添加单目估距。
This commit is contained in:
xinyang
@@ -15,7 +15,8 @@
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/* */
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/* */
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/*===========================================================================*/
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/*===========================================================================*/
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#define LOG_LEVEL LOG_NONE
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//#define LOG_LEVEL LOG_NONE
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#include <log.h>
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#include <log.h>
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#include <options/options.h>
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#include <options/options.h>
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#include <show_images/show_images.h>
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#include <show_images/show_images.h>
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@@ -35,32 +36,33 @@ std::map<string, int> name2id = { //装甲板名
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};
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};
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ArmorFinder::ArmorFinder(uint8_t &color, Serial &u, const string ¶s_folder, const uint8_t &use) :
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ArmorFinder::ArmorFinder(uint8_t &color, Serial &u, const string ¶s_folder, const uint8_t &use) :
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serial(u),
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serial(u),
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enemy_color(color),
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enemy_color(color),
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state(STANDBY_STATE),
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state(STANDBY_STATE),
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classifier(paras_folder),
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classifier(paras_folder),
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contour_area(0),
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contour_area(0),
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use_classifier(use),
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use_classifier(use),
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boxid(-1),
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boxid(-1),
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tracking_cnt(0)
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tracking_cnt(0) {
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{
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}
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}
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extern int box_distance;
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void ArmorFinder::run(cv::Mat &src) {
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void ArmorFinder::run(cv::Mat &src) {
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cv::Mat src_use = src.clone(); // 实际参与计算的图像对象
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cv::Mat src_use = src.clone(); // 实际参与计算的图像对象
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if(show_armor_box){ // 根据条件显示当前目标装甲板
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if (show_armor_box) { // 根据条件显示当前目标装甲板
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showArmorBox("box", src, armor_box, boxid);
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showArmorBox("box", src, armor_box, boxid);
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cv::waitKey(1);
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cv::waitKey(1);
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}
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}
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// stateSearchingTarget(src_use); // for debug
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// stateSearchingTarget(src_use); // for debug
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// return;
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// return;
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switch (state){
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switch (state) {
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case SEARCHING_STATE:
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case SEARCHING_STATE:
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if(stateSearchingTarget(src_use)){
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if (stateSearchingTarget(src_use)) {
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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
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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
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if(!classifier || !use_classifier){ /* 如果分类器不可用或者不使用分类器 */
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if (!classifier || !use_classifier) { /* 如果分类器不可用或者不使用分类器 */
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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 */
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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 */
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cv::cvtColor(roi, roi_gray, CV_RGB2GRAY);
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cv::cvtColor(roi, roi_gray, CV_RGB2GRAY);
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cv::threshold(roi_gray, roi_gray, 180, 255, cv::THRESH_BINARY);
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cv::threshold(roi_gray, roi_gray, 180, 255, cv::THRESH_BINARY);
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contour_area = cv::countNonZero(roi_gray);
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contour_area = cv::countNonZero(roi_gray);
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@@ -69,14 +71,14 @@ void ArmorFinder::run(cv::Mat &src) {
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tracker->init(src_use, armor_box);
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tracker->init(src_use, armor_box);
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state = TRACKING_STATE;
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state = TRACKING_STATE;
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tracking_cnt = 0;
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tracking_cnt = 0;
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LOGM(STR_CTR(WORD_LIGHT_CYAN, "into track"));
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// LOGM(STR_CTR(WORD_LIGHT_CYAN, "into track"));
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}
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}
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}
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}
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break;
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break;
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case TRACKING_STATE:
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case TRACKING_STATE:
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if(!stateTrackingTarget(src_use) || ++tracking_cnt>100){ // 最多追踪100帧图像
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if (!stateTrackingTarget(src_use) || ++tracking_cnt > 100) { // 最多追踪100帧图像
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state = SEARCHING_STATE;
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state = SEARCHING_STATE;
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LOGM(STR_CTR(WORD_LIGHT_YELLOW ,"into search!"));
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// LOGM(STR_CTR(WORD_LIGHT_YELLOW, "into search!"));
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}
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}
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break;
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break;
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case STANDBY_STATE:
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case STANDBY_STATE:
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@@ -85,42 +87,46 @@ void ArmorFinder::run(cv::Mat &src) {
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}
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}
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}
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}
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bool sendTarget(Serial& serial, double x, double y, double z) {
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bool sendTarget(Serial &serial, double x, double y, double z) {
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static short x_tmp, y_tmp, z_tmp;
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static short x_tmp, y_tmp, z_tmp;
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static time_t last_time = time(nullptr);
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static time_t last_time = time(nullptr);
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static int fps;
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static int fps;
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uint8_t buff[8];
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uint8_t buff[8];
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time_t t = time(nullptr);
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time_t t = time(nullptr);
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if (last_time != t) {
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if (last_time != t) {
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last_time = t;
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last_time = t;
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cout << "fps:" << fps << ", (" << x << "," << y << "," << z << ")" << endl;
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cout << "fps:" << fps << ", (" << x << "," << y << "," << z << ")" << endl;
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fps = 0;
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fps = 0;
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}
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}
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fps += 1;
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fps += 1;
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x_tmp = static_cast<short>(x * (32768 - 1) / 100);
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x_tmp = static_cast<short>(x * (32768 - 1) / 100);
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y_tmp = static_cast<short>(y * (32768 - 1) / 100);
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y_tmp = static_cast<short>(y * (32768 - 1) / 100);
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z_tmp = static_cast<short>(z * (32768 - 1) / 1000);
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z_tmp = static_cast<short>(z * (32768 - 1) / 1000);
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buff[0] = 's';
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buff[0] = 's';
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buff[1] = static_cast<char>((x_tmp >> 8) & 0xFF);
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buff[1] = static_cast<char>((x_tmp >> 8) & 0xFF);
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buff[2] = static_cast<char>((x_tmp >> 0) & 0xFF);
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buff[2] = static_cast<char>((x_tmp >> 0) & 0xFF);
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buff[3] = static_cast<char>((y_tmp >> 8) & 0xFF);
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buff[3] = static_cast<char>((y_tmp >> 8) & 0xFF);
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buff[4] = static_cast<char>((y_tmp >> 0) & 0xFF);
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buff[4] = static_cast<char>((y_tmp >> 0) & 0xFF);
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buff[5] = static_cast<char>((z_tmp >> 8) & 0xFF);
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buff[5] = static_cast<char>((z_tmp >> 8) & 0xFF);
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buff[6] = static_cast<char>((z_tmp >> 0) & 0xFF);
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buff[6] = static_cast<char>((z_tmp >> 0) & 0xFF);
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buff[7] = 'e';
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buff[7] = 'e';
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return serial.WriteData(buff, sizeof(buff));
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return serial.WriteData(buff, sizeof(buff));
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}
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}
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#define DISTANCE_HEIGHT_5MM (113.0) // 单位: m*pixel
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#define DISTANCE_HEIGHT DISTANCE_HEIGHT_5MM
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bool ArmorFinder::sendBoxPosition() {
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bool ArmorFinder::sendBoxPosition() {
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auto rect = armor_box;
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auto rect = armor_box;
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double dx = rect.x + rect.width/2 - 320 - 10;
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double dx = rect.x + rect.width / 2 - 320;
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double dy = rect.y + rect.height/2 - 240 - 20;
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double dy = rect.y + rect.height / 2 - 240 - 20;
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double yaw = atan(dx / FOCUS_PIXAL) * 180 / 3.14159265459;
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double yaw = atan(dx / FOCUS_PIXAL) * 180 / PI;
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double pitch = atan(dy / FOCUS_PIXAL) * 180 / 3.14159265459;
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double pitch = atan(dy / FOCUS_PIXAL) * 180 / PI;
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double dist = DISTANCE_HEIGHT / armor_box.height;
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// cout << yaw << endl;
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// cout << yaw << endl;
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return sendTarget(serial, yaw, -pitch, 0);
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return sendTarget(serial, yaw, -pitch, dist);
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}
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}
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@@ -94,7 +94,7 @@ static double nonZeroRateOfRotateRect_opt(const cv::Mat &bin, const cv::RotatedR
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}
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}
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static bool isValidLightBlob(const cv::Mat &bin, const cv::RotatedRect &rect) {
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static bool isValidLightBlob(const cv::Mat &bin, const cv::RotatedRect &rect) {
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return (lw_rate(rect) > 1.8) &&
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return (lw_rate(rect) > 1.5) &&
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// (rect.size.width*rect.size.height < 3000) &&
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// (rect.size.width*rect.size.height < 3000) &&
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(rect.size.width * rect.size.height > 1) &&
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(rect.size.width * rect.size.height > 1) &&
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// (nonZeroRateOfRotateRect_opt(bin, rect) > 0.8);
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// (nonZeroRateOfRotateRect_opt(bin, rect) > 0.8);
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@@ -262,13 +262,14 @@ bool ArmorFinder::stateSearchingTarget(cv::Mat &src) {
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std::vector<cv::Rect2d> boxes_number[15]; // 装甲板候选区放置在对应id位置
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std::vector<cv::Rect2d> boxes_number[15]; // 装甲板候选区放置在对应id位置
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armor_box = cv::Rect2d(0, 0, 0, 0); // 重置目标装甲板位置
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armor_box = cv::Rect2d(0, 0, 0, 0); // 重置目标装甲板位置
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boxid = -1; // 重置目标装甲板id
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cv::split(src, channels); /************************/
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cv::split(src, channels); /************************/
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if (enemy_color == ENEMY_BLUE) /* */
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if (enemy_color == ENEMY_BLUE) /* */
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color = channels[0]; /* 根据目标颜色进行通道提取 */
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color = channels[0]; /* 根据目标颜色进行通道提取 */
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else if (enemy_color == ENEMY_RED) /* */
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else if (enemy_color == ENEMY_RED) /* */
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color = channels[2]; /************************/
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color = channels[2]; /************************/
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cv::threshold(color, src_bin, 190, 255, CV_THRESH_BINARY); // 二值化对应通道
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cv::threshold(color, src_bin, 170, 255, CV_THRESH_BINARY); // 二值化对应通道
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imagePreProcess(src_bin); // 开闭运算
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imagePreProcess(src_bin); // 开闭运算
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if (!findLightBlobs(src_bin, light_blobs)) {
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if (!findLightBlobs(src_bin, light_blobs)) {
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return false;
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return false;
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21
main.cpp
21
main.cpp
@@ -1,11 +1,11 @@
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/*******************************************************************/
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/**********************************************************************/
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/* ____ _ _____ _ _ ____ __ __ ______ __ */
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/* ____ _ _____ _ _ ____ __ __ ______ __ */
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/*/ ___| | |_ _| | | | | _ \| \/ | / ___\ \ / / */
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/* / ___| | |_ _| | | | | _ \| \/ | / ___\ \ / / */
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/*\___ \ _ | | | | | | | |_____| |_) | |\/| |_____| | \ \ / / */
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/* \___ \ _ | | | | | | | |_____| |_) | |\/| |_____| | \ \ / / */
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/* ___) | |_| | | | | |_| |_____| _ <| | | |_____| |___ \ V / */
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/* ___) | |_| | | | | |_| |_____| _ <| | | |_____| |___ \ V / */
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/*|____/ \___/ |_| \___/ |_| \_\_| |_| \____| \_/ */
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/* |____/ \___/ |_| \___/ |_| \_\_| |_| \____| \_/ */
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/* */
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/* */
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/*******************************************************************/
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/**********************************************************************/
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#include <iostream>
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#include <iostream>
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#include <thread>
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#include <thread>
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@@ -27,7 +27,7 @@ using namespace std;
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mcu_data mcuData = { // 单片机端回传结构体
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mcu_data mcuData = { // 单片机端回传结构体
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0, // 当前云台yaw角
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0, // 当前云台yaw角
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0, // 当前云台pitch角
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0, // 当前云台pitch角
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SMALL_ENERGY_STATE, // 当前状态，自瞄-大符-小符
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ARMOR_STATE, // 当前状态，自瞄-大符-小符
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0, // 云台角度标记位
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0, // 云台角度标记位
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1, // 是否启用数字识别
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1, // 是否启用数字识别
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ENEMY_RED, // 敌方颜色
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ENEMY_RED, // 敌方颜色
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@@ -43,6 +43,8 @@ ArmorFinder armorFinder(mcuData.enemy_color, serial, PROJECT_DIR"/tools/para/",
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// 能量机关主程序对象
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// 能量机关主程序对象
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Energy energy(serial, mcuData.enemy_color);
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Energy energy(serial, mcuData.enemy_color);
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int box_distance = 0;
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int main(int argc, char *argv[]) {
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int main(int argc, char *argv[]) {
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process_options(argc, argv); // 处理命令行参数
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process_options(argc, argv); // 处理命令行参数
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thread receive(uartReceive, &serial); // 开启串口接收线程
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thread receive(uartReceive, &serial); // 开启串口接收线程
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@@ -120,7 +122,6 @@ int main(int argc, char *argv[]) {
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energy.runBig(gimble_src);
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energy.runBig(gimble_src);
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}
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}
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}
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}
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// cv::waitKey(3);
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});
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});
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} while (ok);
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} while (ok);
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delete video_gimble;
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delete video_gimble;
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@@ -54,9 +54,9 @@ def save_para(folder, paras):
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save_bias(fp, paras[7])
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save_bias(fp, paras[7])
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STEPS = 5000
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STEPS = 10000
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BATCH = 30
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BATCH = 30
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LEARNING_RATE_BASE = 0.01
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LEARNING_RATE_BASE = 0.005
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LEARNING_RATE_DECAY = 0.99
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LEARNING_RATE_DECAY = 0.99
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MOVING_AVERAGE_DECAY = 0.99
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MOVING_AVERAGE_DECAY = 0.99
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@@ -103,7 +103,7 @@ def train(dataset, show_bar=False):
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_, loss_value, step = sess.run(
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_, loss_value, step = sess.run(
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[train_op, loss, global_step],
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[train_op, loss, global_step],
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feed_dict={x: images_samples, y_: labels_samples, keep_rate:0.7}
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feed_dict={x: images_samples, y_: labels_samples, keep_rate:0.5}
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)
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)
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if i % 100 == 0:
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if i % 100 == 0:
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@@ -204,5 +204,9 @@ def train(dataset, show_bar=False):
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if __name__ == "__main__":
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if __name__ == "__main__":
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dataset = generate.DataSet("/home/xinyang/Workspace/dataset/box_cut")
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import os
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os.environ["CUDA_DEVICE_ORDER"] = "PCI_BUS_ID"
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os.environ["CUDA_VISIBLE_DEVICES"] = "-1"
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dataset = generate.DataSet("/home/xinyang/Workspace/box_cut")
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train(dataset, show_bar=True)
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train(dataset, show_bar=True)
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input("press enter to continue...")
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@@ -1,7 +1,7 @@
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1.0992107
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@@ -2,453 +2,453 @@
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0.4142986
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0.58319753
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0.77620906
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0.9103861
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1080
tools/para/conv2_w
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||||||
-0.07528951
|
0.12392998
|
||||||
-0.19605869
|
-0.0043378808
|
||||||
0.27547538
|
-0.23181352
|
||||||
-0.013697551
|
-0.20070644
|
||||||
-0.055077918
|
-0.14143142
|
||||||
-0.07406024
|
-0.16679154
|
||||||
0.22788925
|
-0.24327031
|
||||||
-0.081390664
|
-0.23277378
|
||||||
0.12524118
|
-6.760882e-33
|
||||||
-0.31053254
|
1.5657735e-34
|
||||||
-0.13906848
|
1.0721702e-34
|
||||||
-0.20176046
|
-1.7367731e-21
|
||||||
-0.14459138
|
-3.2353512e-10
|
||||||
-0.3867697
|
9.632541e-35
|
||||||
-0.3457261
|
8.653687e-35
|
||||||
-0.3772227
|
-8.844616e-25
|
||||||
0.23137245
|
-9.459162e-35
|
||||||
0.25195408
|
-1.4299339e-34
|
||||||
0.3451284
|
2.104274e-36
|
||||||
0.16130213
|
4.3546756e-35
|
||||||
0.23533006
|
2.9894274e-19
|
||||||
0.23638043
|
3.9450314e-35
|
||||||
0.2719846
|
-2.637824e-36
|
||||||
1.8297665e-07
|
0.45582697
|
||||||
3.360339e-23
|
-0.09199296
|
||||||
-1.284517e-14
|
0.030132826
|
||||||
1.0518133e-13
|
0.0079908315
|
||||||
-2.2031767e-08
|
-0.016203053
|
||||||
-4.546128e-36
|
0.084482715
|
||||||
1.2173993e-14
|
-0.13553432
|
||||||
-6.947489e-35
|
-0.0370493
|
||||||
-8.3585253e-35
|
-0.1506419
|
||||||
6.3733985e-36
|
-0.078976385
|
||||||
4.228411e-37
|
-0.016706916
|
||||||
-5.4181e-35
|
-0.071021125
|
||||||
-6.841722e-35
|
-0.020966802
|
||||||
5.6347666e-35
|
-0.032668043
|
||||||
-4.7285032e-35
|
-0.041946366
|
||||||
-6.334689e-35
|
0.03279952
|
||||||
1.7633159e-35
|
-0.31379986
|
||||||
6.9929964e-35
|
0.3821142
|
||||||
7.5054075e-35
|
-0.11431359
|
||||||
6.711354e-35
|
-0.0990971
|
||||||
4.832629e-35
|
-0.13750747
|
||||||
5.29919e-35
|
0.28293163
|
||||||
-4.058533e-35
|
-0.043488335
|
||||||
2.0259362e-36
|
-0.20946114
|
||||||
6.813992e-35
|
0.40087134
|
||||||
-2.0522695e-35
|
-0.030007226
|
||||||
1.0627943e-34
|
-0.14469379
|
||||||
8.187743e-35
|
-0.12546782
|
||||||
7.9783384e-35
|
0.27385822
|
||||||
-9.2240445e-35
|
-0.08413422
|
||||||
0.51590675
|
0.07185824
|
||||||
-0.05236788
|
-0.024898782
|
||||||
-0.07348578
|
-0.022647554
|
||||||
-0.07904794
|
0.016366411
|
||||||
0.036673676
|
0.028040772
|
||||||
-0.047585975
|
0.11689805
|
||||||
0.010659185
|
0.14100341
|
||||||
-0.05747693
|
0.14502956
|
||||||
-0.1176608
|
-0.07877178
|
||||||
0.005955786
|
-0.08354321
|
||||||
-0.04482761
|
-0.14139661
|
||||||
-0.06267186
|
-0.07142018
|
||||||
0.029963115
|
0.01063927
|
||||||
0.035390142
|
-0.0010698467
|
||||||
-0.16633497
|
0.058082126
|
||||||
0.04267569
|
-0.0594544
|
||||||
0.06314773
|
0.008123557
|
||||||
-0.011022474
|
0.05472646
|
||||||
-0.17234531
|
0.04626421
|
||||||
-0.014564765
|
0.124584116
|
||||||
0.44928247
|
0.09011361
|
||||||
-0.06437395
|
-0.0806682
|
||||||
0.021410124
|
-0.084414266
|
||||||
-0.073853776
|
-0.02768993
|
||||||
-0.14323992
|
-0.0011701073
|
||||||
-0.20758016
|
-0.0020251372
|
||||||
-0.08453873
|
-0.0048691197
|
||||||
0.37983018
|
-3.377666e-05
|
||||||
-0.045325596
|
-0.01488334
|
||||||
-0.08424267
|
-0.01129906
|
||||||
-2.2948552e-16
|
0.0018393932
|
||||||
1.0171164e-21
|
0.15046112
|
||||||
5.3094257e-22
|
-0.15440601
|
||||||
1.1943568e-14
|
-0.09502266
|
||||||
-7.934534e-14
|
-0.008596554
|
||||||
-4.1972283e-35
|
-0.09307285
|
||||||
-6.0988935e-31
|
0.16033137
|
||||||
8.206015e-32
|
-0.14228557
|
||||||
1.8966156e-15
|
0.22326827
|
||||||
2.540294e-17
|
-0.15338267
|
||||||
-9.855207e-18
|
-0.01796669
|
||||||
1.5472988e-13
|
-0.033436365
|
||||||
-9.217107e-35
|
0.023526033
|
||||||
-2.7734643e-16
|
0.2423883
|
||||||
-4.306558e-35
|
-0.13035965
|
||||||
|
|||||||
Reference in New Issue
Block a user