Merge remote-tracking branch 'origin/master'

2019-08-07 02:23:55 +08:00
parent 3bd4b30182 05b7991d57
commit 6b0edffa3b
6 changed files with 16 additions and 17 deletions
--- a/armor/include/armor_finder/armor_finder.h
+++ b/armor/include/armor_finder/armor_finder.h
@@ -93,7 +93,7 @@ typedef std::vector<ArmorBox> ArmorBoxes;
 /********************* 自瞄类定义 **********************/
 class ArmorFinder{
 public:
-    ArmorFinder(uint8_t &color, Serial &u, const string &paras_folder, const uint8_t &use);
+    ArmorFinder(uint8_t &color, Serial &u, const string &paras_folder);
    ~ArmorFinder() = default;

 private:
@@ -117,7 +117,6 @@ private:
    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）
    int tracking_cnt;                                   // 记录追踪帧数，用于定时退出追踪
    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
    RoundQueue<double, 4> top_periodms;                 // 陀螺周期循环队列
    systime last_front_time;                            // 上一次发生装甲板方向切换的时间
    int anti_top_cnt;                                   // 满足条件的装甲板方向切换持续次数，用于反陀螺
--- a/armor/src/armor_finder/armor_finder.cpp
+++ b/armor/src/armor_finder/armor_finder.cpp
@@ -46,7 +46,7 @@ std::map<string, int> prior_red = {
        {"NO", 10},
 };

-ArmorFinder::ArmorFinder(uint8_t &color, Serial &u, const string &paras_folder, const uint8_t &use) :
+ArmorFinder::ArmorFinder(uint8_t &color, Serial &u, const string &paras_folder) :
        serial(u),
        enemy_color(color),
        state(STANDBY_STATE),
@@ -55,7 +55,6 @@ ArmorFinder::ArmorFinder(uint8_t &color, Serial &u, const string &paras_folder,
        anti_top_state(NORMAL),
        classifier(paras_folder),
        contour_area(0),
-        use_classifier(use),
        tracking_cnt(0) {
 }

@@ -67,7 +66,7 @@ void ArmorFinder::run(cv::Mat &src) {
        case SEARCHING_STATE:
            if (stateSearchingTarget(src)) {
                if ((target_box.rect & cv::Rect2d(0, 0, 640, 480)) == target_box.rect) { // 判断装甲板区域是否脱离图像区域
-                    if (!classifier || !use_classifier) {                    /* 如果分类器不可用或者不使用分类器 */
+                    if (!classifier) {                                          /* 如果分类器不可用 */
                        cv::Mat roi = src(target_box.rect).clone(), 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);
--- a/armor/src/armor_finder/find/find_armor_box.cpp
+++ b/armor/src/armor_finder/find/find_armor_box.cpp
@@ -140,7 +140,7 @@ bool ArmorFinder::findArmorBox(const cv::Mat &src, ArmorBox &box) {
        cv::waitKey(1);
    }

-    if (classifier && use_classifier) {
+    if (classifier) {
        CNT_TIME("classify: %d", {
            for (auto &armor_box : armor_boxes) {
                cv::Mat roi = src(armor_box.rect).clone();
--- a/armor/src/armor_finder/tracking_state/tracking_state.cpp
+++ b/armor/src/armor_finder/tracking_state/tracking_state.cpp
@@ -25,8 +25,8 @@ bool ArmorFinder::stateTrackingTarget(cv::Mat &src) {
    bigger_rect.width  = pos.width * 2;
    bigger_rect &= cv::Rect2d(0, 0, 640, 480);

-    if(show_armor_box)
-        showTrackSearchingPos("track", src, bigger_rect);
+//    if(show_armor_box)
+//        showTrackSearchingPos("track", src, bigger_rect);

    cv::Mat roi = src(bigger_rect).clone();

--- a/main.cpp
+++ b/main.cpp
@@ -44,7 +44,7 @@ WrapperHead *video_chassis = nullptr;   // 底盘摄像头视频源
 Serial serial(115200);                  // 串口对象
 uint8_t last_state = INIT_STATE;     // 上次状态，用于初始化
 // 自瞄主程序对象
-ArmorFinder armor_finder(mcu_data.enemy_color, serial, PROJECT_DIR"/tools/para/", mcu_data.use_classifier);
+ArmorFinder armor_finder(mcu_data.enemy_color, serial, PROJECT_DIR"/tools/para/");
 // 能量机关主程序对象
 Energy energy(serial, mcu_data.enemy_color);

@@ -66,8 +66,8 @@ int main(int argc, char *argv[]) {
            video_gimbal = new CameraWrapper(ARMOR_CAMERA_EXPOSURE, ARMOR_CAMERA_GAIN, 2/*, "armor"*/);
            video_chassis = new CameraWrapper(ENERGY_CAMERA_EXPOSURE, ENERGY_CAMERA_GAIN, 2/*, "energy"*/);
        } else {
-            video_gimbal = new VideoWrapper(PROJECT_DIR"/26.avi");
-            video_chassis = new VideoWrapper(PROJECT_DIR"/26.avi");
+            video_gimbal = new VideoWrapper(PROJECT_DIR"/5.avi");
+            video_chassis = new VideoWrapper(PROJECT_DIR"/5.avi");
        }
        if (video_gimbal->init()) {
            LOGM("video_gimbal source initialization successfully.");
@@ -93,8 +93,9 @@ int main(int argc, char *argv[]) {
        bool ok = true;
        cout << "start running" << endl;
        do {
+            char curr_state = mcu_data.state;
            CNT_TIME("Total", {
-            if (mcu_data.state == BIG_ENERGY_STATE) {//大能量机关模式
+            if (curr_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();
@@ -110,7 +111,7 @@ int main(int argc, char *argv[]) {
                    checkReconnect(video_chassis->read(chassis_src));
                    energy.setBigEnergyInit();
                }
-                last_state = mcu_data.state;//更新上一帧状态
+                last_state = curr_state;//更新上一帧状态
                ok = checkReconnect(video_gimbal->read(gimbal_src));
                video_chassis->read(chassis_src);
 #ifdef GIMBAL_FLIP_MODE
@@ -124,7 +125,7 @@ int main(int argc, char *argv[]) {
                if (show_origin) showOrigin(gimbal_src, chassis_src);//显示原始图像
                energy.runBig(gimbal_src, chassis_src);
 //                energy.runBig(gimbal_src);
-            } else if (mcu_data.state == SMALL_ENERGY_STATE) {
+            } else if (curr_state == SMALL_ENERGY_STATE) {
                if (last_state != SMALL_ENERGY_STATE) {
                    LOGM(STR_CTR(WORD_GREEN, "Start Small Energy!"));
                    destroyAllWindows();
@@ -139,7 +140,7 @@ int main(int argc, char *argv[]) {
                    }
                    energy.setSmallEnergyInit();
                }
-                last_state = mcu_data.state;//更新上一帧状态
+                last_state = curr_state;//更新上一帧状态
                ok = checkReconnect(video_gimbal->read(gimbal_src));
 #ifdef GIMBAL_FLIP_MODE
                flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
@@ -162,7 +163,7 @@ int main(int argc, char *argv[]) {
                        }
                    }
                }
-                last_state = mcu_data.state;
+                last_state = curr_state;
                CNT_TIME(STR_CTR(WORD_GREEN, "read img"), {
                    if(!checkReconnect(video_gimbal->read(gimbal_src))) continue;
                });
--- a/tools/create-startup.sh
+++ b/tools/create-startup.sh
@@ -5,5 +5,5 @@ echo "echo sjturm | sudo -S cpufreq-set -g performance" >> $2/startup-run
 echo "mkdir $1/Mark" >> $2/startup-run
 echo "mkdir $1/gimbal_video" >> $2/startup-run
 echo "mkdir $1/armor_box_photo" >> $2/startup-run
-echo "gnome-terminal -- bash -c \"echo sjturm | sudo -S $1/tools/monitor.sh \\\"$2/run --run-with-camera --save-video --wait-uart --save-labelled-boxes\\\"\"" >> $2/startup-run
+echo "gnome-terminal -- bash -c \"echo sjturm | sudo -S $1/tools/monitor.sh \\\"$2/run --run-with-camera --save-video --wait-uart --save-labelled-boxes --show-armor-box\\\"\"" >> $2/startup-run
 chmod +x $2/startup-run