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Merge remote-tracking branch 'origin/master'

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# Conflicts:
#	armor/src/armor_finder/anti_top/anti_top.cpp
#	armor/src/armor_finder/find/find_light_blobs.cpp
#	main.cpp
This commit is contained in:
xinyang
2019-07-23 14:06:47 +08:00
parent 465507edb0 a8bf844bff
commit 84c9fd21b1
47 changed files with 27710 additions and 18821 deletions
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80
armor/include/armor_finder/armor_finder.h
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@@ -6,6 +6,7 @@
#define _ARMOR_FINDER_H_
#include <map>
#include <sys/time.h>
#include <constants.h>
#include <opencv2/core.hpp>
#include <opencv2/tracking.hpp>
@@ -16,11 +17,34 @@
#define BLOB_RED ENEMY_RED
#define BLOB_BLUE ENEMY_BLUE
#define DISTANCE_HEIGHT_5MM (113.0) // 单位: m*pixel
#define BOX_RED ENEMY_RED
#define BOX_BLUE ENEMY_BLUE
#define IMAGE_CENTER_X (320)
#define IMAGE_CENTER_Y (240-20)
#define DISTANCE_HEIGHT_5MM (107.0) // 单位: m*pixel
#define DISTANCE_HEIGHT DISTANCE_HEIGHT_5MM
#define B1 1
#define B2 2
#define B3 3
#define B4 4
#define B5 5
#define B7 6
#define B8 7
#define R1 8
#define R2 9
#define R3 10
#define R4 11
#define R5 12
#define R7 13
#define R8 14
extern std::map<int, string> id2name; //装甲板id到名称的map
extern std::map<string, int> name2id; //装甲板名称到id的map
extern std::map<string, int> prior_blue;
extern std::map<string, int> prior_red;
/******************* 灯条类定义 ***********************/
@@ -28,15 +52,43 @@ class LightBlob {
public:
cv::RotatedRect rect; //灯条位置
double length; //灯条长度
uint8_t BlobColor; //灯条颜色
uint8_t blob_color; //灯条颜色
LightBlob(cv::RotatedRect &r) : rect(r) {
LightBlob(cv::RotatedRect &r, uint8_t color) : rect(r), blob_color(color) {
length = max(rect.size.height, rect.size.width);
};
LightBlob() = default;
};
typedef std::vector<LightBlob> LightBlobs;
/******************* 装甲板类定义　**********************/
class ArmorBox{
public:
typedef enum{
FRONT, SIDE, UNKNOWN
} BoxOrientation;
cv::Rect2d rect;
LightBlobs light_blobs;
uint8_t box_color;
int id;
explicit ArmorBox(const cv::Rect &pos=cv::Rect2d(), const LightBlobs &blobs=LightBlobs(), uint8_t color=0, int i=0);
double getBlobsDistance() const;
double lengthDistanceRatio() const;
double getBoxDistance() const;
BoxOrientation getOrientation() const;
// double
bool operator<(const ArmorBox &box) const;
};
typedef std::vector<ArmorBox> ArmorBoxes;
/********************* 自瞄类定义 **********************/
class ArmorFinder{
public:
@@ -50,30 +102,36 @@ private:
SEARCHING_STATE, TRACKING_STATE, STANDBY_STATE
} State; // 自瞄状态枚举定义
cv::Mat src_raw; // 当前原图
typedef enum{
NORMAL, ANTI_TOP
} AntiTopState;
const uint8_t &enemy_color; // 敌方颜色，引用外部变量，自动变化
State state; // 自瞄状态对象实例
cv::Rect2d armor_box; // 当前目标位置
int boxid; // 当前目标id
ArmorBox armor_box; // 当前目标装甲板
cv::Ptr<cv::Tracker> tracker; // tracker对象实例
Classifier classifier; // CNN分类器对象实例，用于数字识别
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
ArmorBox::BoxOrientation last_orient; // 上一帧目标装甲板方向，用于反陀螺
timeval 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
AntiTopState anti_top_state; // 当前是否识别到陀螺
bool findLightBlobs(const cv::Mat &src, LightBlobs &light_blobs);
bool findArmorBox(const cv::Mat &src, ArmorBox &box);
bool stateSearchingTarget(cv::Mat &src); // searching state主函数
bool stateTrackingTarget(cv::Mat &src); // tracking state主函数
bool stateStandBy(); // stand by state主函数（已弃用）
bool findLightBlobs(const cv::Mat &src_bin, // 在二值图上寻找灯条
LightBlobs &light_blobs);
bool findArmorBoxes(const LightBlobs &light_blobs, // 根据灯条匹配装甲板候选区
std::vector<cv::Rect2d> &armor_boxes);
void antiTop(); // 反小陀螺
public:
void run(cv::Mat &src); // 自瞄主函数
bool sendBoxPosition(); // 和主控板通讯
bool sendBoxPosition(uint16_t shoot); // 和主控板通讯
};
#endif /* _ARMOR_FINDER_H_ */

9
armor/include/show_images/show_images.h
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@@ -9,9 +9,10 @@
#include <armor_finder/armor_finder.h>
//
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, int boxid);
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[10]);
void showArmorBoxes(std::string windows_name, const cv::Mat &src, const ArmorBoxes &armor_boxes);
void showArmorBox(std::string windows_name, const cv::Mat &src, const ArmorBox &armor_box);
void showLightBlobs(std::string windows_name, const cv::Mat &src, const LightBlobs &light_blobs);
void showArmorBoxesClass(std::string window_names, const cv::Mat &src, const ArmorBoxes &boxes);
void showTrackSearchingPos(std::string window_names, const cv::Mat &src, const cv::Rect2d pos);
#endif /* _SHOW_IMAGES_H_ */

8
armor/src/armor_finder/anti_top/anti_top.cpp
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@@ -11,8 +11,7 @@ static double getTimeIntervalms(const timeval& now, const timeval &last){
void ArmorFinder::antiTop() {
static double top_periodms = 0;
static double last1_top_periodms = 0;
static double last2_top_periodms = 0;
static double last_top_periodms = 0;
uint16_t shoot_delay = 0;
timeval curr_time;
// if(anti_top_state == ANTI_TOP){
@@ -40,11 +39,10 @@ void ArmorFinder::antiTop() {
last_front_time = curr_time;
if(150<interval && interval<700){
if(anti_top_state == ANTI_TOP){
last2_top_periodms = last1_top_periodms;
last1_top_periodms = top_periodms;
last_top_periodms = top_periodms;
top_periodms = interval;
LOGM(STR_CTR(WORD_LIGHT_GREEN, "top period: %.1lf ms"), top_periodms);
shoot_delay = (last1_top_periodms+last1_top_periodms+top_periodms)/3.0-105;
shoot_delay = (last_top_periodms+top_periodms)/2.0-110;
last_orient = orientation;
}else if(anti_top_state == NORMAL){
// LOGM("interval:%.1lf", interval);

88
armor/src/armor_finder/armor_box/armor_box.cpp Normal file
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@@ -0,0 +1,88 @@
//
// Created by xinyang on 19-7-13.
//
#include <armor_finder/armor_finder.h>
#include <log.h>
ArmorBox::ArmorBox(const cv::Rect &pos, const LightBlobs &blobs, uint8_t color, int i) :
rect(pos), light_blobs(blobs), box_color(color), id(i) {};
double ArmorBox::getBlobsDistance() const {
if (light_blobs.size() == 2) {
auto &x = light_blobs[0].rect.center;
auto &y = light_blobs[1].rect.center;
return sqrt((x.x - y.x) * (x.x - y.x) + (x.y - y.y) * (x.y - y.y));
} else {
return 0;
}
}
double ArmorBox::lengthDistanceRatio() const {
if (light_blobs.size() == 2) {
return max(light_blobs[0].length, light_blobs[1].length)
/ getBlobsDistance();
} else {
return 100;
}
}
double ArmorBox::getBoxDistance() const {
if (light_blobs.size() == 2) {
return DISTANCE_HEIGHT / 2 / max(light_blobs[0].length, light_blobs[1].length);
} else {
return DISTANCE_HEIGHT / rect.height;
}
}
ArmorBox::BoxOrientation ArmorBox::getOrientation() const {
// cout << lengthDistanceRatio() << endl;
if (light_blobs.size() != 2) {
return UNKNOWN;
}
switch (id) {
case R1:
case R7:
case R8:
case B1:
case B7:
case B8:
if (lengthDistanceRatio() < 0.24) {
return FRONT;
} else {
return SIDE;
}
case R2:
case R3:
case R4:
case R5:
case B2:
case B3:
case B4:
case B5:
if (lengthDistanceRatio() < 0.48) {
return FRONT;
} else {
return SIDE;
}
default:
return UNKNOWN;
}
}
bool ArmorBox::operator<(const ArmorBox &box) const {
if (id != box.id) {
if (box_color == BOX_BLUE) {
return prior_blue[id2name[id]] < prior_blue[id2name[box.id]];
} else {
return prior_red[id2name[id]] < prior_red[id2name[box.id]];
}
} else {
auto d1 = (rect.x-IMAGE_CENTER_X)*(rect.x-IMAGE_CENTER_X)
+ (rect.y-IMAGE_CENTER_Y)*(rect.y-IMAGE_CENTER_Y);
auto d2 = (box.rect.x-IMAGE_CENTER_X)*(box.rect.x-IMAGE_CENTER_X)
+ (box.rect.y-IMAGE_CENTER_Y)*(box.rect.y-IMAGE_CENTER_Y);
return d1 < d2;
}
}

42
armor/src/armor_finder/armor_finder.cpp
View File

@@ -35,6 +35,18 @@ std::map<string, int> name2id = { //装甲板名
{"R1", 8},{"R2", 9},{"R3", 10},{"R4", 11},{"R5", 12},{"R7", 13},{"R8", 14},
};
std::map<string, int> prior_blue = {
{"B8", 0}, {"B1", 1}, {"B3", 2}, {"B4", 2}, {"B5", 2}, {"B7", 3}, {"B2", 4},
{"R8", 5}, {"R1", 6}, {"R3", 7}, {"R4", 7}, {"R5", 7}, {"R7", 8}, {"R2", 9},
{"NO", 10},
};
std::map<string, int> prior_red = {
{"R8", 0}, {"R1", 1}, {"R3", 2}, {"R4", 2}, {"R5", 2}, {"R7", 3}, {"R2", 4},
{"B8", 5}, {"B1", 6}, {"B3", 7}, {"B4", 7}, {"B5", 7}, {"B7", 8}, {"B2", 9},
{"NO", 10},
};
ArmorFinder::ArmorFinder(uint8_t &color, Serial &u, const string &paras_folder, const uint8_t &use) :
serial(u),
enemy_color(color),
@@ -42,32 +54,25 @@ ArmorFinder::ArmorFinder(uint8_t &color, Serial &u, const string &paras_folder,
classifier(paras_folder),
contour_area(0),
use_classifier(use),
boxid(-1),
tracking_cnt(0) {
}
void ArmorFinder::run(cv::Mat &src) {
src_raw = src;
cv::Mat src_use = src.clone(); // 实际参与计算的图像对象
if (show_armor_box) { // 根据条件显示当前目标装甲板
showArmorBox("box", src, armor_box, boxid);
cv::waitKey(1);
}
// stateSearchingTarget(src_use); // for debug
// return;
// stateSearchingTarget(src); // for debug
// goto end;
switch (state) {
case SEARCHING_STATE:
if (stateSearchingTarget(src_use)) {
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
if (stateSearchingTarget(src)) {
// cout << armor_box.rect << endl;
if ((armor_box.rect & cv::Rect2d(0, 0, 640, 480)) == armor_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 */
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 */
cv::Mat roi = src(armor_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);
contour_area = cv::countNonZero(roi_gray);
}
tracker = TrackerToUse::create(); // 成功搜寻到装甲板，创建tracker对象
tracker->init(src_use, armor_box);
tracker->init(src, armor_box.rect);
state = TRACKING_STATE;
tracking_cnt = 0;
LOGM(STR_CTR(WORD_LIGHT_CYAN, "into track"));
@@ -75,7 +80,7 @@ void ArmorFinder::run(cv::Mat &src) {
}
break;
case TRACKING_STATE:
if (!stateTrackingTarget(src_use) || ++tracking_cnt > 100) { // 最多追踪100帧图像
if (!stateTrackingTarget(src) || ++tracking_cnt > 100) { // 最多追踪100帧图像
state = SEARCHING_STATE;
LOGM(STR_CTR(WORD_LIGHT_YELLOW, "into search!"));
}
@@ -84,5 +89,12 @@ void ArmorFinder::run(cv::Mat &src) {
default:
stateStandBy();
}
end:
antiTop();
if (show_armor_box) { // 根据条件显示当前目标装甲板
showArmorBox("box", src, armor_box);
cv::waitKey(1);
}
}

95
armor/src/armor_finder/searching_state/find_armor_boxes.cpp → armor/src/armor_finder/find/find_armor_box.cpp
View File

@@ -1,15 +1,21 @@
//
// Created by xinyang on 19-7-10.
// Created by xinyang on 19-7-18.
//
#include <armor_finder/armor_finder.h>
#include <show_images/show_images.h>
#include <options/options.h>
#include <opencv2/highgui.hpp>
#include <log.h>
static bool angelJudge(const LightBlob &light_blob_i, const LightBlob &light_blob_j) {
float angle_i = light_blob_i.rect.size.width > light_blob_i.rect.size.height ? light_blob_i.rect.angle :
light_blob_i.rect.angle - 90;
float angle_j = light_blob_j.rect.size.width > light_blob_j.rect.size.height ? light_blob_j.rect.angle :
light_blob_j.rect.angle - 90;
return abs(angle_i - angle_j) < 10;
return abs(angle_i - angle_j) < 20;
}
static bool heightJudge(const LightBlob &light_blob_i, const LightBlob &light_blob_j) {
@@ -21,12 +27,12 @@ static bool lengthJudge(const LightBlob &light_blob_i, const LightBlob &light_bl
double side_length;
cv::Point2f centers = light_blob_i.rect.center - light_blob_j.rect.center;
side_length = sqrt(centers.ddot(centers));
return (side_length / light_blob_i.length < 6 && side_length / light_blob_i.length > 0.5);
return (side_length / light_blob_i.length < 8 && side_length / light_blob_i.length > 0.5);
}
static bool lengthRatioJudge(const LightBlob &light_blob_i, const LightBlob &light_blob_j) {
return (light_blob_i.length / light_blob_j.length < 2
&& light_blob_i.length / light_blob_j.length > 0.5);
return (light_blob_i.length / light_blob_j.length < 2.5
&& light_blob_i.length / light_blob_j.length > 0.4);
}
/* 判断两个灯条的错位度，不知道英文是什么！！！ */
@@ -42,7 +48,7 @@ static bool CuoWeiDuJudge(const LightBlob &light_blob_i, const LightBlob &light_
Vector2f orientation(cos(angle), sin(angle));
Vector2f p2p(light_blob_j.rect.center.x - light_blob_i.rect.center.x,
light_blob_j.rect.center.y - light_blob_i.rect.center.y);
return abs(orientation.dot(p2p)) < 20;
return abs(orientation.dot(p2p)) < 25;
}
static bool boxAngleJudge(const LightBlob &light_blob_i, const LightBlob &light_blob_j) {
@@ -58,8 +64,8 @@ static bool boxAngleJudge(const LightBlob &light_blob_i, const LightBlob &light_
}
static bool isCoupleLight(const LightBlob &light_blob_i, const LightBlob &light_blob_j, uint8_t enemy_color) {
return light_blob_i.BlobColor == enemy_color &&
light_blob_j.BlobColor == enemy_color &&
return light_blob_i.blob_color == enemy_color &&
light_blob_j.blob_color == enemy_color &&
lengthRatioJudge(light_blob_i, light_blob_j) &&
lengthJudge(light_blob_i, light_blob_j) &&
// heightJudge(light_blob_i, light_blob_j) &&
@@ -75,10 +81,11 @@ static double centerDistance(const cv::Rect2d &box) {
return dx * dx + dy * dy;
}
bool ArmorFinder::findArmorBoxes(const LightBlobs &light_blobs, std::vector<cv::Rect2d> &armor_boxes) {
bool matchArmorBoxes(const cv::Mat &src, const LightBlobs &light_blobs, ArmorBoxes &armor_boxes, uint8_t color) {
armor_boxes.clear();
for (int i = 0; i < light_blobs.size() - 1; ++i) {
for (int j = i + 1; j < light_blobs.size(); ++j) {
if (!isCoupleLight(light_blobs.at(i), light_blobs.at(j), enemy_color)) {
if (!isCoupleLight(light_blobs.at(i), light_blobs.at(j), color)) {
continue;
}
cv::Rect2d rect_left = light_blobs.at(static_cast<unsigned long>(i)).rect.boundingRect();
@@ -89,17 +96,73 @@ bool ArmorFinder::findArmorBoxes(const LightBlobs &light_blobs, std::vector<cv::
min_y = fmin(rect_left.y, rect_right.y) - 0.5 * (rect_left.height + rect_right.height) / 2.0;
max_y = fmax(rect_left.y + rect_left.height, rect_right.y + rect_right.height) +
0.5 * (rect_left.height + rect_right.height) / 2.0;
if (min_x < 0 || max_x > 640 || min_y < 0 || max_y > 480) {
if (min_x < 0 || max_x > src.cols || min_y < 0 || max_y > src.rows) {
continue;
}
armor_boxes.emplace_back(cv::Rect2d(min_x, min_y, max_x - min_x, max_y - min_y));
LightBlobs pair_blobs = {light_blobs.at(i), light_blobs.at(j)};
armor_boxes.emplace_back(
cv::Rect2d(min_x, min_y, max_x - min_x, max_y - min_y),
pair_blobs,
color
);
}
}
if (armor_boxes.empty()) {
return !armor_boxes.empty();
}
bool ArmorFinder::findArmorBox(const cv::Mat &src, ArmorBox &box) {
LightBlobs light_blobs; // 存储所有可能的灯条
ArmorBoxes armor_boxes; // 装甲板候选区
box.rect = cv::Rect2d(0, 0, 0, 0);
box.id = -1;
if (!findLightBlobs(src, light_blobs)) {
return false;
}
sort(armor_boxes.begin(), armor_boxes.end(), [](cv::Rect2d box1, cv::Rect2d box2) -> bool {
return centerDistance(box1) < centerDistance(box2);
});
if (show_light_blobs && src.size() == cv::Size(640, 480)) {
showLightBlobs("light_blobs", src, light_blobs);
cv::waitKey(1);
}
if (!matchArmorBoxes(src, light_blobs, armor_boxes, enemy_color)) {
// cout << "Box fail!" << endl;
return false;
}
if (show_armor_boxes && src.size() == cv::Size(640, 480)) {
showArmorBoxes("boxes", src, armor_boxes);
cv::waitKey(1);
}
if (classifier && use_classifier) {
for (auto &armor_box : armor_boxes) {
cv::Mat roi = src(armor_box.rect).clone();
cv::resize(roi, roi, cv::Size(48, 36));
int c = classifier(roi);
armor_box.id = c;
}
sort(armor_boxes.begin(), armor_boxes.end());
if(armor_boxes[0].id != 0){
box = armor_boxes[0];
}
if (save_labelled_boxes) {
for (const auto &one_box : armor_boxes) {
char filename[100];
sprintf(filename, PROJECT_DIR"/armor_box_photo/%s_%d.jpg", id2name[one_box.id].data(),
time(nullptr) + clock());
cv::imwrite(filename, src(armor_box.rect & cv::Rect(0, 0, src.rows, src.cols)));
}
}
if (box.rect == cv::Rect2d(0, 0, 0, 0)) {
return false;
}
if (show_armor_boxes && src.size() == cv::Size(640, 480)) {
showArmorBoxesClass("class", src, armor_boxes);
}
} else {
box = armor_boxes[0];
}
return true;
}

2
armor/src/armor_finder/find/find_light_blobs.cpp
View File

@@ -128,9 +128,11 @@ bool ArmorFinder::findLightBlobs(const cv::Mat &src, LightBlobs &light_blobs) {
cv::threshold(color_channel, src_bin_light, 200, 255, CV_THRESH_BINARY); // 二值化对应通道
if(src_bin_light.empty()) return false;
imagePreProcess(src_bin_light); // 开闭运算
cv::threshold(color_channel, src_bin_dim, 160, 255, CV_THRESH_BINARY); // 二值化对应通道
if(src_bin_dim.empty()) return false;
imagePreProcess(src_bin_dim); // 开闭运算
if(src_bin_light.size() == cv::Size(640, 480) && show_light_blobs) {

133
armor/src/armor_finder/searching_state/find_light_blobs.cpp
View File

@@ -1,133 +0,0 @@
//
// Created by xinyang on 19-7-10.
//
#include <armor_finder/armor_finder.h>
static double lw_rate(const cv::RotatedRect &rect) {
return rect.size.height > rect.size.width ?
rect.size.height / rect.size.width :
rect.size.width / rect.size.height;
}
bool rectangleContainPoint(cv::RotatedRect rectangle, cv::Point2f point) {
//转化为轮廓
cv::Point2f corners[4];
rectangle.points(corners);
cv::Point2f *lastItemPointer = (corners + sizeof corners / sizeof corners[0]);
vector<cv::Point2f> contour(corners, lastItemPointer);
//判断
double indicator = pointPolygonTest(contour, point, true);
return indicator >= 0;
}
// 下面的函数可以有性能优化，暂时未做。
static double nonZeroRateOfRotateRect(const cv::Mat &bin, const cv::RotatedRect &rotrect) {
auto rect = rotrect.boundingRect();
if (rect.x < 0 || rect.y < 0 || rect.x + rect.width > bin.cols || rect.y + rect.height > bin.rows) {
return 0;
}
auto roi = bin(rect);
int cnt = 0;
for (int r = 0; r < roi.rows; r++) {
for (int c = 0; c < roi.cols; c++) {
if (rectangleContainPoint(rotrect, cv::Point(c + rect.x, r + rect.y))) {
if (roi.at<uint8_t>(r, c)) {
cnt++;
}
}
}
}
return double(cnt) / rotrect.size.area();
}
int linePointX(const cv::Point2f &p1, const cv::Point2f &p2, int y) {
return (p2.x - p1.x) / (p2.y - p1.y) * (y - p1.y) + p1.x;
}
// 性能优化后的函数
static double nonZeroRateOfRotateRect_opt(const cv::Mat &bin, const cv::RotatedRect &rotrect) {
int cnt = 0;
cv::Point2f corners[4];
rotrect.points(corners);
sort(corners, &corners[4], [](cv::Point2f p1, cv::Point2f p2) {
return p1.y < p2.y;
});
for (int r = corners[0].y; r < corners[1].y; r++) {
auto start = min(linePointX(corners[0], corners[1], r), linePointX(corners[0], corners[2], r)) - 1;
auto end = max(linePointX(corners[0], corners[1], r), linePointX(corners[0], corners[2], r)) + 1;
if (start < 0 || end > 640) return 0;
for (int c = start; c < end; c++) {
if (bin.at<uint8_t>(r, c)) {
cnt++;
}
}
}
for (int r = corners[1].y; r < corners[2].y; r++) {
auto start = min(linePointX(corners[0], corners[2], r), linePointX(corners[1], corners[3], r)) - 1;
auto end = max(linePointX(corners[0], corners[2], r), linePointX(corners[1], corners[3], r)) + 1;
if (start < 0 || end > 640) return 0;
for (int c = start; c < end; c++) {
if (bin.at<uint8_t>(r, c)) {
cnt++;
}
}
}
for (int r = corners[2].y; r < corners[3].y; r++) {
auto start = min(linePointX(corners[1], corners[3], r), linePointX(corners[2], corners[3], r)) - 1;
auto end = max(linePointX(corners[1], corners[3], r), linePointX(corners[2], corners[3], r)) + 1;
if (start < 0 || end > 640) return 0;
for (int c = start; c < end; c++) {
if (bin.at<uint8_t>(r, c)) {
cnt++;
}
}
}
return double(cnt) / rotrect.size.area();
}
static bool isValidLightBlob(const cv::Mat &bin, const cv::RotatedRect &rect) {
return (lw_rate(rect) > 1.5) &&
// (rect.size.width*rect.size.height < 3000) &&
(rect.size.width * rect.size.height > 1) &&
(nonZeroRateOfRotateRect_opt(bin, rect) > 0.8);
// (nonZeroRateOfRotateRect(bin, rect) > 0.8);
}
void get_blob_color(const cv::Mat &src, std::vector<LightBlob> &blobs) {
for (auto &blob : blobs) {
auto region = blob.rect.boundingRect();
region.x -= fmax(2, region.width * 0.1);
region.y -= fmax(2, region.height * 0.05);
region.width += 2 * fmax(2, region.width * 0.1);
region.height += 2 * fmax(2, region.height * 0.05);
region &= cv::Rect(0, 0, 640, 480);
cv::Mat roi = src(region);
long long int red_cnt = 0, blue_cnt = 0;
for (int row = 0; row < roi.rows; row++) {
for (int col = 0; col < roi.cols; col++) {
red_cnt += roi.at<cv::Vec3b>(row, col)[2];
blue_cnt += roi.at<cv::Vec3b>(row, col)[0];
}
}
if (red_cnt > blue_cnt) {
blob.BlobColor = BLOB_RED;
} else {
blob.BlobColor = BLOB_BLUE;
}
}
}
bool ArmorFinder::findLightBlobs(const cv::Mat &src_bin, LightBlobs &light_blobs) {
std::vector<std::vector<cv::Point> > light_contours;
cv::findContours(src_bin, light_contours, CV_RETR_LIST, CV_CHAIN_APPROX_NONE);
for (auto &light_contour : light_contours) {
cv::RotatedRect rect = cv::minAreaRect(light_contour);
if (isValidLightBlob(src_bin, rect)) {
light_blobs.emplace_back(rect);
}
}
get_blob_color(src_raw, light_blobs);
return light_blobs.size() >= 2;
}

111
armor/src/armor_finder/searching_state/searching_state.cpp
View File

@@ -3,118 +3,15 @@
//
#include <armor_finder/armor_finder.h>
#include <opencv2/highgui.hpp>
#include <show_images/show_images.h>
#include <options/options.h>
#include <log.h>
static string prior_blue[] = {
"B8", "B1", "B3", "B4", "B5", "B7", "B2",
"R8", "R1", "R3", "R4", "R5", "R7", "R2",
};
static string prior_red[] = {
"R8", "R1", "R3", "R4", "R5", "R7", "R2",
"B8", "B1", "B3", "B4", "B5", "B7", "B2",
};
void imagePreProcess(cv::Mat &src) {
static cv::Mat kernel_erode = getStructuringElement(cv::MORPH_RECT, cv::Size(3, 5));
erode(src, src, kernel_erode);
static cv::Mat kernel_dilate = getStructuringElement(cv::MORPH_RECT, cv::Size(3, 5));
dilate(src, src, kernel_dilate);
static cv::Mat kernel_dilate2 = getStructuringElement(cv::MORPH_RECT, cv::Size(3, 5));
dilate(src, src, kernel_dilate2);
static cv::Mat kernel_erode2 = getStructuringElement(cv::MORPH_RECT, cv::Size(3, 5));
erode(src, src, kernel_erode2);
float alpha = 1.5;
int beta = 0;
src.convertTo(src, -1, alpha, beta);
}
bool ArmorFinder::stateSearchingTarget(cv::Mat &src) {
std::vector<cv::Mat> channels; // 通道拆分
cv::Mat src_bin, color; // 二值图和颜色通道图
LightBlobs light_blobs; // 存储所有可能的灯条
std::vector<cv::Rect2d> armor_boxes; // 装甲板候选区
std::vector<cv::Rect2d> boxes_number[15]; // 装甲板候选区放置在对应id位置
armor_box = cv::Rect2d(0, 0, 0, 0); // 重置目标装甲板位置
boxid = -1; // 重置目标装甲板id
cv::split(src, channels); /************************/
if (enemy_color == ENEMY_BLUE) /* */
color = channels[0]; /* 根据目标颜色进行通道提取 */
else if (enemy_color == ENEMY_RED) /* */
color = channels[2]; /************************/
cv::threshold(color, src_bin, 170, 255, CV_THRESH_BINARY); // 二值化对应通道
imagePreProcess(src_bin); // 开闭运算
if (!findLightBlobs(src_bin, light_blobs)) {
if(findArmorBox(src, armor_box)){
return true;
}else{
armor_box = ArmorBox();
return false;
}
if (show_light_blobs) {
showContours("light_blobs", src, light_blobs);
cv::waitKey(1);
}
if (!findArmorBoxes(light_blobs, armor_boxes)) {
return false;
}
if (show_armor_boxes) {
showArmorBoxVector("boxes", src, armor_boxes);
cv::waitKey(1);
}
if (classifier && use_classifier) {
for (auto box : armor_boxes) {
cv::Mat roi = src(box).clone();
cv::resize(roi, roi, cv::Size(48, 36));
int c = classifier(roi);
boxes_number[c].emplace_back(box);
}
if (enemy_color == ENEMY_BLUE) {
for (auto name : prior_blue) {
if (!boxes_number[name2id[name]].empty()) {
armor_box = boxes_number[name2id[name]][0];
boxid = name2id[name];
break;
}
}
} else if (enemy_color == ENEMY_RED) {
for (auto name : prior_red) {
if (!boxes_number[name2id[name]].empty()) {
armor_box = boxes_number[name2id[name]][0];
boxid = name2id[name];
break;
}
}
} else {
LOGE_INFO("enemy_color ERROR!");
}
if (armor_box == cv::Rect2d(0, 0, 0, 0)) {
return false;
}
if (show_armor_boxes) {
showArmorBoxClass("class", src, boxes_number);
}
if (save_labelled_boxes) {
for (int i = 0; i < sizeof(boxes_number) / sizeof(boxes_number[0]); i++) {
for (auto &box : boxes_number[i]) {
char filename[100];
sprintf(filename, PROJECT_DIR"/armor_box_photo/%s_%d.jpg", id2name[i].data(),
time(nullptr) + clock());
cv::imwrite(filename, src(box));
}
}
}
} else {
armor_box = armor_boxes[0];
boxid = -1;
}
return sendBoxPosition();
}

31
armor/src/armor_finder/send_target/send_target.cpp
View File

@@ -3,13 +3,16 @@
//
#include <armor_finder/armor_finder.h>
#include <config/setconfig.h>
#include <log.h>
static bool sendTarget(Serial &serial, double x, double y, double z) {
static bool sendTarget(Serial &serial, double x, double y, double z, uint16_t shoot_delay) {
static short x_tmp, y_tmp, z_tmp;
uint8_t buff[10];
#ifdef WITH_COUNT_FPS
static time_t last_time = time(nullptr);
static int fps;
uint8_t buff[8];
time_t t = time(nullptr);
if (last_time != t) {
last_time = t;
@@ -17,6 +20,7 @@ static bool sendTarget(Serial &serial, double x, double y, double z) {
fps = 0;
}
fps += 1;
#endif
x_tmp = static_cast<short>(x * (32768 - 1) / 100);
y_tmp = static_cast<short>(y * (32768 - 1) / 100);
@@ -29,18 +33,25 @@ static bool sendTarget(Serial &serial, double x, double y, double z) {
buff[4] = static_cast<char>((y_tmp >> 0) & 0xFF);
buff[5] = static_cast<char>((z_tmp >> 8) & 0xFF);
buff[6] = static_cast<char>((z_tmp >> 0) & 0xFF);
buff[7] = 'e';
buff[7] = static_cast<char>((shoot_delay >> 8) & 0xFF);
buff[8] = static_cast<char>((shoot_delay >> 0) & 0xFF);
buff[9] = 'e';
// if(buff[7]<<8 | buff[8])
// cout << (buff[7]<<8 | buff[8]) << endl;
return serial.WriteData(buff, sizeof(buff));
}
bool ArmorFinder::sendBoxPosition() {
auto rect = armor_box;
double dx = rect.x + rect.width / 2 - 320;
double dy = rect.y + rect.height / 2 - 240 - 20;
bool ArmorFinder::sendBoxPosition(uint16_t shoot_delay) {
if (armor_box.rect == cv::Rect2d()) return false;
if (shoot_delay) {
LOGM(STR_CTR(WORD_BLUE, "shoot after %dms"), shoot_delay);
}
auto rect = armor_box.rect;
double dx = rect.x + rect.width / 2 - IMAGE_CENTER_X;
double dy = rect.y + rect.height / 2 - IMAGE_CENTER_Y;
double yaw = atan(dx / FOCUS_PIXAL) * 180 / PI;
double pitch = atan(dy / FOCUS_PIXAL) * 180 / PI;
double dist = DISTANCE_HEIGHT / rect.height;
// cout << yaw << endl;
return sendTarget(serial, yaw, -pitch, dist);
return sendTarget(serial, yaw, -pitch, dist, shoot_delay);
}

54
armor/src/armor_finder/tracking_state/tracking_state.cpp
View File

@@ -2,20 +2,49 @@
// Created by xinyang on 19-3-27.
//
#include <log.h>
#include <options/options.h>
#include <armor_finder/armor_finder.h>
#include <show_images/show_images.h>
bool ArmorFinder::stateTrackingTarget(cv::Mat &src) {
if(!tracker->update(src, armor_box)){
auto pos = armor_box.rect;
if(!tracker->update(src, pos)){
armor_box = ArmorBox();
return false;
}
if((armor_box & cv::Rect2d(0, 0, 640, 480)) != armor_box){
if((pos & cv::Rect2d(0, 0, 640, 480)) != pos){
armor_box = ArmorBox();
return false;
}
cv::Mat roi = src.clone()(armor_box);
cv::Rect2d bigger_rect;
bigger_rect.x = pos.x - pos.width / 2.0;
bigger_rect.y = pos.y - pos.height / 2.0;
bigger_rect.height = pos.height * 2;
bigger_rect.width = pos.width * 2;
bigger_rect &= cv::Rect2d(0, 0, 640, 480);
if(show_armor_box)
showTrackSearchingPos("track", src, bigger_rect);
cv::Mat roi = src(bigger_rect).clone();
ArmorBox box;
if(findArmorBox(roi, box)) {
armor_box = box;
armor_box.rect.x += bigger_rect.x;
armor_box.rect.y += bigger_rect.y;
for(auto &blob : armor_box.light_blobs){
blob.rect.center.x += bigger_rect.x;
blob.rect.center.y += bigger_rect.y;
}
}else{
roi = src(pos).clone();
if(classifier){
cv::resize(roi, roi, cv::Size(48, 36));
if(classifier(roi) == 0){
armor_box = ArmorBox();
return false;
}
}else{
@@ -24,8 +53,25 @@ bool ArmorFinder::stateTrackingTarget(cv::Mat &src) {
cv::threshold(roi_gray, roi_gray, 180, 255, cv::THRESH_BINARY);
contour_area = cv::countNonZero(roi_gray);
if(abs(cv::countNonZero(roi_gray) - contour_area) > contour_area * 0.3){
armor_box = ArmorBox();
return false;
}
}
return sendBoxPosition();
armor_box.rect = pos;
armor_box.light_blobs.clear();
}
// armor_box.x -= armor_box.width / 4.0;
// armor_box.y -= armor_box.height / 4.0;
// armor_box.height *= 1.5;
// armor_box.width *= 1.5;
// roi = src(armor_box);
// if(findSearchingTarget(roi)){
//
// }
// sendBoxPosition();
return true;
}

116
armor/src/show_images/show_images.cpp
View File

@@ -1,13 +1,30 @@
#include <show_images/show_images.h>
#include <opencv2/highgui.hpp>
#include <options/options.h>
#include <log.h>
using namespace cv;
void drawLightBlobs(cv::Mat &src, const LightBlobs &blobs){
for (const auto &blob:blobs) {
Scalar color(0,255,0);
if (blob.blob_color == BLOB_RED)
color = Scalar(0, 0, 255);
else if (blob.blob_color == BLOB_BLUE)
color = Scalar(255, 0, 0);
cv::Point2f vertices[4];
blob.rect.points(vertices);
for (int j = 0; j < 4; j++) {
cv::line(src, vertices[j], vertices[(j + 1) % 4], color, 2);
}
}
}
/**************************
* 显示多个装甲板区域 *
**************************/
void showArmorBoxVector(std::string windows_name, const cv::Mat &src, const std::vector<cv::Rect2d> &armor_box) {
void showArmorBoxes(std::string windows_name, const cv::Mat &src, const ArmorBoxes &armor_boxes) {
static Mat image2show;
if (src.type() == CV_8UC1) {// 黑白图像
cvtColor(src, image2show, COLOR_GRAY2RGB);
@@ -15,8 +32,15 @@ void showArmorBoxVector(std::string windows_name, const cv::Mat &src, const std:
image2show = src.clone();
}
for (auto &box:armor_box) {
rectangle(image2show, box, Scalar(0, 255, 0), 1);
for (auto &box:armor_boxes) {
if(box.box_color == BOX_BLUE) {
rectangle(image2show, box.rect, Scalar(0, 255, 0), 1);
drawLightBlobs(image2show, box.light_blobs);
}else if(box.box_color == BOX_RED){
rectangle(image2show, box.rect, Scalar(0, 255, 0), 1);
drawLightBlobs(image2show, box.light_blobs);
}
}
imshow(windows_name, image2show);
}
@@ -24,65 +48,79 @@ void showArmorBoxVector(std::string windows_name, const cv::Mat &src, const std:
/**************************
* 显示多个装甲板区域及其类别 *
**************************/
void showArmorBoxClass(std::string window_names, const cv::Mat &src, vector<cv::Rect2d> boxes[10]) {
void showArmorBoxesClass(std::string window_names, const cv::Mat &src, const ArmorBoxes &boxes) {
static Mat image2show;
if (src.type() == CV_8UC1) { // 黑白图像
cvtColor(src, image2show, COLOR_GRAY2RGB);
} else if (src.type() == CV_8UC3) { //RGB 彩色
image2show = src.clone();
}
for (int i = 0; i < 14; i++) {
if (!boxes[i].empty()) {
for (auto box : boxes[i]) {
rectangle(image2show, box, Scalar(0, 255, 0), 1);
if (i == -1)
putText(image2show, id2name[i], Point(box.x + 2, box.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1,
for (const auto &box : boxes) {
if(box.id != 0) {
rectangle(image2show, box.rect, Scalar(0, 255, 0), 1);
drawLightBlobs(image2show, box.light_blobs);
if (box.id == -1)
putText(image2show, id2name[box.id], Point(box.rect.x + 2, box.rect.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1,
Scalar(0, 255, 0));
else if (1 <= i && i < 8)
putText(image2show, id2name[i], Point(box.x + 2, box.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1,
else if (1 <= box.id && box.id < 8)
putText(image2show, id2name[box.id], Point(box.rect.x + 2, box.rect.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1,
Scalar(255, 0, 0));
else if (8 <= i && i < 15)
putText(image2show, id2name[i], Point(box.x + 2, box.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1,
else if (8 <= box.id && box.id < 15)
putText(image2show, id2name[box.id], Point(box.rect.x + 2, box.rect.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1,
Scalar(0, 0, 255));
else if (i != 0)
LOGE_INFO("Invalid box id:%d!", i);
}
else if (box.id != 0)
LOGE_INFO("Invalid box id:%d!", box.id);
}
}
imshow(window_names, image2show);
}
/**************************
* 显示单个装甲板区域及其类别 *
**************************/
void showArmorBox(std::string windows_name, const cv::Mat &src, cv::Rect2d armor_box, int boxid) {
void showArmorBox(std::string windows_name, const cv::Mat &src, const ArmorBox &box) {
static Mat image2show;
if(box.rect == cv::Rect2d()){
imshow(windows_name, src);
}
if (src.type() == CV_8UC1) { // 黑白图像
cvtColor(src, image2show, COLOR_GRAY2RGB);
} else if (src.type() == CV_8UC3) { //RGB 彩色
image2show = src.clone();
}
rectangle(image2show, armor_box, Scalar(0, 255, 0), 1);
drawLightBlobs(image2show, box.light_blobs);
// static FILE *fp = fopen(PROJECT_DIR"/ratio.txt", "w");
// if(box.light_blobs.size() == 2)
// fprintf(fp, "%lf %lf %lf\n", box.light_blobs[0].length, box.light_blobs[1].length, box.getBlobsDistance())
// cout << box.lengthDistanceRatio() << endl;
if(box.getOrientation() == ArmorBox::FRONT){
rectangle(image2show, box.rect, Scalar(0, 255, 0), 3);
}else{
rectangle(image2show, box.rect, Scalar(0, 255, 0), 1);
};
char dist[5];
// sprintf(dist, "%.1f", distance);
if (boxid == -1)
putText(image2show, id2name[boxid]+" "+dist, Point(armor_box.x + 2, armor_box.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1,
sprintf(dist, "%.1f", box.getBoxDistance());
if (box.id == -1)
putText(image2show, id2name[box.id]+" "+dist, Point(box.rect.x + 2, box.rect.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1,
Scalar(0, 255, 0));
else if (1 <= boxid && boxid < 8)
putText(image2show, id2name[boxid]+" "+dist, Point(armor_box.x + 2, armor_box.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1,
else if (1 <= box.id && box.id < 8)
putText(image2show, id2name[box.id]+" "+dist, Point(box.rect.x + 2, box.rect.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1,
Scalar(255, 0, 0));
else if (8 <= boxid && boxid < 15)
putText(image2show, id2name[boxid]+" "+dist, Point(armor_box.x + 2, armor_box.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1,
else if (8 <= box.id && box.id < 15)
putText(image2show, id2name[box.id]+" "+dist, Point(box.rect.x + 2, box.rect.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1,
Scalar(0, 0, 255));
else if (boxid != 0)
LOGE_INFO("Invalid box id:%d!", boxid);
else if (box.id != 0)
LOGE_INFO("Invalid box id:%d!", box.id);
imshow(windows_name, image2show);
}
/**************************
* 显示多个灯条区域 *
**************************/
void showContours(std::string windows_name, const cv::Mat &src, const std::vector<LightBlob> &light_blobs) {
void showLightBlobs(std::string windows_name, const cv::Mat &src, const LightBlobs &light_blobs) {
static Mat image2show;
if (src.type() == CV_8UC1) { // 黑白图像
@@ -92,13 +130,11 @@ void showContours(std::string windows_name, const cv::Mat &src, const std::vecto
}
for (const auto &light_blob:light_blobs) {
Scalar color;
if (light_blob.BlobColor == BLOB_RED)
Scalar color(0, 255, 0);
if (light_blob.blob_color == BLOB_RED)
color = Scalar(0, 0, 255);
else if (light_blob.BlobColor == BLOB_BLUE)
else if (light_blob.blob_color == BLOB_BLUE)
color = Scalar(255, 0, 0);
else
color = Scalar(0, 255, 0);
cv::Point2f vertices[4];
light_blob.rect.points(vertices);
for (int j = 0; j < 4; j++) {
@@ -107,3 +143,15 @@ void showContours(std::string windows_name, const cv::Mat &src, const std::vecto
}
imshow(windows_name, image2show);
}
void showTrackSearchingPos(std::string window_names, const cv::Mat &src, const cv::Rect2d pos){
static Mat image2show;
if (src.type() == CV_8UC1) { // 黑白图像
cvtColor(src, image2show, COLOR_GRAY2RGB);
} else if (src.type() == CV_8UC3) { //RGB 彩色
image2show = src.clone();
}
rectangle(image2show, pos, Scalar(0, 255, 0), 1);
imshow(window_names, image2show);
}

3
energy/include/energy/constant.h
View File

@@ -11,7 +11,8 @@ const int SRC_WIDTH = 320;
const int SRC_HEIGHT = 240;
const int CLOCKWISE = 1;
const int ANTICLOCKWISE = -1;
const float ATTACK_DISTANCE = 718.0;//cm
//const float ATTACK_DISTANCE = 718.0;//cm
const float ATTACK_DISTANCE = 750.0;//cm
const double ARMOR_CENTER_TO_CYCLE_CENTER = 75.0;//cm

18
energy/include/energy/energy.h
View File

@@ -27,12 +27,16 @@ public:
Energy(Serial &u, uint8_t &color);//构造函数，参数为串口和敌方颜色
~Energy();//默认析构函数
void run(cv::Mat &gimbal_src, cv::Mat &chassis_src);
void run(cv::Mat &gimbal_src);
void runBig(cv::Mat &gimbal_src, cv::Mat &chassis_src);
void runBig(cv::Mat &gimbal_src);
void runSmall(cv::Mat &gimbal_src);
Serial &serial;//串口
void setEnergyInit();//设置能量机关初始化
void sendTarget(Serial &serial, float x, float y, float z);
void setBigEnergyInit();//设置大能量机关初始化
void setSmallEnergyInit();//设置小能量机关初始化
void sendTarget(Serial& serial, float x, float y, float z);//发送数据
void sendTarget(Serial& serial, float x, float y, float z, uint16_t u);//发送数据
private:
@@ -51,7 +55,6 @@ private:
bool energy_rotation_init;//若仍在判断风车旋转方向，则为true
bool manual_mark;//若操作手进行过手动标定，则为true
bool auto_mark;//云台完成自动对心，则置为true
bool shoot;//若为true，则要求主控板发弹
bool start_guess;//进入猜测状态的标志
bool change_target;//目标切换的标志
@@ -77,6 +80,8 @@ private:
float center_delta_yaw, center_delta_pitch;//对心时相差的角度
float yaw_rotation, pitch_rotation;//云台yaw轴和pitch轴应该转到的角度
float origin_yaw, origin_pitch;//初始的云台角度设定值
float shoot;//若为2，则要求主控板发弹
float sum_yaw, sum_pitch;//yaw和pitch的累计误差，即PID中积分项
timeval time_start_guess;
@@ -158,8 +163,9 @@ private:
void getAllTargetArmorCenters();//记录所有目标装甲板中心坐标
void getRecentTargetArmorCenters();//记录近30帧目标装甲板中心坐标
void judgeShoot();//判断是否可以发弹
void JudgeMode();//判断大符还是小符
void judgeMode();//判断大符还是小符
void judgeShootInGimbal();//在云台坐标系中判断是否可以发弹
void judgeShootInWorld();//在世界坐标系中判断是否可以发弹
bool isGuessingTimeout();//判断猜测模式是否超时（没打中）
void splitBayerBG(cv::Mat src, cv::Mat &blue, cv::Mat &red);//拜耳阵列分离

1
energy/src/energy/calculate/circle_calculate.cpp
View File

@@ -61,3 +61,4 @@ void Energy::circleLeastFit()
// cout << "The cycle center is: " << cycle_center << endl;
// cout << "The radius is: " << radius << endl;
}

6
energy/src/energy/calibrate/structing.cpp
View File

@@ -125,7 +125,7 @@ void Energy::FlowStripStruct(cv::Mat &src) {
// 此函数对图像进行腐蚀与膨胀操作
// ---------------------------------------------------------------------------------------------------------------------
void Energy::CenterRStruct(cv::Mat &src) {
Mat element_dilate_1 = getStructuringElement(MORPH_RECT, Size(8, 6));
Mat element_dilate_1 = getStructuringElement(MORPH_RECT, Size(4, 4));
Mat element_erode_1 = getStructuringElement(MORPH_RECT, Size(2, 1));
Mat element_dilate_2 = getStructuringElement(MORPH_RECT, Size(3, 3));
Mat element_erode_2 = getStructuringElement(MORPH_RECT, Size(4 , 4));
@@ -134,8 +134,8 @@ void Energy::CenterRStruct(cv::Mat &src) {
// imshow("erode_1", src);
dilate(src, src, element_dilate_1);
// imshow("dilate_1", src);
dilate(src, src, element_dilate_2);
// dilate(src, src, element_dilate_2);
// imshow("dilate_2", src);
erode(src,src, element_erode_2);
// erode(src,src, element_erode_2);
// imshow("erode_2", src);
}

1
energy/src/energy/clear/clear.cpp
View File

@@ -18,7 +18,6 @@ void Energy::clearAll(){
}
//----------------------------------------------------------------------------------------------------------------------
// 此函数用于图像预处理
// ---------------------------------------------------------------------------------------------------------------------

44
energy/src/energy/clear/energy_init.cpp
View File

@@ -21,7 +21,6 @@ void Energy::initEnergy() {
energy_rotation_init = true;
manual_mark = false;
auto_mark = false;
shoot = false;
start_guess = false;
change_target = false;
@@ -41,14 +40,15 @@ void Energy::initEnergy() {
last_target_polar_angle = -1000;
guess_polar_angle = -1000;
last_base_angle = -1000;
predict_rad = 20;
predict_rad = 25;
attack_distance = ATTACK_DISTANCE;
center_delta_yaw = 1000;
center_delta_pitch = 1000;
yaw_rotation = 0;
pitch_rotation = 0;
origin_yaw = 0;
origin_pitch = 0;
shoot = 0;
sum_yaw = 0;
sum_pitch = 0;
circle_center_point = Point(0, 0);
target_point = Point(0, 0);
@@ -69,7 +69,7 @@ void Energy::initEnergy() {
// 此函数对能量机关参数进行初始化
// ---------------------------------------------------------------------------------------------------------------------
void Energy::initEnergyPartParam() {
gimbal_energy_part_param_.GRAY_THRESH = 120;//home
gimbal_energy_part_param_.GRAY_THRESH = 140;//home
// gimbal_energy_part_param_.GRAY_THRESH = 200;//official
// gimbal_energy_part_param_.GRAY_THRESH = 225;
gimbal_energy_part_param_.SPLIT_GRAY_THRESH = 230;
@@ -81,7 +81,7 @@ void Energy::initEnergyPartParam() {
gimbal_energy_part_param_.FAN_CONTOUR_LENGTH_MIN = 80;
gimbal_energy_part_param_.FAN_CONTOUR_LENGTH_MAX = 100;
gimbal_energy_part_param_.FAN_CONTOUR_WIDTH_MIN = 20;
gimbal_energy_part_param_.FAN_CONTOUR_WIDTH_MAX = 50;
gimbal_energy_part_param_.FAN_CONTOUR_WIDTH_MAX = 52;
gimbal_energy_part_param_.FAN_CONTOUR_HW_RATIO_MAX = 4;
gimbal_energy_part_param_.FAN_CONTOUR_HW_RATIO_MIN = 1;
gimbal_energy_part_param_.FAN_CONTOUR_AREA_RATIO_MIN = 0.65;
@@ -107,42 +107,42 @@ void Energy::initEnergyPartParam() {
gimbal_energy_part_param_.CENTER_R_CONTOUR_WIDTH_MAX = 25;
gimbal_energy_part_param_.CENTER_R_CONTOUR_HW_RATIO_MAX = 3;
gimbal_energy_part_param_.CENTER_R_CONTOUR_HW_RATIO_MIN = 1;
gimbal_energy_part_param_.CENTER_R_CONTOUR_AREA_RATIO_MIN = 0.7;
gimbal_energy_part_param_.CENTER_R_CONTOUR_AREA_RATIO_MIN = 0.5;
gimbal_energy_part_param_.CENTER_R_CONTOUR_INTERSETION_AREA_MIN = 10;
gimbal_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_AREA_MAX = 17000;
gimbal_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_AREA_MIN = 0;
gimbal_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_AREA_MAX = 3000;
gimbal_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_AREA_MIN = 1000;
gimbal_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_LENGTH_MIN = 60;
gimbal_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_LENGTH_MAX = 100;
gimbal_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_WIDTH_MIN = 20;
gimbal_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_WIDTH_MAX = 50;
gimbal_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_WIDTH_MAX = 52;
gimbal_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_HW_RATIO_MAX = 3;
gimbal_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_HW_RATIO_MIN = 1;
gimbal_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_AREA_RATIO_MAX = 0.58;
gimbal_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_AREA_RATIO_MAX = 0.65;
gimbal_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_AREA_RATIO_MIN = 0.34;
gimbal_energy_part_param_.FLOW_STRIP_FAN_NON_ZERO_RATE_MAX = 0.58;
gimbal_energy_part_param_.FLOW_STRIP_FAN_NON_ZERO_RATE_MAX = 0.65;
gimbal_energy_part_param_.FLOW_STRIP_FAN_NON_ZERO_RATE_MIN = 0.34;
// gimbal_energy_part_param_.FLOW_STRIP_FAN_NON_ZERO_RATE_MAX = 0.2;
// gimbal_energy_part_param_.FLOW_STRIP_FAN_NON_ZERO_RATE_MIN = 0.08;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_AREA_MAX = 100000;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_AREA_MIN = 0;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_LENGTH_MIN = 40;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_LENGTH_MAX = 65;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_LENGTH_MIN = 38;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_LENGTH_MAX = 60;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_WIDTH_MIN = 8;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_WIDTH_MAX = 20;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_WIDTH_MAX = 32;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_HW_RATIO_MAX = 12;
// gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_HW_RATIO_MIN = 4;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_HW_RATIO_MIN = 3;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_HW_RATIO_MIN = 1.8;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_AREA_RATIO_MIN = 0.5;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_INTERSETION_AREA_MIN = 117;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_INTERSETION_AREA_MIN = 100;
gimbal_energy_part_param_.TWIN_ANGEL_MAX = 10;
gimbal_energy_part_param_.TARGET_INTERSETION_CONTOUR_AREA_MIN = 40;
chassis_energy_part_param_.GRAY_THRESH = 120;//home_small
chassis_energy_part_param_.GRAY_THRESH = 230;//home_big
chassis_energy_part_param_.GRAY_THRESH = 120;//home
// chassis_energy_part_param_.GRAY_THRESH = 200;//official
// chassis_energy_part_param_.GRAY_THRESH = 225;
chassis_energy_part_param_.SPLIT_GRAY_THRESH = 230;
@@ -189,7 +189,7 @@ void Energy::initEnergyPartParam() {
chassis_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_LENGTH_MIN = 90;
chassis_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_LENGTH_MAX = 140;
chassis_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_WIDTH_MIN = 35;
chassis_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_WIDTH_MAX = 60;
chassis_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_WIDTH_MAX = 65;
chassis_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_HW_RATIO_MAX = 3;
chassis_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_HW_RATIO_MIN = 1;
chassis_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_AREA_RATIO_MAX = 0.55;
@@ -231,11 +231,11 @@ void Energy::initRotation() {
else if (target_polar_angle > last_target_polar_angle) anticlockwise_rotation_init_cnt++;
}
//由于刚开始圆心判断不准，角度变化可能计算有误，因此需要在角度正向或逆向变化足够大时才可确定是否为顺逆时针
if (clockwise_rotation_init_cnt == 30) {
if (clockwise_rotation_init_cnt == 15) {
energy_rotation_direction = CLOCKWISE;//顺时针变化30次，确定为顺时针
cout << "rotation: " << energy_rotation_direction << endl;
energy_rotation_init = false;
} else if (anticlockwise_rotation_init_cnt == 30) {
} else if (anticlockwise_rotation_init_cnt == 15) {
energy_rotation_direction = ANTICLOCKWISE;//逆时针变化30次，确定为顺时针
cout << "rotation: " << energy_rotation_direction << endl;
energy_rotation_init = false;

29
energy/src/energy/energy.cpp
View File

@@ -45,3 +45,32 @@ void Energy::setEnergyInit() {
is_gimbal = true;
is_chassis = false;
}
//----------------------------------------------------------------------------------------------------------------------
// 此函数为大能量机关再初始化函数
// ---------------------------------------------------------------------------------------------------------------------
void Energy::setBigEnergyInit() {
initEnergy();
initEnergyPartParam();
is_big = true;
is_small = false;
is_gimbal = true;
is_chassis = false;
}
//----------------------------------------------------------------------------------------------------------------------
// 此函数为大能量机关再初始化函数
// ---------------------------------------------------------------------------------------------------------------------
void Energy::setSmallEnergyInit() {
initEnergy();
initEnergyPartParam();
is_big = false;
is_small = true;
is_gimbal = true;
is_chassis = false;
}

20
energy/src/energy/find/energy_finder.cpp
View File

@@ -69,6 +69,7 @@ int Energy::findArmors(const cv::Mat src) {
ArmorStruct(src_bin);//图像膨胀，防止图像断开并更方便寻找
findContours(src_bin, armor_contours, CV_RETR_LIST, CV_CHAIN_APPROX_NONE);
imshow("armor struct", src_bin);
// findContours(src_bin, armor_contours_external, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE);
// for (int i = 0; i < armor_contours_external.size(); i++)//去除外轮廓
@@ -132,7 +133,7 @@ bool Energy::findCenterR(const cv::Mat src) {
circle_center_point = centerR.center;
circle_center_point.y += target_length / 7.5;//实际最小二乘得到的中心在R的下方
// RotatedRect cur_rect = minAreaRect(center_R_contour);
RotatedRect cur_rect = minAreaRect(center_R_contour);
// Size2f cur_size = cur_rect.size;
// float length = cur_size.height > cur_size.width ? cur_size.height : cur_size.width;
// float width = cur_size.height < cur_size.width ? cur_size.height : cur_size.width;
@@ -147,10 +148,11 @@ bool Energy::findCenterR(const cv::Mat src) {
// cout << "R intersection: " << contourArea(intersection) << endl;
// return true;
// }
// cout << cur_rect.center << endl;
return true;
}
cout << "find center R false!" << endl;
// cv::waitKey(0);
return false;
}
@@ -159,7 +161,7 @@ bool Energy::findCenterR(const cv::Mat src) {
//----------------------------------------------------------------------------------------------------------------------
// 此函数用于判断找到的矩形候选区是否为含流动条的扇叶
// ---------------------------------------------------------------------------------------------------------------------
bool Energy:: findFlowStripFan(const cv::Mat src) {
bool Energy::findFlowStripFan(const cv::Mat src) {
if (src.empty())return false;
static Mat src_bin;
static Mat src_copy;
@@ -170,7 +172,7 @@ bool Energy:: findFlowStripFan(const cv::Mat src) {
}
std::vector<vector<Point> > flow_strip_fan_contours;
FlowStripFanStruct(src_bin);//图像膨胀，防止图像断开并更方便寻找
// imshow("flow strip fan struct", src_bin);
imshow("flow strip fan struct", src_bin);
findContours(src_bin, flow_strip_fan_contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE);
@@ -193,11 +195,12 @@ bool Energy:: findFlowStripFan(const cv::Mat src) {
// cout << "non zero: " << non_zero_rate << endl;
// cout<<cur_contour_area / cur_size.area()<<endl;
// }
// cout << cur_rect.center << endl;
return true;
}
// showFlowStripFan("strip fan", src_bin);
cout << "flow strip fan false!" << endl;
// waitKey(0);
return false;
}
@@ -227,15 +230,16 @@ bool Energy::findFlowStrip(const cv::Mat src) {
// Size2f cur_size = cur_rect.size;
// float length = cur_size.height > cur_size.width ? cur_size.height : cur_size.width;
// float width = cur_size.height < cur_size.width ? cur_size.height : cur_size.width;
// if (length / width > 4 && width > 7 && width<30) {
// if (length / width > 2.5 && width > 7 && width<40) {
// cout << cur_rect.center << endl;
// flow_strip = cv::minAreaRect(flow_strip_contour);
// cout << "flow strip area: " << length << '\t' << width << endl;
// }
// cout << cur_rect.center << endl;
return true;
}
// waitKey();
cout << "flow strip false!" << endl;
// waitKey(0);
return false;
}
@@ -252,7 +256,7 @@ bool Energy::findCenterROI(const cv::Mat src) {
vector<Point2f> mask_rect;
target_armor.points(vertices); //计算矩形的4个顶点
for (int i = 0; i < 4; i++)
line(src_mask, vertices[i], vertices[(i + 1) % 4], Scalar(0, 0, 0), 15);
line(src_mask, vertices[i], vertices[(i + 1) % 4], Scalar(0, 0, 0), 20);
// imshow("fill", src_mask);
if (!findFlowStrip(src_mask))return false;
float length = target_armor.size.height > target_armor.size.width ?

10
energy/src/energy/get/aim_point_get.cpp
View File

@@ -4,6 +4,7 @@
#include "energy/energy.h"
#include "energy/constant.h"
#include "config/setconfig.h"
using namespace std;
using namespace cv;
@@ -12,8 +13,13 @@ using namespace cv;
// 此函数通过自瞄逻辑击打目标点，用于大符的自动对心和小符直接打击
// ---------------------------------------------------------------------------------------------------------------------
void Energy::getAimPoint(cv::Point target_point) {
double dx = -(target_point.x - 320 - 10);
double dy = -(target_point.y - 240 - 22);
//五号车
// double dx = -(target_point.x - 320 - 10);
// double dy = -(target_point.y - 240 - 22);
//四号车
double dx = -(target_point.x - 320 - COMPENSATE_YAW);
double dy = -(target_point.y - 240 - COMPENSATE_PITCH);
yaw_rotation = atan(dx / FOCUS_PIXAL) * 180 / PI;
pitch_rotation = atan(dy / FOCUS_PIXAL) * 180 / PI;
// cout << "yaw: " << yaw_rotation << '\t' << "pitch: " << pitch_rotation << endl;
}

20
energy/src/energy/get/origin_get.cpp
View File

@@ -13,18 +13,24 @@ using namespace cv;
// ---------------------------------------------------------------------------------------------------------------------
bool Energy::getOrigin() {
if (!auto_mark && !manual_mark) {
double dx = -(circle_center_point.x - 320);
double dy = -(circle_center_point.y - 240);
center_delta_yaw = atan(dx / FOCUS_PIXAL) * 180 / PI;
center_delta_pitch = atan(dy / FOCUS_PIXAL) * 180 / PI;
if (abs(center_delta_pitch) > 0.3 || abs(center_delta_pitch) > 0.3) {
sendTarget(serial, center_delta_yaw, center_delta_pitch, false);
//五号车
// double dx = -(circle_center_point.x - 320 - 10);
// double dy = -(circle_center_point.y - 240 - 22);
//四号车
double dx = -(circle_center_point.x - 320 - 7);
double dy = -(circle_center_point.y - 240 - 64);
center_delta_yaw = static_cast<float>(atan(dx / FOCUS_PIXAL) * 180 / PI);
center_delta_pitch = static_cast<float>(atan(dy / FOCUS_PIXAL) * 180 / PI);
if (abs(center_delta_yaw) > 0.3 || abs(center_delta_pitch) > 0.3) {
// cout << "origin not get!" << endl;
// cout << center_delta_yaw << '\t' << center_delta_pitch << endl;
sendTarget(serial, center_delta_yaw, center_delta_pitch, 0);
return false;
} else {
origin_yaw = mcuData.curr_yaw;
origin_pitch = mcuData.curr_pitch;
auto_mark = true;
sendTarget(serial, center_delta_yaw, center_delta_pitch, true);
sendTarget(serial, center_delta_yaw, center_delta_pitch, 1);
LOGM(STR_CTR(WORD_BLUE_CODE, "auto mark success!"));
return true;
}

39
energy/src/energy/judge/judge_contour.cpp
View File

@@ -27,6 +27,7 @@ bool Energy::isValidFanContour(cv::Mat &src, const vector<cv::Point> &fan_contou
if (length < energy_part_param_.FAN_CONTOUR_LENGTH_MIN || width < energy_part_param_.FAN_CONTOUR_WIDTH_MIN ||
length > energy_part_param_.FAN_CONTOUR_LENGTH_MAX || width > energy_part_param_.FAN_CONTOUR_WIDTH_MAX) {
//cout<<"length width fail."<<endl;
// cout << "length: " << length << '\t' << "width: " << width << '\t' << cur_rect.center << endl;
return false;
//矩形边长不合适
}
@@ -34,12 +35,14 @@ bool Energy::isValidFanContour(cv::Mat &src, const vector<cv::Point> &fan_contou
if (length_width_ratio > energy_part_param_.FAN_CONTOUR_HW_RATIO_MAX ||
length_width_ratio < energy_part_param_.FAN_CONTOUR_HW_RATIO_MIN) {
//cout<<"length width ratio fail."<<endl;
// cout << "HW: " << length_width_ratio << '\t' << cur_rect.center << endl;
return false;
//长宽比不合适
}
// cout << cur_contour_area / cur_size.area() << endl;
if (cur_contour_area / cur_size.area() < energy_part_param_.FAN_CONTOUR_AREA_RATIO_MIN) {
// cout << cur_contour_area / cur_size.area() << endl;
// cout << "area ratio: " << cur_contour_area / cur_size.area() << '\t' << cur_rect.center << endl;
return false;//轮廓对矩形的面积占有率不合适
}
double non_zero_rate = nonZeroRateOfRotateRect(src, cur_rect);
@@ -71,6 +74,7 @@ bool Energy::isValidArmorContour(const vector<cv::Point> &armor_contour) {
if (length < energy_part_param_.ARMOR_CONTOUR_LENGTH_MIN || width < energy_part_param_.ARMOR_CONTOUR_WIDTH_MIN ||
length > energy_part_param_.ARMOR_CONTOUR_LENGTH_MAX || width > energy_part_param_.ARMOR_CONTOUR_WIDTH_MAX) {
//cout<<"length width fail."<<endl;
// cout << "length: " << length << '\t' << "width: " << width << '\t' << cur_rect.center << endl;
return false;
//矩形边长不合适
}
@@ -79,11 +83,14 @@ bool Energy::isValidArmorContour(const vector<cv::Point> &armor_contour) {
if (length_width_ratio > energy_part_param_.ARMOR_CONTOUR_HW_RATIO_MAX ||
length_width_ratio < energy_part_param_.ARMOR_CONTOUR_HW_RATIO_MIN) {
//cout<<"length width ratio fail."<<endl;
// cout << "HW: " << length_width_ratio << '\t' << cur_rect.center << endl;
return false;
//长宽比不合适
}
if (cur_contour_area / cur_size.area() < energy_part_param_.ARMOR_CONTOUR_AREA_RATIO_MIN)
if (cur_contour_area / cur_size.area() < energy_part_param_.ARMOR_CONTOUR_AREA_RATIO_MIN) {
// cout << "area ratio: " << cur_contour_area / cur_size.area() << '\t' << cur_rect.center << endl;
return false;//轮廓对矩形的面积占有率不合适
}
return true;
}
@@ -108,6 +115,7 @@ bool Energy::isValidCenterRContour(const vector<cv::Point> &center_R_contour) {
|| length > energy_part_param_.CENTER_R_CONTOUR_LENGTH_MAX ||
width > energy_part_param_.CENTER_R_CONTOUR_WIDTH_MAX) {
//cout<<"length width fail."<<endl;
// cout << "length: " << length << '\t' << "width: " << width << '\t' << cur_rect.center << endl;
return false;
//矩形边长不合适
}
@@ -115,16 +123,19 @@ bool Energy::isValidCenterRContour(const vector<cv::Point> &center_R_contour) {
if (length_width_ratio > energy_part_param_.CENTER_R_CONTOUR_HW_RATIO_MAX ||
length_width_ratio < energy_part_param_.CENTER_R_CONTOUR_HW_RATIO_MIN) {
//cout<<"length width ratio fail."<<endl;
// cout << "HW: " << length_width_ratio << '\t' << cur_rect.center << endl;
return false;
//长宽比不合适
}
if (cur_contour_area / cur_size.area() < energy_part_param_.CENTER_R_CONTOUR_AREA_RATIO_MIN)
if (cur_contour_area / cur_size.area() < energy_part_param_.CENTER_R_CONTOUR_AREA_RATIO_MIN) {
// cout << "area ratio: " << cur_contour_area / cur_size.area() << '\t' << cur_rect.center << endl;
return false;//轮廓对矩形的面积占有率不合适
}
std::vector<cv::Point2f> intersection;
if (rotatedRectangleIntersection(cur_rect, center_ROI, intersection) == 0) {
return false;
} else if (contourArea(intersection) < energy_part_param_.CENTER_R_CONTOUR_INTERSETION_AREA_MIN) {
cout << "R intersection: " << contourArea(intersection) << endl;
// cout << "R intersection: " << contourArea(intersection) << '\t' << cur_rect.center << endl;
return false;
}
return true;
@@ -138,11 +149,12 @@ bool Energy::isValidFlowStripFanContour(cv::Mat &src, const vector<cv::Point> &f
double cur_contour_area = contourArea(flow_strip_fan_contour);
if (cur_contour_area > energy_part_param_.FLOW_STRIP_FAN_CONTOUR_AREA_MAX ||
cur_contour_area < energy_part_param_.FLOW_STRIP_FAN_CONTOUR_AREA_MIN) {
//cout<<cur_contour_area<<" "<<energy_fan_param_.CONTOUR_AREA_MIN<<" "<<energy_fan_param_.CONTOUR_AREA_MAX<<endl;
//cout<<"area fail."<<endl;
// cout << "area: " << cur_contour_area << '\t' << endl;
return false;
//选区面积大小不合适
}
// cout << "area: " << cur_contour_area << endl;
RotatedRect cur_rect = minAreaRect(flow_strip_fan_contour);
Size2f cur_size = cur_rect.size;
float length = cur_size.height > cur_size.width ? cur_size.height : cur_size.width;//将矩形的长边设置为长
@@ -151,21 +163,23 @@ bool Energy::isValidFlowStripFanContour(cv::Mat &src, const vector<cv::Point> &f
|| width < energy_part_param_.FLOW_STRIP_FAN_CONTOUR_WIDTH_MIN
|| length > energy_part_param_.FLOW_STRIP_FAN_CONTOUR_LENGTH_MAX
|| width > energy_part_param_.FLOW_STRIP_FAN_CONTOUR_WIDTH_MAX) {
//cout<<"length width fail."<<endl;
// cout<<"length width fail."<<endl;
// cout << "length: " << length << '\t' << "width: " << width << '\t' << cur_rect.center << endl;
return false;
//矩形边长不合适
}
float length_width_ratio = length / width;//计算矩形长宽比
if (length_width_ratio > energy_part_param_.FLOW_STRIP_FAN_CONTOUR_HW_RATIO_MAX ||
length_width_ratio < energy_part_param_.FLOW_STRIP_FAN_CONTOUR_HW_RATIO_MIN) {
//cout<<"length width ratio fail."<<endl;
// cout << "HW: " << length_width_ratio << '\t' << cur_rect.center << endl;
return false;
//长宽比不合适
}
// cout << cur_contour_area / cur_size.area() << endl;
if (cur_contour_area / cur_size.area() < energy_part_param_.FLOW_STRIP_FAN_CONTOUR_AREA_RATIO_MIN
|| cur_contour_area / cur_size.area() > energy_part_param_.FLOW_STRIP_FAN_CONTOUR_AREA_RATIO_MAX) {
// cout << "area ratio: " << cur_contour_area / cur_size.area() << '\t' << cur_rect.center << endl;
return false;
}
// 轮廓对矩形的面积占有率不合适
@@ -202,21 +216,28 @@ bool Energy::isValidFlowStripContour(const vector<cv::Point> &flow_strip_contour
length > energy_part_param_.FLOW_STRIP_CONTOUR_LENGTH_MAX ||
width > energy_part_param_.FLOW_STRIP_CONTOUR_WIDTH_MAX) {
// cout<<"length width fail."<<endl;
// cout << "length: " << length << '\t' << "width: " << width << '\t' << cur_rect.center << endl;
return false;
//矩形边长不合适
}
// cout << length << '\t' << width << endl;
float length_width_ratio = length / width;//计算矩形长宽比
if (length_width_ratio > energy_part_param_.FLOW_STRIP_CONTOUR_HW_RATIO_MAX ||
length_width_ratio < energy_part_param_.FLOW_STRIP_CONTOUR_HW_RATIO_MIN) {
// cout<<"hw fail."<<endl;
// cout << "HW: " << length_width_ratio << '\t' << cur_rect.center << endl;
return false;
//长宽比不合适
}
if (cur_contour_area / cur_size.area() < energy_part_param_.FLOW_STRIP_CONTOUR_AREA_RATIO_MIN)
if (cur_contour_area / cur_size.area() < energy_part_param_.FLOW_STRIP_CONTOUR_AREA_RATIO_MIN) {
// cout << "area ratio: " << cur_contour_area / cur_size.area() << '\t' << cur_rect.center << endl;
return false;//轮廓对矩形的面积占有率不合适
}
std::vector<cv::Point2f> intersection;
if (rotatedRectangleIntersection(cur_rect, flow_strip_fan, intersection) == 0 ||
contourArea(intersection) < energy_part_param_.FLOW_STRIP_CONTOUR_INTERSETION_AREA_MIN) {
if (rotatedRectangleIntersection(cur_rect, flow_strip_fan, intersection) == 0) {
return false;
} else if (contourArea(intersection) < energy_part_param_.FLOW_STRIP_CONTOUR_INTERSETION_AREA_MIN) {
// cout << "intersection: " << contourArea(intersection) << '\t' << cur_rect.center << endl;
return false;
}
return true;

2
energy/src/energy/judge/judge_mode.cpp
View File

@@ -12,7 +12,7 @@ using namespace cv;
//----------------------------------------------------------------------------------------------------------------------
// 此函数用于判断大小符
// ---------------------------------------------------------------------------------------------------------------------
void Energy::JudgeMode() {
void Energy::judgeMode() {
getRecentTargetArmorCenters();
if (recent_target_armor_centers.size() < 30) {
return;

33
energy/src/energy/judge/judge_shoot.cpp
View File

@@ -4,23 +4,44 @@
#include "energy/energy.h"
#include "log.h"
#include "config/setconfig.h"
using namespace std;
using namespace cv;
//----------------------------------------------------------------------------------------------------------------------
// 此函数用于判断是否可以发弹
// 此函数用于判断世界坐标系下是否可以发弹
// ---------------------------------------------------------------------------------------------------------------------
void Energy::judgeShoot(){
if (abs(yaw_rotation - mcuData.curr_yaw) < 0.3 && fabs(pitch_rotation - mcuData.curr_pitch) < 0.3) {
shoot = true;
void Energy::judgeShootInWorld(){
if (abs(yaw_rotation - mcuData.curr_yaw) < 0.8 && fabs(pitch_rotation - mcuData.curr_pitch) < 0.8) {
shoot = 4;
is_predicting = false;
is_guessing = true;
start_guess = true;
gettimeofday(&time_start_guess, NULL);
LOGM(STR_CTR(WORD_LIGHT_RED, "Start Guessing!"));
} else
shoot = false;
shoot = 2;
}
//----------------------------------------------------------------------------------------------------------------------
// 此函数用于判断云台坐标系下是否可以发弹
// ---------------------------------------------------------------------------------------------------------------------
void Energy::judgeShootInGimbal(){
if (abs(yaw_rotation) < 0.5 && fabs(pitch_rotation) < 0.5) {
shoot = 4;
is_predicting = false;
is_guessing = true;
start_guess = true;
gettimeofday(&time_start_guess, NULL);
// LOGM(STR_CTR(WORD_LIGHT_RED, "Start Guessing!"));
} else
shoot = 2;
sum_yaw += yaw_rotation;
sum_pitch += pitch_rotation;
yaw_rotation = AIM_KP * yaw_rotation + AIM_KI * sum_yaw;
pitch_rotation = AIM_KP * pitch_rotation + AIM_KI * sum_pitch;
}

2
energy/src/energy/judge/judge_time.cpp
View File

@@ -17,5 +17,5 @@ bool Energy::isGuessingTimeout() {
timeval cur_time;
gettimeofday(&cur_time, NULL);
return (cur_time.tv_sec - time_start_guess.tv_sec) * 1000.0 +
(cur_time.tv_usec - time_start_guess.tv_usec) / 1000.0 > 500;
(cur_time.tv_usec - time_start_guess.tv_usec) / 1000.0 > 1000;
};

99
energy/src/energy/run.cpp
View File

@@ -12,16 +12,15 @@ using namespace cv;
//----------------------------------------------------------------------------------------------------------------------
// 此函数为能量机关模式主控制流函数，且步兵需要同时拥有云台摄像头和底盘摄像头
// ---------------------------------------------------------------------------------------------------------------------
void Energy::run(cv::Mat &gimbal_src, cv::Mat &chassis_src) {
void Energy::runBig(cv::Mat &gimbal_src, cv::Mat &chassis_src) {
if (chassis_src.empty())
run(gimbal_src);//仅拥有云台摄像头则调用单摄像头的run函数
runBig(gimbal_src);//仅拥有云台摄像头则调用单摄像头的run函数
else if (is_gimbal) {
// energy_part_param_ = chassis_energy_part_param_;
energy_part_param_ = gimbal_energy_part_param_;
clearAll();
initImage(gimbal_src);
findFans(gimbal_src);
showFans("fan",gimbal_src);
// findFans(gimbal_src);
// showFans("fan",gimbal_src);
if (findArmors(gimbal_src) < 1)return;
if (show_energy)showArmors("armor", gimbal_src);
@@ -37,7 +36,6 @@ void Energy::run(cv::Mat &gimbal_src, cv::Mat &chassis_src) {
initEnergy();
destroyAllWindows();
} else if (is_chassis) {
// energy_part_param_ = chassis_energy_part_param_;
energy_part_param_ = chassis_energy_part_param_;
clearAll();
initImage(chassis_src);
@@ -47,7 +45,8 @@ void Energy::run(cv::Mat &gimbal_src, cv::Mat &chassis_src) {
if (findArmors(chassis_src) < 1)return;
if (show_energy)showArmors("armor", chassis_src);
if (!findFlowStripFan(chassis_src)) return;
if (!findFlowStripFan(chassis_src))return;
showFlowStripFan("flow strip fan", chassis_src);
if (!findTargetInFlowStripFan()) return;
if (!findCenterROI(chassis_src))return;
if (show_energy)showFlowStripFan("strip", chassis_src);
@@ -55,27 +54,14 @@ void Energy::run(cv::Mat &gimbal_src, cv::Mat &chassis_src) {
if (show_energy)showCenterR("R", chassis_src);
getTargetPolarAngle();
changeTarget();
JudgeMode();
if (energy_mode_init)return;
if (is_big && energy_rotation_init) {
initRotation();
return;
}
if (is_predicting) {
getPredictPoint(target_point);
gimbalRotation();
judgeShoot();
sendTarget(serial, yaw_rotation, pitch_rotation, shoot);
} else if (is_guessing && stayGuessing()) {
findFans(chassis_src);
if (show_energy)showFans("fans", chassis_src);
if (save_mark)writeDownMark();
if (!guessTarget()) return;
if (show_energy)showGuessTarget("guess", chassis_src);
getPredictPoint(guess_point);
gimbalRotation();
sendTarget(serial, yaw_rotation, pitch_rotation, false);
}
judgeShootInWorld();
sendTarget(serial, yaw_rotation, pitch_rotation, change_target);
}
}
@@ -83,7 +69,7 @@ void Energy::run(cv::Mat &gimbal_src, cv::Mat &chassis_src) {
//----------------------------------------------------------------------------------------------------------------------
// 此函数为能量机关模式主控制流函数，且步兵仅拥有云台摄像头
// ---------------------------------------------------------------------------------------------------------------------
void Energy::run(cv::Mat &gimbal_src) {
void Energy::runBig(cv::Mat &gimbal_src) {
energy_part_param_ = gimbal_energy_part_param_;
clearAll();
initImage(gimbal_src);
@@ -102,26 +88,57 @@ void Energy::run(cv::Mat &gimbal_src) {
if (show_energy)showCenterR("R", gimbal_src);
changeTarget();
getTargetPolarAngle();
JudgeMode();
if (energy_mode_init)return;
if (!getOrigin())return;
if (is_big && energy_rotation_init) {
// if (!getOrigin())return;
if (energy_rotation_init) {
initRotation();
return;
}
if (is_predicting) {
getPredictPoint(target_point);
gimbalRotation();
judgeShoot();
sendTarget(serial, yaw_rotation, pitch_rotation, shoot);
} else if (is_guessing && stayGuessing()) {
findFans(gimbal_src);
if (show_energy)showFans("fans", gimbal_src);
if (save_mark)writeDownMark();
guessTarget();
if (show_energy)showGuessTarget("guess", gimbal_src);
getPredictPoint(guess_point);
gimbalRotation();
sendTarget(serial, yaw_rotation, pitch_rotation, false);
}
getAimPoint(predict_point);
judgeShootInGimbal();
sendTarget(serial, yaw_rotation, pitch_rotation, change_target);
}
//----------------------------------------------------------------------------------------------------------------------
// 此函数为小能量机关模式主控制流函数，击打小符只需要拥有云台摄像头
// ---------------------------------------------------------------------------------------------------------------------
void Energy::runSmall(cv::Mat &gimbal_src) {
energy_part_param_ = gimbal_energy_part_param_;
clearAll();
initImage(gimbal_src);
if (show_process)imshow("bin", gimbal_src);
if (findArmors(gimbal_src) < 1)return;
if (show_energy)showArmors("armor", gimbal_src);
if (!findFlowStripFan(gimbal_src))return;
if (!findTargetInFlowStripFan()) return;
// if (!findCenterROI(gimbal_src))return;
// if (show_energy)showFlowStripFan("strip", gimbal_src);
// if (!findCenterR(gimbal_src))return;
// if (show_energy)showCenterR("R", gimbal_src);
changeTarget();
getAimPoint(target_point);
judgeShootInGimbal();
sendTarget(serial, yaw_rotation, pitch_rotation, change_target);
}
//if (is_predicting) {
//getPredictPoint(target_point);
//getAimPoint(predict_point);
//cout << yaw_rotation << '\t' << pitch_rotation << endl;
//judgeShootInGimbal();
//sendTarget(serial, yaw_rotation, pitch_rotation, shoot);
//} else if (is_guessing && stayGuessing()) {
//findFans(gimbal_src);
//if (show_energy)showFans("fans", gimbal_src);
//if (save_mark)writeDownMark();
//guessTarget();
//if (show_energy)showGuessTarget("guess", gimbal_src);
//getPredictPoint(guess_point);
//getAimPoint(predict_point);
//sendTarget(serial, yaw_rotation, pitch_rotation, 5);
//}

61
energy/src/energy/send/send.cpp
View File

@@ -7,14 +7,25 @@
using namespace std;
//----------------------------------------------------------------------------------------------------------------------
// 此函数用于发送数据给主控板
// ---------------------------------------------------------------------------------------------------------------------
void Energy::sendTarget(Serial& serial, float x, float y, float z){
static short x_tmp, y_tmp, z_tmp;
uint8_t buff[8];
short x_tmp, y_tmp, z_tmp;
uint8_t buff[10];
#ifdef WITH_COUNT_FPS
static auto last_time = time(nullptr);
static int fps = 0;
time_t t = time(nullptr);
if (last_time != t) {
last_time = t;
cout << "fps:" << fps << ", (" << x << "," << y << "," << z << ")" << endl;
fps = 0;
}
fps += 1;
#endif
x_tmp = static_cast<short>(x * (32768 - 1) / 100);
y_tmp = static_cast<short>(y * (32768 - 1) / 100);
z_tmp = static_cast<short>(z * (32768 - 1) / 100);
@@ -25,7 +36,47 @@ void Energy::sendTarget(Serial& serial, float x, float y, float z){
buff[4] = static_cast<char>((y_tmp >> 0) & 0xFF);
buff[5] = static_cast<char>((z_tmp >> 8) & 0xFF);
buff[6] = static_cast<char>((z_tmp >> 0) & 0xFF);
buff[7] = 'e';
buff[9] = 'e';
serial.WriteData(buff, sizeof(buff));
send_cnt+=1;
// LOGM(STR_CTR(WORD_LIGHT_PURPLE, "send"));
}
//----------------------------------------------------------------------------------------------------------------------
// 此函数用于发送数据给主控板
// ---------------------------------------------------------------------------------------------------------------------
void Energy::sendTarget(Serial& serial, float x, float y, float z, uint16_t u){
short x_tmp, y_tmp, z_tmp;
uint8_t buff[10];
#ifdef WITH_COUNT_FPS
static auto last_time = time(nullptr);
static int fps = 0;
time_t t = time(nullptr);
if (last_time != t) {
last_time = t;
cout << "fps:" << fps << ", (" << x << "," << y << "," << z << ")" << endl;
fps = 0;
}
fps += 1;
#endif
x_tmp = static_cast<short>(x * (32768 - 1) / 100);
y_tmp = static_cast<short>(y * (32768 - 1) / 100);
z_tmp = static_cast<short>(z * (32768 - 1) / 100);
buff[0] = 's';
buff[1] = static_cast<char>((x_tmp >> 8) & 0xFF);
buff[2] = static_cast<char>((x_tmp >> 0) & 0xFF);
buff[3] = static_cast<char>((y_tmp >> 8) & 0xFF);
buff[4] = static_cast<char>((y_tmp >> 0) & 0xFF);
buff[5] = static_cast<char>((z_tmp >> 8) & 0xFF);
buff[6] = static_cast<char>((z_tmp >> 0) & 0xFF);
buff[7] = static_cast<char>((u >> 8) & 0xFF);
buff[8] = static_cast<char>((u >> 0) & 0xFF);;
buff[9] = 'e';
serial.WriteData(buff, sizeof(buff));
send_cnt+=1;
// LOGM(STR_CTR(WORD_LIGHT_PURPLE, "send"));

1
energy/src/energy/tool/tool.cpp
View File

@@ -43,7 +43,6 @@ void Energy::stretch(cv::Point point_1, cv::Point2f &point_2) {
double x_0 = point_1.x - circle_center_point.x;
double y_0 = point_1.y - circle_center_point.y;
double r_0 = sqrt(pow(x_0, 2) + pow(y_0, 2));
point_2.x = static_cast<float >( ARMOR_CENTER_TO_CYCLE_CENTER * x_0 / r_0);
point_2.y = static_cast<float >( ARMOR_CENTER_TO_CYCLE_CENTER * y_0 / r_0);
}

39
main.cpp
View File

@@ -33,7 +33,7 @@ mcu_data mcuData = { // 单片机端回传结构体
ARMOR_STATE, // 当前状态，自瞄-大符-小符
0, // 云台角度标记位
1, // 是否启用数字识别
ENEMY_BLUE, // 敌方颜色
ENEMY_RED, // 敌方颜色
};
WrapperHead *video_gimbal = nullptr; // 云台摄像头视频源
@@ -61,11 +61,11 @@ int main(int argc, char *argv[]) {
while (true) {
// 打开视频源
if (from_camera) {
video_gimbal = new CameraWrapper(0/*, "armor"*/);
video_chassis = new CameraWrapper(1/*, "energy"*/);
video_gimbal = new CameraWrapper(ARMOR_CAMERA_GAIN, 0/*, "armor"*/);
video_chassis = new CameraWrapper(ENERGY_CAMERA_GAIN, 0/*, "energy"*/);
} else {
video_gimbal = new VideoWrapper("/home/sun/项目/energy_video/gimble3.avi");
video_chassis = new VideoWrapper("/home/sun/项目/energy_video/gimble3.avi");
video_gimbal = new VideoWrapper("/home/sun/项目/energy_video/gimbal132.avi");
video_chassis = new VideoWrapper("/home/sun/项目/energy_video/gimbal132.avi");
}
if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully.");
@@ -95,7 +95,13 @@ int main(int argc, char *argv[]) {
if (mcuData.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
destroyAllWindows();
((CameraWrapper *) video_gimbal)->changeBrightness(ENERGY_CAMERA_GAIN);
delete video_gimbal;
video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 0/*, "armor"*/);
if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully.");
} else {
LOGW("video_gimbal source unavailable!");
}
energy.setBigEnergyInit();
checkReconnect(video_chassis->read(chassis_src));
#ifdef CHASSIS_FLIP_MODE
@@ -111,11 +117,18 @@ int main(int argc, char *argv[]) {
if (save_video) saveVideos(gimbal_src, chassis_src);//保存视频
if (show_origin) showOrigin(gimbal_src, chassis_src);//显示原始图像
energy.runBig(gimbal_src, chassis_src);
// energy.runBig(gimbal_src);
last_state = mcuData.state;//更新上一帧状态
} else if (mcuData.state == SMALL_ENERGY_STATE) {
if (mcuData.state != SMALL_ENERGY_STATE) {
destroyAllWindows();
((CameraWrapper *) video_gimbal)->changeBrightness(ENERGY_CAMERA_GAIN);
delete video_gimbal;
video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 0/*, "armor"*/);
if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully.");
} else {
LOGW("video_gimbal source unavailable!");
}
energy.setSmallEnergyInit();
}
ok = checkReconnect(video_gimbal->read(gimbal_src));
@@ -130,7 +143,13 @@ int main(int argc, char *argv[]) {
} else { // 自瞄模式
if (last_state != ARMOR_STATE) {
destroyAllWindows();
((CameraWrapper *) video_gimbal)->changeBrightness(ARMOR_CAMERA_GAIN);
delete video_gimbal;
video_gimbal = new CameraWrapper(ARMOR_CAMERA_GAIN, 0/*, "armor"*/);
if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully.");
} else {
LOGW("video_gimbal source unavailable!");
}
}
last_state = mcuData.state;
ok = checkReconnect(video_gimbal->read(gimbal_src));
@@ -138,13 +157,13 @@ int main(int argc, char *argv[]) {
flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
#endif
if (!from_camera) extract(gimbal_src);
if (save_video) saveVideos(gimbal_src);
// if (save_video) saveVideos(gimbal_src);
if (show_origin) showOrigin(gimbal_src);
CNT_TIME("Armor Time", {
armorFinder.run(gimbal_src);
});
}
// cv::waitKey(1);
// cv::waitKey(0);
// });
} while (ok);
delete video_gimbal;

6
others/include/camera/camera_wrapper.h
View File

@@ -38,9 +38,10 @@ private:
IplImage* iplImage;
int channel;
public:
CameraWrapper(int camera_mode=1, const std::string &n="NULL");
int gain;
CameraWrapper(int gain, int camera_mode=1, const std::string &n="NULL");
~CameraWrapper() final;
bool init() final;
@@ -48,6 +49,7 @@ public:
bool readRaw(cv::Mat& src);
bool readProcessed(cv::Mat& src);
bool changeBrightness(int brightness);
// bool once
};

24
others/include/config/setconfig.h
View File

@@ -12,27 +12,41 @@
#define CAMERA_EXPOSURE (10)
#endif
#ifndef CAMERA_BLUE_GAIN
#define CAMERA_BLUE_GAIN (100)
#ifndef CAMERA_RED_GAIN
#define CAMERA_RED_GAIN (100)
#endif
#ifndef CAMERA_GREEN_GAIN
#define CAMERA_GREEN_GAIN (100)
#endif
#ifndef CAMERA_RED_GAIN
#define CAMERA_RED_GAIN (100)
#ifndef CAMERA_BLUE_GAIN
#define CAMERA_BLUE_GAIN (100)
#endif
#ifndef ARMOR_CAMERA_GAIN
#define ARMOR_CAMERA_GAIN (30)
#endif
#ifndef ENERGY_CAMERA_GAIN
#define ENERGY_CAMERA_GAIN (20)
#endif
#ifndef AIM_KP
#define AIM_KP (6)
#endif
#ifndef AIM_KI
#define AIM_KI (0.1)
#endif
#ifndef COMPENSATE_YAW
#define COMPENSATE_YAW (5)
#endif
#ifndef COMPENSATE_PITCH
#define COMPENSATE_PITCH (74)
#endif
//#define GIMBAL_FLIP_MODE (-1)
//#define CHASSIS_FLIP_MODE (-1)
//#define WITH_TIME_BASED_CAMERA_GAIN
#define WITH_COUNT_FPS
#endif /* SETCONFIG_H */

39
others/src/additions/additions.cpp
View File

@@ -30,27 +30,27 @@ extern ArmorFinder armorFinder;
extern Energy energy;
void uartReceive(Serial *pSerial) {
char buffer[20];
int cnt = 0;
char buffer[30];
LOGM(STR_CTR(WORD_LIGHT_WHITE, "data receive start!"));
while (true) {
char byte = 0;
memset(buffer, 0, sizeof(buffer));
while (pSerial->ReadData((uint8_t *) &byte, 1) && byte != '\n') {
buffer[cnt++] = byte;
if (cnt >= sizeof(buffer)) {
// LOGE("data receive over flow!");
cnt = 0;
}
}
if (cnt == 0 && byte == '\n') {
// LOGM("%d", cnt);
}
if (cnt == sizeof(mcuData)) {
pSerial->ReadData((uint8_t *) buffer, sizeof(mcuData)+1);
if (buffer[sizeof(mcuData)] == '\n') {
memcpy(&mcuData, buffer, sizeof(mcuData));
// LOGM("Get, state:%c, mark:%d!", mcuData.state, (int) mcuData.mark);
// LOGM("Get yaw: %f, pitch: %f!", mcuData.curr_yaw, mcuData.curr_pitch);
// static int t = time(nullptr);
// static int cnt = 0;
// if(time(nullptr) > t){
// t = time(nullptr);
// LOGM("fps:%d", cnt);
// cnt = 0;
// }else{
// cnt++;
// }
}else{
// LOGW("corrupt data!");
}
cnt = 0;
}
}
@@ -75,13 +75,15 @@ cv::VideoWriter initVideoWriter(const std::string &filename_prefix) {
bool checkReconnect(bool is_camera_0_connect, bool is_camera_1_connect) {
if (!is_camera_0_connect) {
int curr_gain = ((CameraWrapper* )video_gimbal)->gain;
delete video_gimbal;
video_gimbal = new CameraWrapper(0, "armor");
video_gimbal = new CameraWrapper(curr_gain, 0/*, "armor"*/);
is_camera_0_connect = video_gimbal->init();
}
if (!is_camera_1_connect) {
int curr_gain = ((CameraWrapper* )video_gimbal)->gain;
delete video_chassis;
video_chassis = new CameraWrapper(1, "energy");
video_chassis = new CameraWrapper(curr_gain, 0/*, "energy"*/);
is_camera_1_connect = video_chassis->init();
}
return is_camera_0_connect && is_camera_1_connect;
@@ -89,8 +91,9 @@ bool checkReconnect(bool is_camera_0_connect, bool is_camera_1_connect) {
bool checkReconnect(bool is_camera_connect) {
if (!is_camera_connect) {
int curr_gain = ((CameraWrapper* )video_gimbal)->gain;
delete video_gimbal;
video_gimbal = new CameraWrapper(0, "armor");
video_gimbal = new CameraWrapper(curr_gain, 0/*, "armor"*/);
is_camera_connect = video_gimbal->init();
}
return is_camera_connect;

72
others/src/camera/camera_wrapper.cpp
View File

@@ -13,43 +13,44 @@ using std::cout;
using std::endl;
using namespace cv;
CameraWrapper::CameraWrapper(int camera_mode, const std::string &n):
CameraWrapper::CameraWrapper(int gain, int camera_mode, const std::string &n) :
name(n),
mode(camera_mode),
camera_cnts(2),
camera_status(-1),
iplImage(nullptr),
rgb_buffer(nullptr),
channel(3){
channel(3),
gain(gain){
}
bool CameraWrapper::init() {
CameraSdkInit(1);
int camera_enumerate_device_status = CameraEnumerateDevice(camera_enum_list, &camera_cnts);
if(camera_enumerate_device_status != CAMERA_STATUS_SUCCESS){
if (camera_enumerate_device_status != CAMERA_STATUS_SUCCESS) {
LOGE("CameraEnumerateDevice fail with %d!", camera_enumerate_device_status);
}
if (camera_cnts == 0) {
LOGE("No camera device detected!");
return false;
}else if(camera_cnts >= 1){
} else if (camera_cnts >= 1) {
LOGM("%d camera device detected!", camera_cnts);
}
int i;
for(i=0; i<camera_cnts; i++){
for (i = 0; i < camera_cnts; i++) {
camera_status = CameraInit(&camera_enum_list[i], -1, -1, &h_camera);
if (camera_status != CAMERA_STATUS_SUCCESS) {
CameraUnInit(h_camera);
continue;
}
CameraGetFriendlyName(h_camera, camera_name);
if(name=="NULL" || strcmp(name.data(), camera_name)==0){
if (name == "NULL" || strcmp(name.data(), camera_name) == 0) {
break;
}
CameraUnInit(h_camera);
}
if(i >= camera_cnts){
if (i >= camera_cnts) {
LOGE("No device name %s or device open error!!", name.data());
return false;
}
@@ -60,7 +61,7 @@ bool CameraWrapper::init() {
return false;
}
rgb_buffer = (unsigned char *)malloc(tCapability.sResolutionRange.iHeightMax *
rgb_buffer = (unsigned char *) malloc(tCapability.sResolutionRange.iHeightMax *
tCapability.sResolutionRange.iWidthMax * 3);
#ifdef Windows
char filepath[200];
@@ -76,10 +77,37 @@ bool CameraWrapper::init() {
LOGM("successfully loaded %s!", filepath);
#elif defined(Linux)
CameraSetAeState(h_camera, false);
CameraSetExposureTime(h_camera, CAMERA_EXPOSURE*1000);
CameraSetAnalogGain(h_camera, ARMOR_CAMERA_GAIN);
if(mode == 0){
CameraSetGain(h_camera, CAMERA_BLUE_GAIN, CAMERA_GREEN_GAIN, CAMERA_RED_GAIN);
CameraSetExposureTime(h_camera, CAMERA_EXPOSURE * 1000);
#ifndef WITH_TIME_BASED_CAMERA_GAIN
CameraSetAnalogGain(h_camera, gain);
#else
#include <sys/time.h>
timeval tv;
int gain;
gettimeofday(&tv, nullptr);
float hour = (tv.tv_sec % (3600 * 24)) / 3600.0;
if (6 <= hour && hour < 10) {
gain = 20;
LOGM("Set gain to morning 20");
} else if (10 <= hour && hour < 16) {
gain = 10;
LOGM("Set gain to day 10");
} else if (16 <= hour && hour < 17) {
gain = 20;
LOGM("Set gain to early evening 20");
} else if (17 <= hour && hour < 18) {
gain = 40;
LOGM("Set gain to evening 40");
} else {
gain = 50;
LOGM("Set gain to early night 50");
}
CameraSetAnalogGain(h_camera, gain);
#endif
if (mode == 0) {
CameraSetGain(h_camera, CAMERA_RED_GAIN, CAMERA_GREEN_GAIN, CAMERA_BLUE_GAIN);
CameraSetLutMode(h_camera, LUTMODE_PRESET);
}
#endif
@@ -111,16 +139,17 @@ bool CameraWrapper::init() {
}
bool CameraWrapper::changeBrightness(int brightness) {
CameraUnInit(h_camera);
CameraSetAnalogGain(h_camera, brightness);
}
bool CameraWrapper::read(cv::Mat& src) {
if(mode==0)return readProcessed(src);
if(mode==1)return readRaw(src);
bool CameraWrapper::read(cv::Mat &src) {
if (mode == 0)return readProcessed(src);
if (mode == 1)return readRaw(src);
}
bool CameraWrapper::readRaw(cv::Mat &src) {
if (CameraGetImageBuffer(h_camera, &frame_info, &pby_buffer, 1000) == CAMERA_STATUS_SUCCESS){
if (CameraGetImageBuffer(h_camera, &frame_info, &pby_buffer, 1000) == CAMERA_STATUS_SUCCESS) {
if (iplImage) {
cvReleaseImageHeader(&iplImage);
}
@@ -144,8 +173,9 @@ bool CameraWrapper::readRaw(cv::Mat &src) {
bool CameraWrapper::readProcessed(cv::Mat &src) {
// cerr << "Get-1" << endl;
if (CameraGetImageBuffer(h_camera, &frame_info, &pby_buffer, 1000) == CAMERA_STATUS_SUCCESS){
CameraImageProcess(h_camera, pby_buffer, rgb_buffer, &frame_info); // this function is super slow, better not to use it.
if (CameraGetImageBuffer(h_camera, &frame_info, &pby_buffer, 1000) == CAMERA_STATUS_SUCCESS) {
CameraImageProcess(h_camera, pby_buffer, rgb_buffer,
&frame_info); // this function is super slow, better not to use it.
if (iplImage) {
cvReleaseImageHeader(&iplImage);
}
@@ -162,11 +192,9 @@ bool CameraWrapper::readProcessed(cv::Mat &src) {
}
}
CameraWrapper::~CameraWrapper()
{
CameraWrapper::~CameraWrapper() {
CameraUnInit(h_camera);
//注意，先反初始化后再free
if(rgb_buffer != nullptr)
if (rgb_buffer != nullptr)
free(rgb_buffer);
}

6
others/src/serial/serial.cpp
View File

@@ -191,7 +191,7 @@ Serial::Serial(int nSpeed, char nEvent, int nBits, int nStop) :
nSpeed(nSpeed), nEvent(nEvent), nBits(nBits), nStop(nStop) {
if (wait_uart) {
LOGM("Wait for serial be ready!");
while (InitPort(nSpeed, nEvent, nBits, nStop) == false);
while (!InitPort(nSpeed, nEvent, nBits, nStop));
LOGM("Port set successfully!");
} else {
if (InitPort(nSpeed, nEvent, nBits, nStop)) {
@@ -234,7 +234,7 @@ bool Serial::WriteData(const unsigned char *pData, unsigned int length) {
return false;
}
while ((curr = write(fd, pData + cnt, length - cnt)) > 0 && (cnt += curr) < length);
if (cnt < 0) {
if (curr < 0) {
LOGE("Serial offline!");
close(fd);
if (wait_uart) {
@@ -248,7 +248,7 @@ bool Serial::WriteData(const unsigned char *pData, unsigned int length) {
bool Serial::ReadData(unsigned char *buffer, unsigned int length) {
int cnt = 0, curr = 0;
while ((curr = read(fd, buffer + cnt, length - cnt)) > 0 && (cnt += curr) < length);
if (cnt < 0) {
if (curr < 0) {
LOGE("Serial offline!");
close(fd);
if (wait_uart) {

16
tools/TrainCNN/backward.py
View File

@@ -54,16 +54,14 @@ def save_para(folder, paras):
save_bias(fp, paras[7])
STEPS = 10000
BATCH = 30
LEARNING_RATE_BASE = 0.005
STEPS = 100000
BATCH = 50
LEARNING_RATE_BASE = 0.001
LEARNING_RATE_DECAY = 0.99
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])
keep_rate = tf.placeholder(tf.float32)
@@ -103,11 +101,12 @@ def train(dataset, show_bar=False):
_, loss_value, step = sess.run(
[train_op, loss, global_step],
feed_dict={x: images_samples, y_: labels_samples, keep_rate:0.5}
feed_dict={x: images_samples, y_: labels_samples, keep_rate:0.3}
)
if i % 100 == 0:
if i % 1000 == 0:
if i % 500 == 0:
test_images, test_labels = dataset.sample_test_sets(10000)
acc = sess.run(accuracy, feed_dict={x: test_images, y_: test_labels, keep_rate:1.0})
bar.set_postfix({"loss": loss_value, "acc": acc})
@@ -116,6 +115,9 @@ def train(dataset, show_bar=False):
vars_val = sess.run(vars)
save_para("/home/xinyang/Workspace/RM_auto-aim/tools/para", vars_val)
print("save done!")
# pred = sess.run(y, feed_dict={x: test_images, keep_rate:1.0})
# nodes_val = sess.run(nodes, feed_dict={x:test_images})
# return vars_val, nodes_val
DevList = mvsdk.CameraEnumerateDevice()

4
tools/TrainCNN/forward.py
View File

@@ -35,10 +35,10 @@ CONV1_OUTPUT_CHANNELS = 6
CONV2_KERNAL_SIZE = 3
# 第二层卷积输出通道数
CONV2_OUTPUT_CHANNELS = 10
CONV2_OUTPUT_CHANNELS = 12
# 第一层全连接宽度
FC1_OUTPUT_NODES = 16
FC1_OUTPUT_NODES = 30
# 第二层全连接宽度（输出标签类型数）
FC2_OUTPUT_NODES = 15

11
tools/TrainCNN/generate.py
View File

@@ -40,7 +40,7 @@ class DataSet:
files = os.listdir(dir)
for file in tqdm(files, postfix={"loading id": i}, dynamic_ncols=True):
if file[-3:] == "jpg":
if random.random() > 0.2:
if random.random() > 0.7:
self.train_samples.append(self.file2nparray("%s/%s" % (dir, file)))
self.train_labels.append(self.id2label(i))
else:
@@ -61,6 +61,15 @@ 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[:]

2
tools/create-startup.sh
View File

@@ -2,5 +2,5 @@
echo "#!/bin/bash" > $2/startup-run
echo "$1/tools/auto-pull.sh" >> $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
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
chmod +x $2/startup-run

12
tools/para/conv1_b
View File

@@ -1,7 +1,7 @@
6
-0.012731806
-0.68924344
1.0428871
0.09240551
0.87806237
-0.51778877
-0.20627302
1.6024942
1.7967451
1.4466392
-0.098023266
-0.006771178

900
tools/para/conv1_w
View File

@@ -2,453 +2,453 @@
6
5
5
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0.8291312
0.9157011
0.8058578
0.6174977
0.3349475
0.93871576
1.0840453
0.9012157
0.6562343
0.28151926
0.8399793
0.9920022
0.64904636
0.6055482
0.15666491
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