fc1_b = get_bias([FC1_OUTPUT_NODES])
    fc1   = tf.nn.relu(tf.matmul(reshaped, fc1_w) + fc1_b)
-    fc1   = tf.nn.dropout(fc1, keep_rate)
    vars.extend([fc1_w, fc1_b])
+    vars_name.extend(["fc1_w", "fc1_b"])
    nodes.extend([fc1])

    fc2_w = get_weight([FC1_OUTPUT_NODES, FC2_OUTPUT_NODES], regularizer)
    fc2_b = get_bias([FC2_OUTPUT_NODES])
-#    fc2   = tf.nn.softmax(tf.matmul(fc1, fc2_w) + fc2_b)
-    fc2   = tf.matmul(fc1, fc2_w) + fc2_b
+    fc2 = tf.matmul(fc1, fc2_w) + fc2_b
    vars.extend([fc2_w, fc2_b])
+    vars_name.extend(["fc2_w", "fc2_b"])
    nodes.extend([fc2])

-    return nodes, vars
+    return nodes, vars, vars_name

--- a/tools/para/conv1_b
+++ b/tools/para/conv1_b
@@ -1,9 +1,5 @@
-8
-0.19897088
-2.2773967
-0.07212669
-0.22893764
-0.022769619
-0.9122422
-1.3221853
-0.21709026
+4
+0.30789205
+-0.043525748
+0.2050164
+0.74044687
--- a/tools/para/conv1_w
+++ b/tools/para/conv1_w
@@ -1,604 +1,304 @@
 3
-8
+4
 5
 5
-0.42449534
-0.14145629
-0.12018829
-0.4759054
-0.54840434
-0.28412497
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-0.88465214
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--- a/tools/para/conv2_b
+++ b/tools/para/conv2_b
@@ -1,17 +1,7 @@
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--- a/tools/para/conv2_w
+++ b/tools/para/conv2_w
--- a/tools/para/fc1_b
+++ b/tools/para/fc1_b
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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 @@
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--- a/tools/para/fc2_w
+++ b/tools/para/fc2_w