Merge remote-tracking branch 'origin/master'

armor/include/show_images/show_images.h

@@ -13,8 +13,7 @@
 void showArmorBoxVector(std::string windows_name, const cv::Mat &src, const std::vector<cv::Rect2d> &armor_box);
 void showArmorBox(std::string windows_name, const cv::Mat &src, cv::Rect2d armor_box);
 void showContours(std::string windows_name, const cv::Mat &src, const std::vector<LightBlob> &light_blobs);
-void showArmorBoxClass(std::string window_names, const cv::Mat &src, vector<cv::Rect2d> boxes_one,
+void showArmorBoxClass(std::string window_names, const cv::Mat &src, vector<cv::Rect2d> boxes[10]);
-                       vector<cv::Rect2d> boxes_two, vector<cv::Rect2d> boxes_three);
 
 
 #endif /* _SHOW_IMAGES_H_ */

armor/src/armor_finder/armor_finder.cpp

@@ -1,6 +1,7 @@
 //
 // Created by xinyang on 19-3-27.
 //
+#define LOG_LEVEL LOG_NONE
 #include <log.h>
 #include <options/options.h>
 #include <show_images/show_images.h>
@@ -40,14 +41,14 @@ void ArmorFinder::run(cv::Mat &src) {
                     tracker = TrackerToUse::create();
                     tracker->init(src_use, armor_box);
                     state = TRACKING_STATE;
-                    LOGW("into track");
+                    LOGM(STR_CTR(WORD_LIGHT_CYAN, "into track"));
                 }
             }
             break;
         case TRACKING_STATE:
             if(!stateTrackingTarget(src_use)){
                 state = SEARCHING_STATE;
-                //std::cout << "into search!" << std::endl;
+                LOGM(STR_CTR(WORD_LIGHT_YELLOW ,"into search!"));
             }
             break;
         case STANDBY_STATE:
@@ -59,11 +60,14 @@ void ArmorFinder::run(cv::Mat &src) {
 #define FOCUS_PIXAL      (0.36/0.48*640)
 
 bool ArmorFinder::sendBoxPosition() {
+    static int dx_add = 0;
     auto rect = armor_box;
-    double dx = rect.x + rect.width/2 - 320;
+    double dx = rect.x + rect.width/2 - 320 - 8;
-    double dy = rect.y + rect.height/2 - 240;
+    dx_add += dx;
+    dx = dx + dx_add * 0;
+    double dy = rect.y + rect.height/2 - 240 - 30;
     double yaw   = atan(dx / FOCUS_PIXAL) * 180 / 3.14159265459;
     double pitch = atan(dy / FOCUS_PIXAL) * 180 / 3.14159265459;
-    uart.sendTarget(yaw, pitch, 0);
+    uart.sendTarget(yaw, -pitch, 0);
     return true;
 }

armor/src/armor_finder/classifier/classifier.cpp

@@ -92,7 +92,7 @@ MatrixXd Classifier::softmax(const MatrixXd &input){
     return tmp.array().exp() / tmp.array().exp().sum();
 }
 
-vector<vector<MatrixXd>> max_pool(const vector<vector<MatrixXd>> &input, int size){
+vector<vector<MatrixXd>> Classifier::max_pool(const vector<vector<MatrixXd>> &input, int size){
     vector<vector<MatrixXd>> output;
     for(int sample=0; sample<input.size(); sample++) {
         vector<MatrixXd> sub;

armor/src/armor_finder/state_machine/searching_state/searching_state.cpp

@@ -31,10 +31,15 @@ static void pipelineLightBlobPreprocess(cv::Mat &src) {
 }
 
 static bool findLightBlobs(const cv::Mat &src, LightBlobs &light_blobs) {
-//    static cv::Mat src_bin;
+    static cv::Mat src_gray, src_bin;
+    if(src.type() == CV_8UC3){
+        cvtColor(src, src_gray, CV_BGR2GRAY);
+    }else if(src.type() == CV_8UC1){
+        src_gray = src.clone();
+    }
 
     std::vector<std::vector<cv::Point> > light_contours;
-    cv::findContours(src, light_contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE);
+    cv::findContours(src_gray, light_contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE);
     for (auto &light_contour : light_contours) {
         cv::RotatedRect rect = cv::minAreaRect(light_contour);
         if(isValidLightBlob(rect)){
@@ -114,8 +119,8 @@ static bool findArmorBoxes(LightBlobs &light_blobs, std::vector<cv::Rect2d> &arm
             double min_x, min_y, max_x, max_y;
             min_x = fmin(rect_left.x, rect_right.x);
             max_x = fmax(rect_left.x + rect_left.width, rect_right.x + rect_right.width);
-            min_y = fmin(rect_left.y, rect_right.y) - 5;
+            min_y = fmin(rect_left.y, rect_right.y) - 3;
-            max_y = fmax(rect_left.y + rect_left.height, rect_right.y + rect_right.height);
+            max_y = fmax(rect_left.y + rect_left.height, rect_right.y + rect_right.height) + 3;
             if (min_x < 0 || max_x > 640 || min_y < 0 || max_y > 480) {
                 continue;
             }
@@ -147,31 +152,42 @@ bool judge_light_color(std::vector<LightBlob> &light, std::vector<LightBlob> &co
 }
 
 bool ArmorFinder::stateSearchingTarget(cv::Mat &src) {
-    cv::Mat split, pmsrc=src.clone(), src_bin;
+    cv::Mat split, src_bin;
-    LightBlobs light_blobs, pm_light_blobs, light_blobs_real;
+    LightBlobs light_blobs, light_blobs_, light_blobs_real;
-    std::vector<cv::Rect2d> armor_boxes, boxes_one, boxes_two, boxes_three;
+    std::vector<cv::Rect2d> armor_boxes, boxes_number[10];
+    armor_box = cv::Rect2d(0,0,0,0);
 
-//    cv::resize(src, pmsrc, cv::Size(320, 240));
+    cv::cvtColor(src, src_gray, CV_BGR2GRAY);
-    imageColorSplit(src, split, enemy_color);
+//    pipelineLightBlobPreprocess(src_gray);
-    cv::threshold(split, src_bin, 130, 255, CV_THRESH_BINARY);
+    cv::threshold(src_gray, src_bin, 120, 255, CV_THRESH_BINARY);
-    imagePreProcess(src_bin);
-//    cv::imshow("bin", src_bin);
-//    cv::resize(split, split, cv::Size(640, 480));
-//    pipelineLightBlobPreprocess(pmsrc);
-//    if(!findLightBlobs(pmsrc, pm_light_blobs)){
-//        return false;
-//    }
     if(!findLightBlobs(src_bin, light_blobs)){
         return false;
     }
-//    if(!judge_light_color(light_blobs, pm_light_blobs, light_blobs_real)){
-//        return false;
-//    }
     if(show_light_blobs){
-        showContours("blobs", split, light_blobs);
+        showContours("blobs", src_bin, light_blobs);
         cv::waitKey(1);
     }
-    if(!findArmorBoxes(light_blobs, armor_boxes)){
+
+    imageColorSplit(src, split, enemy_color);
+    imagePreProcess(split);
+    cv::threshold(split, src_bin, 120, 255, CV_THRESH_BINARY);
+    if(!findLightBlobs(src_bin, light_blobs_)){
+        return false;
+    }
+    if(show_light_blobs){
+        showContours("blobs_", src_bin, light_blobs_);
+        cv::waitKey(1);
+    }
+
+    if(!judge_light_color(light_blobs, light_blobs_, light_blobs_real)){
+        return false;
+    }
+    if(show_light_blobs){
+        showContours("blobs_real", src, light_blobs_real);
+        cv::waitKey(1);
+    }
+
+    if(!findArmorBoxes(light_blobs_real, armor_boxes)){
         return false;
     }
     if(show_armor_boxes){
@@ -183,29 +199,21 @@ bool ArmorFinder::stateSearchingTarget(cv::Mat &src) {
             cv::Mat roi = src(box).clone();
             cv::resize(roi, roi, cv::Size(48, 36));
             int c = classifier(roi);
-            switch(c){
+            if(c){
-                case 1:
+                boxes_number[c-1].emplace_back(box);
-                    boxes_one.emplace_back(box);
-                    break;
-                case 2:
-                    boxes_two.emplace_back(box);
-                    break;
-                case 3:
-                    boxes_three.emplace_back(box);
-                    break;
             }
         }
-        if(!boxes_one.empty()){
+        for(auto box : boxes_number){
-            armor_box = boxes_one[0];
+            if(!box.empty()){
-        }else if(!boxes_two.empty()){
+                armor_box = box[0];
-            armor_box = boxes_two[0];
+            }
-        }else if(!boxes_three.empty()){
+        }
-            armor_box = boxes_three[0];
+
-        } else{
+        if(armor_box == cv::Rect2d(0,0,0,0)){
             return false;
         }
-        if(show_armor_box){
+        if(show_armor_boxes){
-            showArmorBoxClass("class", src, boxes_one, boxes_two, boxes_three);
+            showArmorBoxClass("class", src, boxes_number);
         }
     }else{
         armor_box = armor_boxes[0];

armor/src/show_images/show_images.cpp

@@ -18,8 +18,7 @@ void showArmorBoxVector(std::string windows_name, const cv::Mat &src, const std:
     imshow(windows_name, image2show);
 }
 
-void showArmorBoxClass(std::string windows_name, const cv::Mat &src, vector<cv::Rect2d> boxes_one,
+void showArmorBoxClass(std::string window_names, const cv::Mat &src, vector<cv::Rect2d> boxes[10]){
-        vector<cv::Rect2d> boxes_two, vector<cv::Rect2d> boxes_three){
     static Mat image2show;
     if (src.type() == CV_8UC1) // 黑白图像
     {
@@ -28,16 +27,17 @@ void showArmorBoxClass(std::string windows_name, const cv::Mat &src, vector<cv::
     {
         image2show = src.clone();
     }
-    for (auto &box:boxes_one) {
+    for(int i=0; i<10; i++){
-        rectangle(image2show, box, Scalar(255, 0, 0), 1);
+        if(!boxes[i].empty()){
+            for(auto box : boxes[i]){
+                char buff[2] = {0};
+                buff[0] = i + '0';
+                rectangle(image2show, box, Scalar(0, 255, 0), 1);
+                putText(image2show, buff, Point(box.x+2, box.y+2), cv::FONT_HERSHEY_TRIPLEX, 1, Scalar(255,0,0));
+            }
+        }
     }
-    for (auto &box:boxes_two) {
+    imshow(window_names, image2show);
-        rectangle(image2show, box, Scalar(0, 255, 0), 1);
-    }
-    for (auto &box:boxes_three) {
-        rectangle(image2show, box, Scalar(0, 0, 255), 1);
-    }
-    imshow(windows_name, image2show);
 }
 
 void showArmorBox(std::string windows_name, const cv::Mat &src, cv::Rect2d armor_box) {

main.cpp

@@ -27,66 +27,68 @@ using namespace std;
 
 
 int state = ARMOR_STATE;
-float curr_yaw=0, curr_pitch=0;
+float curr_yaw = 0, curr_pitch = 0;
-float mark_yaw=0, mark_pitch=0;
+float mark_yaw = 0, mark_pitch = 0;
 int mark = 0;
 
-void uartReceive(Uart* uart);
+void uartReceive(Uart *uart);
 
-int main(int argc, char *argv[]){
+int main(int argc, char *argv[]) {
     process_options(argc, argv);
     Uart uart;
     thread receive(uartReceive, &uart);
-	bool flag = true;
+    bool flag = true;
 
-	while (flag){
+    while (flag) {
         int ally_color = ALLY_RED;
         int energy_part_rotation = CLOCKWISE;
 
-	    int from_camera = 1;
+        int from_camera = 1;
-	    if(!run_with_camera) {
+        if (!run_with_camera) {
             cout << "Input 1 for camera, 0 for video files" << endl;
             cin >> from_camera;
         }
 
-		WrapperHead *video_armor;
+        WrapperHead *video_armor;
         WrapperHead *video_energy;
-		if(from_camera) {
+        if (from_camera) {
             video_armor = new CameraWrapper(0);
-//            video_energy = new CameraWrapper(1);
+            video_energy = new CameraWrapper(1);
-        }else {
+        } else {
             video_armor = new VideoWrapper("/home/xinyang/Desktop/Video.mp4");
             video_energy = new VideoWrapper("/home/xinyang/Desktop/Video.mp4");
         }
-		if (video_armor->init()) {
+        if (video_armor->init()) {
-			cout << "Video source initialization successfully." << endl;
+            cout << "Video source initialization successfully." << endl;
-		}
+        }
 
-		Mat energy_src, armor_src;
+        Mat energy_src, armor_src;
-
+        ArmorFinder armorFinder(ENEMY_BLUE, uart, PROJECT_DIR"/tools/para/");
-		ArmorFinder armorFinder(ENEMY_BLUE, uart, PROJECT_DIR"/tools/para/");
 
         Energy energy(uart);
         energy.setAllyColor(ally_color);
         energy.setRotation(energy_part_rotation);
 
-        bool ok=true;
+        bool ok = true;
 
-		while (ok){
+        while (ok) {
-		    CNT_TIME(WORD_LIGHT_CYAN, "Total", {
+            CNT_TIME(WORD_LIGHT_CYAN, "Total", {
-                ok = video_armor->read(energy_src) && video_armor->read(armor_src);
-                if (show_origin) {
-                    imshow("enery src", energy_src);
-                    imshow("armor src", armor_src);
-                }
                 if (state == ENERGY_STATE) {
+                    ok = video_energy->read(energy_src);
+                    if (show_origin) {
+                        imshow("energy src", energy_src);
+                    }
                     if (from_camera == 0) {
                         energy.extract(energy_src);
                     }
                     energy.run(energy_src);
                 } else {
+                    ok = video_armor->read(armor_src);
+                    if (show_origin) {
+                        imshow("armor src", armor_src);
+                    }
                     CNT_TIME(WORD_LIGHT_BLUE, "Armor Time", {
-                        armorFinder.run(armor_src);
+                            armorFinder.run(armor_src);
                     });
                 }
                 if (waitKey(1) == 'q') {
@@ -94,41 +96,41 @@ int main(int argc, char *argv[]){
                     break;
                 }
             });
-		}
+        }
-		delete video_armor;
+        delete video_armor;
-		cout << "Program fails. Restarting" << endl;
+        cout << "Program fails. Restarting" << endl;
-	}
+    }
 
-	return 0;
+    return 0;
 }
 
 #define RECEIVE_LOG_LEVEL LOG_NOTHING
 
-void uartReceive(Uart* uart){
+void uartReceive(Uart *uart) {
     char buffer[100];
-    int cnt=0;
+    int cnt = 0;
-    while(true){
+    while (true) {
         char data;
-        while((data=uart->receive()) != '\n'){
+        while ((data = uart->receive()) != '\n') {
             buffer[cnt++] = data;
-            if(cnt >= 100){
+            if (cnt >= 100) {
                 LOG(RECEIVE_LOG_LEVEL, "data receive over flow!");
-                    cnt = 0;
+                cnt = 0;
             }
         }
-        if(cnt == 10){
+        if (cnt == 10) {
-            if(buffer[8] == 'e'){
+            if (buffer[8] == 'e') {
                 state = ENERGY_STATE;
                 LOG(RECEIVE_LOG_LEVEL, "Energy state");
-            }else if(buffer[8] == 'a'){
+            } else if (buffer[8] == 'a') {
                 state = ARMOR_STATE;
                 LOG(RECEIVE_LOG_LEVEL, "Armor state");
             }
             memcpy(&curr_yaw, buffer, 4);
-            memcpy(&curr_pitch, buffer+4, 4);
+            memcpy(&curr_pitch, buffer + 4, 4);
             LOG(RECEIVE_LOG_LEVEL, "Get yaw:%f pitch:%f", curr_yaw, curr_pitch);
-            if(buffer[9] == 1){
+            if (buffer[9] == 1) {
-                if(mark == 0){
+                if (mark == 0) {
                     mark = 1;
                     mark_yaw = curr_yaw;
                     mark_pitch = curr_pitch;

others/src/camera/camera_wrapper.cpp

@@ -65,11 +65,14 @@ stop:
             tCapability.sResolutionRange.iWidthMax * 3);
     if(mode == 0){
         // 不使用自动曝光
-        CameraSetAeState(h_camera, true);
+        CameraSetAeState(h_camera, false);
         // 曝光时间10ms
-//        CameraSetExposureTime(h_camera, 10000);
+        CameraSetExposureTime(h_camera, 10000);
+        double t;
+        CameraGetExposureTime(h_camera, &t);
+        LOGM("Exposure time: %lfms", t/1000.0);
         // 模拟增益4
-        CameraSetAnalogGain(h_camera, 64);
+        CameraSetAnalogGain(h_camera, 55);
         // 使用预设LUT表
         CameraSetLutMode(h_camera, LUTMODE_PRESET);
         // 抗频闪
@@ -90,7 +93,7 @@ stop:
     /*其他的相机参数设置
     例如 CameraSetExposureTime   CameraGetExposureTime  设置/读取曝光时间
          CameraSetImageResolution  CameraGetImageResolution 设置/读取分辨率
-         CameraSetGamma、CameraSetConrast、CameraSetGain等设置图像伽马、对比度、RGB数字增益等等。
+         CameraSetGamma、CameraSetContrast、CameraSetGain等设置图像伽马、对比度、RGB数字增益等等。
          CameraGetFriendlyName    CameraSetFriendlyName 获取/设置相机名称（该名称可写入相机硬件）
     */
 

others/src/uart/uart.cpp

@@ -4,6 +4,7 @@
 
 #include <uart/uart.h>
 #include <energy/param_struct_define.h>
+#include <log.h>
 
 using std::cout;
 using std::cerr;
@@ -16,7 +17,6 @@ GMAngle_t aim;
 
 
 Uart::Uart(){
-
     fd = open("/dev/ttyUSB0", O_RDWR);
     if(fd < 0)
     {
@@ -150,12 +150,8 @@ void Uart::sendTarget(float x, float y, float z) {
 
 }
 
-// 's' + (x) ( 8bit + 8bit ) + (y) ( 8bit + 8bit ) + (z) ( 8bit + 8bit ) + 'e'
-
-
 uint8_t Uart::receive() {
     uint8_t data;
     while(read(fd, &data, 1) < 1);
     return data;
 }
-

tools/TrainCNN/backward.py

@@ -5,6 +5,7 @@ from tqdm import tqdm
 import generate
 import forward
 import cv2
+import sys
 import numpy as np
 print("Finish!")
 
@@ -53,7 +54,7 @@ def save_para(folder, paras):
         save_bias(fp, paras[7])
 
 
-STEPS = 20000
+STEPS = 100000
 BATCH = 30
 LEARNING_RATE_BASE  = 0.01
 LEARNING_RATE_DECAY = 0.99
@@ -61,8 +62,6 @@ MOVING_AVERAGE_DECAY = 0.99
 
 
 def train(dataset, show_bar=False):
-    test_images, test_labels = dataset.all_test_sets()
-
     x = tf.placeholder(tf.float32, [None, generate.SRC_ROWS, generate.SRC_COLS, generate.SRC_CHANNELS])
     y_= tf.placeholder(tf.float32, [None, forward.OUTPUT_NODES])
     nodes, vars = forward.forward(x, 0.001)
@@ -104,15 +103,10 @@ def train(dataset, show_bar=False):
 
             if i % 100 == 0:
                 if i % 1000 == 0:
-                    acc = sess.run(accuracy, feed_dict={x: test_images, y_: test_labels})
+                    test_samples, test_labels = dataset.sample_test_sets(5000)
+                    acc = sess.run(accuracy, feed_dict={x: test_samples, y_: test_labels})
                 bar.set_postfix({"loss": loss_value, "acc": acc})
 
-
-            # if show_bar:
-            #     bar.title = "step: %d, loss: %f, acc: %f" % (step, loss_value, acc)
-            #     bar.cursor.restore()
-            #     bar.draw(value=i+1)
-
         # video = cv2.VideoCapture("/home/xinyang/Desktop/Video.mp4")
         # _ = True
         # while _:
@@ -149,14 +143,16 @@ def train(dataset, show_bar=False):
         #     res = res.reshape([forward.OUTPUT_NODES])
         #     print(np.argmax(res))
     
+        test_samples, test_labels = dataset.sample_test_sets(100)
         vars_val = sess.run(vars)
         save_para("/home/xinyang/Desktop/AutoAim/tools/para", vars_val)
-        nodes_val = sess.run(nodes, feed_dict={x:test_images})
+        nodes_val = sess.run(nodes, feed_dict={x:test_samples})
-        return vars_val, nodes_val
+        return vars_val, nodes_val, test_samples
 
 
 if __name__ == "__main__":
     print("Loading data sets...")
-    dataset = generate.DataSet("/home/xinyang/Desktop/DataSets/box")
+    dataset = generate.DataSet("/home/xinyang/Desktop/DataSets")
     print("Finish!")
     train(dataset, show_bar=True)
+    input("Press any key to end...")

tools/TrainCNN/forward.py

@@ -29,20 +29,19 @@ def max_pool_2x2(x):
 CONV1_KERNAL_SIZE = 5
 
 # 第一层卷积输出通道数
-CONV1_OUTPUT_CHANNELS = 6
+CONV1_OUTPUT_CHANNELS = 8
 
 # 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 = 10
+CONV2_OUTPUT_CHANNELS = 16
 
 # 第一层全连接宽度
 FC1_OUTPUT_NODES = 16
 
 # 第二层全连接宽度（输出标签类型数）
-FC2_OUTPUT_NODES = 4
+FC2_OUTPUT_NODES = 11
-
 # 输出标签类型数
 OUTPUT_NODES = FC2_OUTPUT_NODES
 

tools/TrainCNN/generate.py

@@ -67,6 +67,15 @@ class DataSet:
             labels.append(self.train_labels[id])
         return np.array(samples), np.array(labels)
 
+    def sample_test_sets(self, length):
+        samples = []
+        labels = []
+        for i in range(length):
+            id = random.randint(0, len(self.test_samples)-1)
+            samples.append(self.test_samples[id])
+            labels.append(self.test_labels[id])
+        return np.array(samples), np.array(labels)
+
     def all_train_sets(self):
         return self.train_samples[:], self.train_labels[:]
 

tools/analysis.py

@@ -0,0 +1,52 @@
+import matplotlib.pyplot as plt
+import numpy as np
+
+fsend = open("send.info")
+frecv = open("recv.info")
+
+send_lines = fsend.readlines()[:-1]
+recv_lines = frecv.readlines()[:-1]
+
+send_infos = [line.split(" ") for line in send_lines]
+recv_infos = [line.split(" ") for line in recv_lines]
+
+send_times = [float(info[0]) for info in send_infos]
+recv_times = [float(info[0]) for info in recv_infos]
+
+send_yaw   = [float(info[1]) for info in send_infos]
+TargetAngle= [float(info[1]) for info in recv_infos]
+RealAngle  = [float(info[2]) for info in recv_infos]
+
+length = min(len(send_times), len(recv_times))
+
+send_times = send_times[:length]
+recv_times = recv_times[:length]
+send_yaw   = send_yaw[:length]
+TargetAngle= TargetAngle[:length]
+RealAngle  = RealAngle[:length]
+
+time_base = min(send_times[0], recv_times[0])
+
+send_times = np.array(send_times) - time_base
+recv_times = np.array(recv_times) - time_base
+
+TargetAngle = TargetAngle[:300]
+RealAngle = RealAngle[:300]
+send_times = send_times[:300]
+recv_times = recv_times[:300]
+send_yaw = send_yaw[:300]
+
+TargetAngle = np.array(TargetAngle)
+TargetAngle -= TargetAngle.mean()
+RealAngle = np.array(RealAngle)
+RealAngle -= RealAngle.mean()
+
+plt.plot(send_times, send_yaw,   label="send-yaw")
+plt.plot(recv_times, TargetAngle,label="TargetAngle")
+plt.plot(recv_times, RealAngle,  label="RealAngle")
+plt.scatter(send_times, send_yaw,   label="send-yaw")
+plt.scatter(recv_times, TargetAngle,label="TargetAngle")
+plt.scatter(recv_times, RealAngle,  label="RealAngle")
+plt.legend()
+plt.show()
+

tools/para/conv1_b

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tools/para/conv2_b

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tools/para/fc1_b

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tools/para/fc2_b

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