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现可使用CNN分类器判断装甲板及其数字。

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This commit is contained in:
xinyang
2019-04-20 14:30:57 +08:00
parent f891f1da34
commit 83e9a0daf9
5 changed files with 152 additions and 135 deletions
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6
armor/include/armor_finder/armor_finder.h
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@@ -8,6 +8,7 @@
#include <opencv2/core.hpp>
#include <opencv2/tracking.hpp>
#include <uart/uart.h>
#include <armor_finder/classifier/classifier.h>
typedef enum{
ENEMY_BLUE, ENEMY_RED
@@ -15,7 +16,7 @@ typedef enum{
class ArmorFinder{
public:
ArmorFinder(EnemyColor color, Uart &u);
ArmorFinder(EnemyColor color, Uart &u, string paras_folder);
~ArmorFinder() = default;
private:
@@ -29,6 +30,9 @@ private:
State state;
cv::Rect2d armor_box;
cv::Ptr<cv::Tracker> tracker;
cv::Mat src_gray;
Classifier classifier;
int contour_area;
Uart &uart;

7
armor/src/armor_finder/armor_finder.cpp
View File

@@ -4,10 +4,12 @@
#include <log.h>
#include <armor_finder/armor_finder.h>
ArmorFinder::ArmorFinder(EnemyColor color, Uart &u) :
ArmorFinder::ArmorFinder(EnemyColor color, Uart &u, string paras_folder) :
uart(u),
enemy_color(color),
state(STANDBY_STATE)
state(STANDBY_STATE),
classifier(std::move(paras_folder)),
contour_area(0)
{
auto para = TrackerToUse::Params();
para.desc_npca = 1;
@@ -25,6 +27,7 @@ void ArmorFinder::run(cv::Mat &src) {
}else{
src_use = src.clone();
}
cv::cvtColor(src_use, src_gray, CV_BayerBG2GRAY);
// return stateSearchingTarget(src_use);

17
armor/src/armor_finder/state_machine/searching_state/searching_state.cpp
View File

@@ -99,7 +99,7 @@ bool isCoupleLight(const LightBlob &light_blob_i, const LightBlob &light_blob_j)
}
double centerDistance(cv::Rect2d box){
double centerDistance(const cv::Rect2d &box){
double dx = box.x-box.width/2 - 320;
double dy = box.y-box.height/2 - 240;
return dx*dx + dy*dy;
@@ -169,14 +169,23 @@ bool ArmorFinder::stateSearchingTarget(cv::Mat &src) {
// }
if(show_light_blobs){
showContours("blobs", split, light_blobs);
// showContours("pm blobs", pmsrc, pm_light_blobs);
// showContours("blobs real", src, light_blobs_real);
cv::waitKey(1);
}
if(!findArmorBoxes(light_blobs, armor_boxes)){
return false;
}
armor_box = armor_boxes[0];
if(classifier){
for(const auto &box : armor_boxes){
cv::Mat roi = src(box).clone();
cv::resize(roi, roi, cv::Size(60, 45));
if(classifier(roi)){
armor_box = box;
break;
}
}
}else{
armor_box = armor_boxes[0];
}
if(show_armor_boxes){
showArmorBoxVector("boxes", split, armor_boxes);
cv::waitKey(1);