更新了灯条识别方法，提升了准确率。

2019-06-27 13:13:25 +08:00
parent 9a1e5d8882
commit 64bd93ec56
6 changed files with 81 additions and 45 deletions
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,6 +1,6 @@
 CMAKE_MINIMUM_REQUIRED(VERSION 3.5)

-PROJECT(RM_Auto_Aim)
+PROJECT(AutoAim)
 SET(CMAKE_CXX_STANDARD 11)
 SET(CMAKE_BUILD_TYPE RELEASE)
 SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3")
--- a/armor/include/armor_finder/armor_finder.h
+++ b/armor/include/armor_finder/armor_finder.h
@@ -52,7 +52,7 @@ public:
    double length;
    uint8_t BlobColor;

-    explicit LightBlob(cv::RotatedRect &r) : rect(r) {
+    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; }
--- a/armor/src/armor_finder/state_machine/searching_state/searching_state.cpp
+++ b/armor/src/armor_finder/state_machine/searching_state/searching_state.cpp
@@ -12,15 +12,48 @@
 typedef std::vector<LightBlob> LightBlobs;

 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);
+    return rect.size.height>rect.size.width ?
+    rect.size.height / rect.size.width :
+    rect.size.width / rect.size.height ;
 }

-static bool isValidLightBlob(const cv::RotatedRect &rect){
-    return (lw_rate(rect) > 1.2) &&
-           ((rect.size.width * rect.size.height) < 3000) &&
-           ((rect.size.width * rect.size.height) > 1);
+bool rectangleContainPoint(cv::RotatedRect rectangle, cv::Point2f point)
+{
+    //转化为轮廓
+    cv::Point2f corners[4];
+    rectangle.points(corners);
+    cv::Point2f *lastItemPointer = (corners+sizeof corners/sizeof corners[0]);
+    vector<cv::Point2f> contour(corners,lastItemPointer);
+    //判断
+    double indicator = pointPolygonTest(contour,point,true);
+    return indicator >= 0;
+}
+/// Todo: 下面的函数可以有性能优化，暂时未做。
+static double nonZeroRateOfRotateRect(const cv::Mat &bin, const cv::RotatedRect &rorect){
+    auto rect = rorect.boundingRect();
+    if(rect.x < 0 || rect.y < 0 || rect.x+rect.width > bin.cols || rect.y+rect.height > bin.rows){
+//        cout << "break" << endl;
+        return 0;
+    }
+    auto roi=bin(rect);
+    int cnt=0;
+    for(int r=0; r<roi.rows; r++){
+        for(int c=0; c<roi.cols; c++){
+            if(rectangleContainPoint(rorect, cv::Point(c+rect.x, r+rect.y))){
+                if(roi.at<uint8_t>(r, c)){
+                    cnt++;
+                }
+            }
+        }
+    }
+    return double(cnt) / rorect.size.area();
+}
+
+static bool isValidLightBlob(const cv::Mat &bin, const cv::RotatedRect &rect){
+    return (lw_rate(rect) > 1.5) &&
+//           (rect.size.width*rect.size.height < 3000) &&
+           (rect.size.width*rect.size.height > 1) &&
+           (nonZeroRateOfRotateRect(bin, rect) > 0.8);
 }

 static void pipelineLightBlobPreprocess(cv::Mat &src) {
@@ -39,10 +72,11 @@ static bool findLightBlobs(const cv::Mat &src, LightBlobs &light_blobs) {
    }

    std::vector<std::vector<cv::Point> > light_contours;
-    cv::findContours(src_gray, light_contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE);
+    cv::findContours(src_gray, light_contours, CV_RETR_LIST, CV_CHAIN_APPROX_NONE);
+
    for (auto &light_contour : light_contours) {
        cv::RotatedRect rect = cv::minAreaRect(light_contour);
-        if(isValidLightBlob(rect)){
+        if(isValidLightBlob(src_gray, rect)){
            light_blobs.emplace_back(rect);
        }
    }
@@ -199,22 +233,23 @@ bool ArmorFinder::stateSearchingTarget(cv::Mat &src) {
        cv::waitKey(1);
    }

-    imageColorSplit(src, split, enemy_color);
-//    imshow("split123",split);
-    imagePreProcess(split);
-//    imshow("split",split);
-    cv::threshold(split, src_bin, 170, 255, CV_THRESH_BINARY);
-    if(!findLightBlobs(src_bin, light_blobs_)){
-        return false;
-    }
-    if(show_light_blobs){
-        showContours("blobs_split", src_bin, light_blobs_);
-        cv::waitKey(1);
-    }
-
-    if(!judge_light_color(light_blobs, light_blobs_, light_blobs_real)){
-        return false;
-    }
+//    imageColorSplit(src, split, enemy_color);
+////    imshow("split123",split);
+//    imagePreProcess(split);
+////    imshow("split",split);
+//    cv::threshold(split, src_bin, 170, 255, CV_THRESH_BINARY);
+//    if(!findLightBlobs(src_bin, light_blobs_)){
+//        return false;
+//    }
+//    if(show_light_blobs){
+//        showContours("blobs_split", src_bin, light_blobs_);
+//        cv::waitKey(1);
+//    }
+//
+//    if(!judge_light_color(light_blobs, light_blobs_, light_blobs_real)){
+//        return false;
+//    }
+    light_blobs_real = light_blobs;
    get_blob_color(src, light_blobs_real);
    if(show_light_blobs){
        showContours("blobs_real", src, light_blobs_real);
@@ -225,7 +260,7 @@ bool ArmorFinder::stateSearchingTarget(cv::Mat &src) {
        return false;
    }
    if(show_armor_boxes){
-        showArmorBoxVector("boxes", split, armor_boxes);
+        showArmorBoxVector("boxes", src, armor_boxes);
        cv::waitKey(1);
    }
    if(classifier && use_classifier){
--- a/armor/src/show_images/show_images.cpp
+++ b/armor/src/show_images/show_images.cpp
@@ -71,7 +71,8 @@ void showContours(std::string windows_name, const cv::Mat &src, const std::vecto
            rectangle(image2show, light_blob.rect.boundingRect(), Scalar(0,0,255), 3);
        if(light_blob.BlobColor == BLOB_BLUE)
            rectangle(image2show, light_blob.rect.boundingRect(), Scalar(255,0,0), 3);
-
+        else
+            rectangle(image2show, light_blob.rect.boundingRect(), Scalar(0,255,0), 3);
    }
    imshow(windows_name, image2show);
 }
--- a/main.cpp
+++ b/main.cpp
@@ -32,7 +32,7 @@ mcu_data mcuData = {
        ARMOR_STATE,
        0,
        1,
-        ENEMY_RED,
+        ENEMY_BLUE,
 };

 int main(int argc, char *argv[]) {
@@ -54,11 +54,11 @@ int main(int argc, char *argv[]) {
            initVideoWriter(energy_video_writer, PROJECT_DIR"/energy_video/");
        }

-        WrapperHead *video_armor;
-        WrapperHead *video_energy;
+        WrapperHead *video_armor=nullptr;
+        WrapperHead *video_energy=nullptr;
        if (from_camera) {
-            video_armor = new CameraWrapper(0, "armor");
-            video_energy = new CameraWrapper(1, "energy");
+            video_armor = new CameraWrapper(0/*, "armor"*/);
+//            video_energy = new CameraWrapper(1, "energy");
        } else {
 //            string armor_video, energy_video;
 //            lastVideo(armor_video, PROJECT_DIR"/armor_video/");
@@ -66,7 +66,7 @@ int main(int argc, char *argv[]) {
 //            lastVideo(energy_video, PROJECT_DIR"/energy_video/");
 //            video_energy = new VideoWrapper(energy_video);
            video_armor = new VideoWrapper("/home/sjturm/Desktop/valid_video/armor/65.avi");
-            video_energy = new VideoWrapper("/home/sjturm/Desktop/valid_video/energy/121.avi");
+//            video_energy = new VideoWrapper("/home/sjturm/Desktop/valid_video/energy/121.avi");
        }
        if (video_armor->init()) {
            LOGM("video_armor source initialization successfully.");
@@ -75,13 +75,13 @@ int main(int argc, char *argv[]) {
            delete video_armor;
            video_armor = nullptr;
        }
-        if (video_energy->init()) {
-            LOGM("video_energy source initialization successfully.");
-        } else {
-            LOGW("video_energy source unavailable!");
-            delete video_energy;
-            video_energy = nullptr;
-        }
+//        if (video_energy->init()) {
+//            LOGM("video_energy source initialization successfully.");
+//        } else {
+//            LOGW("video_energy source unavailable!");
+//            delete video_energy;
+//            video_energy = nullptr;
+//        }

        Mat energy_src, armor_src;
        for (int i = 0; i < 10; i++) {
--- a/others/src/camera/camera_wrapper.cpp
+++ b/others/src/camera/camera_wrapper.cpp
@@ -75,10 +75,10 @@ bool CameraWrapper::init() {
 	LOGM("successfully loaded %s!", filepath);
 #elif defined(Linux)
    CameraSetAeState(h_camera, false);
-    CameraSetExposureTime(h_camera, 17*1000);
-    CameraSetAnalogGain(h_camera, 60);
+    CameraSetExposureTime(h_camera, 8*1000);
+    CameraSetAnalogGain(h_camera, 16);
    if(mode == 0){
-        CameraSetGain(h_camera, 140, 140, 140);
+        CameraSetGain(h_camera, 100, 131, 113);
        CameraSetLutMode(h_camera, LUTMODE_PRESET);
    }
 #endif