diff --git a/CMakeLists.txt b/CMakeLists.txt index 9e2e677..1417650 100644 --- 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") diff --git a/armor/include/armor_finder/armor_finder.h b/armor/include/armor_finder/armor_finder.h index 03104b8..82ff83f 100644 --- 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; } diff --git a/armor/src/armor_finder/state_machine/searching_state/searching_state.cpp b/armor/src/armor_finder/state_machine/searching_state/searching_state.cpp index be2bdf4..d9f24c5 100644 --- 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 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 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(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 > 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){ diff --git a/armor/src/show_images/show_images.cpp b/armor/src/show_images/show_images.cpp index 322444f..5b46e0c 100644 --- 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); } diff --git a/main.cpp b/main.cpp index 59ffe2b..b2f2b79 100644 --- 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++) { diff --git a/others/src/camera/camera_wrapper.cpp b/others/src/camera/camera_wrapper.cpp index 3e42a28..e000f93 100644 --- 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