现可使用CNN分类器判断装甲板及其数字。

CMakeLists.txt

@@ -12,16 +12,17 @@ IF(CCACHE_FOUND)
 ENDIF()
 
 FIND_PACKAGE(OpenCV 3 REQUIRED)
+FIND_PACKAGE(Eigen3 REQUIRED)
 FIND_PACKAGE(Threads)
 
+include_directories( ${EIGEN3_INCLUDE_DIR} )
 include_directories( ${PROJECT_SOURCE_DIR}/energy/include )
 include_directories( ${PROJECT_SOURCE_DIR}/armor/include )
 include_directories( ${PROJECT_SOURCE_DIR}/include )
-include_directories( ${PROJECT_SOURCE_DIR}/src )
-FILE(GLOB_RECURSE sourcefiles "src/*.cpp" "energy/src/*cpp" "armor/src/*.cpp")
 
+FILE(GLOB_RECURSE sourcefiles "src/*.cpp" "energy/src/*cpp" "armor/src/*.cpp")
 add_executable(run main.cpp ${sourcefiles} )
 
-TARGET_LINK_LIBRARIES (run ${CMAKE_THREAD_LIBS_INIT})
+TARGET_LINK_LIBRARIES(run ${CMAKE_THREAD_LIBS_INIT})
 TARGET_LINK_LIBRARIES(run ${OpenCV_LIBS})
 TARGET_LINK_LIBRARIES(run ${PROJECT_SOURCE_DIR}/libMVSDK.so)

armor/include/armor_finder/armor_finder.h

@@ -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;

armor/src/armor_finder/armor_finder.cpp

@@ -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);
 

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

@@ -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;
     }
+    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);

main.cpp

@@ -59,7 +59,7 @@ int main(int argc, char *argv[])
 
 		Mat energy_src, armor_src;
 
-		ArmorFinder armorFinder(ENEMY_BLUE, uart);
+		ArmorFinder armorFinder(ENEMY_BLUE, uart, "../paras/");
 
         Energy energy(uart);
         energy.setAllyColor(ally_color);