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Merge branch 'master' of https://github.com/lloi7/RM_auto-aim

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# Conflicts:
#	main.cpp
This commit is contained in:
sun
2019-07-09 13:59:02 +08:00
parent 6d06b4bf5c 3777a268b9
commit 8866f43b56
29 changed files with 12997 additions and 13089 deletions
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12
CMakeLists.txt
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@@ -1,17 +1,11 @@
CMAKE_MINIMUM_REQUIRED(VERSION 3.5) CMAKE_MINIMUM_REQUIRED(VERSION 3.5)
PROJECT(AutoAim) PROJECT(SJTU-RM-CV)
SET(CMAKE_CXX_STANDARD 11) SET(CMAKE_CXX_STANDARD 11)
SET(CMAKE_BUILD_TYPE RELEASE) SET(CMAKE_BUILD_TYPE RELEASE)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3") SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3")
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DPATH=\"\\\"${PROJECT_SOURCE_DIR}\\\"\"") SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DPATH=\"\\\"${PROJECT_SOURCE_DIR}\\\"\"")
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -D${CMAKE_SYSTEM_NAME}") SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -D${CMAKE_SYSTEM_NAME}")
# Todo
## 使用编译期固定选项，以略微提升性能。
#SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DFIX_OPTIONS")
## 固定使用相机运行
#SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DRUN_WITH_CAMERA")
SET(BIN_NAME "run") SET(BIN_NAME "run")
FIND_PROGRAM(CCACHE_FOUND ccache) FIND_PROGRAM(CCACHE_FOUND ccache)
@@ -21,7 +15,6 @@ IF(CCACHE_FOUND)
MESSAGE("< Use ccache for compiler >") MESSAGE("< Use ccache for compiler >")
ENDIF() ENDIF()
FIND_PACKAGE(Eigen3 REQUIRED) FIND_PACKAGE(Eigen3 REQUIRED)
FIND_PACKAGE(OpenCV 3 REQUIRED) FIND_PACKAGE(OpenCV 3 REQUIRED)
FIND_PACKAGE(Threads) FIND_PACKAGE(Threads)
@@ -34,7 +27,7 @@ INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR}/armor/include)
INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR}/others/include) INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR}/others/include)
FILE(GLOB_RECURSE sourcefiles "others/src/*.cpp" "energy/src/*cpp" "armor/src/*.cpp") FILE(GLOB_RECURSE sourcefiles "others/src/*.cpp" "energy/src/*cpp" "armor/src/*.cpp")
ADD_EXECUTABLE(${BIN_NAME} main.cpp ${sourcefiles} ) ADD_EXECUTABLE(${BIN_NAME} main.cpp ${sourcefiles} others/include/constants.h)
TARGET_LINK_LIBRARIES(${BIN_NAME} ${CMAKE_THREAD_LIBS_INIT}) TARGET_LINK_LIBRARIES(${BIN_NAME} ${CMAKE_THREAD_LIBS_INIT})
TARGET_LINK_LIBRARIES(${BIN_NAME} ${OpenCV_LIBS}) TARGET_LINK_LIBRARIES(${BIN_NAME} ${OpenCV_LIBS})
@@ -52,3 +45,4 @@ ELSE ()
ENDIF() ENDIF()
ADD_CUSTOM_TARGET(create-startup COMMAND "${PROJECT_SOURCE_DIR}/tools/create-startup.sh" "${PROJECT_SOURCE_DIR}" "${CMAKE_BINARY_DIR}") ADD_CUSTOM_TARGET(create-startup COMMAND "${PROJECT_SOURCE_DIR}/tools/create-startup.sh" "${PROJECT_SOURCE_DIR}" "${CMAKE_BINARY_DIR}")
ADD_CUSTOM_TARGET(train-cnn COMMAND "gnome-terminal" "--" "bash" "-c" "${PROJECT_SOURCE_DIR}/tools/TrainCNN/backward.py")

83
armor/include/armor_finder/armor_finder.h
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@@ -5,61 +5,62 @@
#ifndef _ARMOR_FINDER_H_ #ifndef _ARMOR_FINDER_H_
#define _ARMOR_FINDER_H_ #define _ARMOR_FINDER_H_
#include <map>
#include <constants.h>
#include <opencv2/core.hpp> #include <opencv2/core.hpp>
#include <opencv2/tracking.hpp> #include <opencv2/tracking.hpp>
#include <serial/serial.h> #include <serial/serial.h>
#include <armor_finder/classifier/classifier.h> #include <armor_finder/classifier/classifier.h>
#include "additions/additions.h" #include <additions/additions.h>
class ArmorFinder{
public:
ArmorFinder(uint8_t &color, Serial &u, string paras_folder, const uint8_t &use);
~ArmorFinder() = default;
private:
typedef cv::TrackerKCF TrackerToUse;
typedef enum{
SEARCHING_STATE, TRACKING_STATE, STANDBY_STATE
} State;
const uint8_t &enemy_color;
State state;
cv::Rect2d armor_box;
int boxid;
cv::Ptr<cv::Tracker> tracker;
cv::Mat src_gray;
Classifier classifier;
int contour_area;
Serial &serial;
const uint8_t &use_classifier;
bool stateSearchingTarget(cv::Mat &src);
bool stateTrackingTarget(cv::Mat &src);
bool stateStandBy();
public:
void run(cv::Mat &src);
bool sendBoxPosition();
};
#define BLOB_RED ENEMY_RED #define BLOB_RED ENEMY_RED
#define BLOB_BLUE ENEMY_BLUE #define BLOB_BLUE ENEMY_BLUE
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
/********************* 自瞄类定义 **********************/
class ArmorFinder{
public:
ArmorFinder(uint8_t &color, Serial &u, const string &paras_folder, const uint8_t &use);
~ArmorFinder() = default;
private:
typedef cv::TrackerKCF TrackerToUse; // Tracker类型定义
typedef enum{
SEARCHING_STATE, TRACKING_STATE, STANDBY_STATE
} State; // 自瞄状态枚举定义
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
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）
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
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）
public:
void run(cv::Mat &src); // 自瞄主函数
bool sendBoxPosition(); // 和主控板通讯
};
/******************* 灯条类定义 ***********************/
class LightBlob { class LightBlob {
public: public:
cv::RotatedRect rect; cv::RotatedRect rect; //灯条位置
double length; double length; //灯条长度
uint8_t BlobColor; uint8_t BlobColor; //灯条颜色
LightBlob(cv::RotatedRect &r) : rect(r) { LightBlob(cv::RotatedRect &r) : rect(r) {
length = max(rect.size.height, rect.size.width); length = max(rect.size.height, rect.size.width);
}; };
bool operator<(LightBlob &l2) { return this->rect.center.x < l2.rect.center.x; }
bool operator<=(LightBlob &l2) { return this->rect.center.x <= l2.rect.center.x; }
bool operator>(LightBlob &l2) { return this->rect.center.x > l2.rect.center.x; }
bool operator>=(LightBlob &l2) { return this->rect.center.x >= l2.rect.center.x; }
}; };
#endif /* _ARMOR_FINDER_H_ */ #endif /* _ARMOR_FINDER_H_ */

6
armor/include/show_images/show_images.h
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@@ -6,16 +6,12 @@
#define _SHOW_IMAGES_H_ #define _SHOW_IMAGES_H_
#include <opencv2/core.hpp> #include <opencv2/core.hpp>
#include <opencv2/highgui.hpp>
#include <opencv2/imgproc.hpp>
#include <armor_finder/armor_finder.h> #include <armor_finder/armor_finder.h>
#include <map>
extern std::map<int, string> id2name; //
void showArmorBoxVector(std::string windows_name, const cv::Mat &src, const std::vector<cv::Rect2d> &armor_box); 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 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 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 showArmorBoxClass(std::string window_names, const cv::Mat &src, vector<cv::Rect2d> boxes[10]);
void showCuoWeiDu(const cv::Mat &src, const std::vector<LightBlob> &light_blobs);
#endif /* _SHOW_IMAGES_H_ */ #endif /* _SHOW_IMAGES_H_ */

38
armor/src/armor_finder/armor_finder.cpp
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@@ -8,11 +8,23 @@
#include <opencv2/highgui.hpp> #include <opencv2/highgui.hpp>
#include <armor_finder/armor_finder.h> #include <armor_finder/armor_finder.h>
ArmorFinder::ArmorFinder(uint8_t &color, Serial &u, string paras_folder, const uint8_t &use) : std::map<int, string> id2name = {
{-1, "OO"},{ 0, "NO"},
{ 1, "B1"},{ 2, "B2"},{ 3, "B3"},{ 4, "B4"},{ 5, "B5"},{ 6, "B7"},{ 7, "B8"},
{ 8, "R1"},{ 9, "R2"},{10, "R3"},{11, "R4"},{12, "R5"},{13, "R7"},{14, "R8"},
}; //装甲板id到名称的map
std::map<string, int> name2id = {
{"OO", -1},{"NO", 0},
{"B1", 1},{"B2", 2},{"B3", 3},{"B4", 4},{"B5", 5},{"B7", 6},{"B8", 7},
{"R1", 8},{"R2", 9},{"R3", 10},{"R4", 11},{"R5", 12},{"R7", 13},{"R8", 14},
}; //装甲板名称到id的map
ArmorFinder::ArmorFinder(uint8_t &color, Serial &u, const string &paras_folder, const uint8_t &use) :
serial(u), serial(u),
enemy_color(color), enemy_color(color),
state(STANDBY_STATE), state(STANDBY_STATE),
classifier(std::move(paras_folder)), classifier(paras_folder),
contour_area(0), contour_area(0),
use_classifier(use), use_classifier(use),
boxid(-1) boxid(-1)
@@ -20,28 +32,26 @@ ArmorFinder::ArmorFinder(uint8_t &color, Serial &u, string paras_folder, const u
} }
void ArmorFinder::run(cv::Mat &src) { void ArmorFinder::run(cv::Mat &src) {
static int tracking_cnt = 0; static int tracking_cnt = 0; // 记录追踪帧数，用于定时退出追踪
cv::Mat src_use; cv::Mat src_use = src.clone(); // 实际参与计算的图像对象
src_use = src.clone();
cv::cvtColor(src_use, src_gray, CV_RGB2GRAY);
if(show_armor_box){ if(show_armor_box){ // 根据条件显示当前目标装甲板
showArmorBox("box", src, armor_box, boxid); showArmorBox("box", src, armor_box, boxid);
cv::waitKey(1); cv::waitKey(1);
} }
stateSearchingTarget(src_use); // stateSearchingTarget(src_use);
return; // return;
switch (state){ switch (state){
case SEARCHING_STATE: case SEARCHING_STATE:
if(stateSearchingTarget(src_use)){ if(stateSearchingTarget(src_use)){
if((armor_box & cv::Rect2d(0, 0, 640, 480)) == armor_box) { 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(!classifier && use_classifier){ 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; 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::cvtColor(roi, roi_gray, CV_RGB2GRAY); cv::cvtColor(roi, roi_gray, CV_RGB2GRAY);
cv::threshold(roi_gray, roi_gray, 180, 255, cv::THRESH_BINARY); cv::threshold(roi_gray, roi_gray, 180, 255, cv::THRESH_BINARY);
contour_area = cv::countNonZero(roi_gray); contour_area = cv::countNonZero(roi_gray);
} }
tracker = TrackerToUse::create(); 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_use, armor_box);
state = TRACKING_STATE; state = TRACKING_STATE;
tracking_cnt = 0; tracking_cnt = 0;
@@ -50,7 +60,7 @@ void ArmorFinder::run(cv::Mat &src) {
} }
break; break;
case TRACKING_STATE: case TRACKING_STATE:
if(++tracking_cnt>100 || !stateTrackingTarget(src_use)){ if(++tracking_cnt>100 || !stateTrackingTarget(src_use)){ // 最多追踪100帧图像
state = SEARCHING_STATE; state = SEARCHING_STATE;
LOGM(STR_CTR(WORD_LIGHT_YELLOW ,"into search!")); LOGM(STR_CTR(WORD_LIGHT_YELLOW ,"into search!"));
} }

0
armor/src/armor_finder/state_machine/searching_state/image_process/image_process.cpp → armor/src/armor_finder/searching_state/image_process.cpp
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0
armor/src/armor_finder/state_machine/searching_state/image_process/image_process.h → armor/src/armor_finder/searching_state/image_process.h
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341
armor/src/armor_finder/searching_state/searching_state.cpp Normal file
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@@ -0,0 +1,341 @@
//
// Created by xinyang on 19-3-27.
//
#include <armor_finder/armor_finder.h>
#include <opencv2/highgui.hpp>
#include <show_images/show_images.h>
#include <options/options.h>
#include <log.h>
#include "image_process.h"
typedef std::vector<LightBlob> LightBlobs;
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;
}
/// Todo: 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;
}
///Todo: 性能优化后的函数。(暂时还有点问题)
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>(c, r)) {
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>(c, r)) {
cnt++;
}
}
}
return double(cnt) / rotrect.size.area();
}
static bool isValidLightBlob(const cv::Mat &bin, const cv::RotatedRect &rect) {
return (lw_rate(rect) > 1.8) &&
// (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);
}
static bool findLightBlobs(const cv::Mat &src, LightBlobs &light_blobs) {
static cv::Mat src_gray;
if (src.type() == CV_8UC3) {
cvtColor(src, src_gray, CV_BGR2GRAY);
} else if (src.type() == CV_8UC1) {
src_gray = src.clone();
}
std::vector<std::vector<cv::Point> > light_contours;
cv::findContours(src_gray, 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_gray, rect)) {
light_blobs.emplace_back(rect);
}
}
return light_blobs.size() >= 2;
}
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;
}
bool heightJudge(const LightBlob &light_blob_i, const LightBlob &light_blob_j) {
cv::Point2f centers = light_blob_i.rect.center - light_blob_j.rect.center;
return abs(centers.y) < 30;
}
bool lengthJudge(const LightBlob &light_blob_i, const LightBlob &light_blob_j) {
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);
}
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);
}
/* 判断两个灯条的错位度，不知道英文是什么！！！ */
bool CuoWeiDuJudge(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;
float angle = (angle_i + angle_j) / 2.0 / 180.0 * 3.14159265459;
if (abs(angle_i - angle_j) > 90) {
angle += 3.14159265459 / 2;
}
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;
}
bool boxAngleJudge(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;
float angle = (angle_i + angle_j) / 2.0;
if (abs(angle_i - angle_j) > 90) {
angle += 90.0;
}
return (-120.0 < angle && angle < -60.0) || (60.0 < angle && angle < 120.0);
}
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 &&
lengthRatioJudge(light_blob_i, light_blob_j) &&
lengthJudge(light_blob_i, light_blob_j) &&
// heightJudge(light_blob_i, light_blob_j) &&
angelJudge(light_blob_i, light_blob_j) &&
boxAngleJudge(light_blob_i, light_blob_j) &&
CuoWeiDuJudge(light_blob_i, light_blob_j);
}
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;
}
static bool findArmorBoxes(LightBlobs &light_blobs, std::vector<cv::Rect2d> &armor_boxes, uint8_t enemy_color) {
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)) {
continue;
}
cv::Rect2d rect_left = light_blobs.at(static_cast<unsigned long>(i)).rect.boundingRect();
cv::Rect2d rect_right = light_blobs.at(static_cast<unsigned long>(j)).rect.boundingRect();
double min_x, min_y, max_x, max_y;
min_x = fmin(rect_left.x, rect_right.x) - 4;
max_x = fmax(rect_left.x + rect_left.width, rect_right.x + rect_right.width) + 4;
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) {
continue;
}
armor_boxes.emplace_back(cv::Rect2d(min_x, min_y, max_x - min_x, max_y - min_y));
}
}
if (armor_boxes.empty()) {
return false;
}
sort(armor_boxes.begin(), armor_boxes.end(), [](cv::Rect2d box1, cv::Rect2d box2) -> bool {
return centerDistance(box1) < centerDistance(box2);
});
return true;
}
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;
}
}
}
static string prior_blue[] = {
"B8", "B1", "B3", "B4", "B5", "B7", "B2",
"R8", "R1", "R3", "R4", "R5", "R7", "R2",
};
static string prior_red[] = {
"B8", "B1", "B3", "B4", "B5", "B7", "B2",
"R8", "R1", "R3", "R4", "R5", "R7", "R2",
};
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
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, 190, 255, CV_THRESH_BINARY); // 二值化对应通道
imagePreProcess(src_bin); // 开闭运算
if (!findLightBlobs(src_bin, light_blobs)) {
return false;
}
if (show_light_blobs) {
showContours("blobs_gray", src_bin, light_blobs);
cv::waitKey(1);
}
get_blob_color(src, light_blobs);
if (show_light_blobs) {
showContours("light_blobs", src, light_blobs);
cv::waitKey(1);
}
if (!findArmorBoxes(light_blobs, armor_boxes, enemy_color)) {
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("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();
}

0
armor/src/armor_finder/state_machine/standby_state/standby_state.cpp → armor/src/armor_finder/standby_state/standby_state.cpp
View File

388
armor/src/armor_finder/state_machine/searching_state/searching_state.cpp
View File

@@ -1,388 +0,0 @@
//
// Created by xinyang on 19-3-27.
//
#include <armor_finder/armor_finder.h>
#include <opencv2/highgui.hpp>
#include "image_process/image_process.h"
#include <log.h>
#include <show_images/show_images.h>
#include <options/options.h>
typedef std::vector<LightBlob> LightBlobs;
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;
}
/// Todo: 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;
}
///Todo: 性能优化后的函数。(暂时还有点问题)
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[3].y; r++){
// int val[]={
// linePointX(corners[0],corners[1], r),
// linePointX(corners[0],corners[2], r),
// linePointX(corners[1],corners[3], r),
// linePointX(corners[2],corners[3], r),
// };
// for(int c=val[1]; c<val[2]; c++){
// if(bin.at<uint8_t >(c, r)){
// cnt++;
// }
// }
// }
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 >(c, r)){
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 >(c, r)){
cnt++;
}
}
}
return double(cnt) / rotrect.size.area();
}
static bool isValidLightBlob(const cv::Mat &bin, const cv::RotatedRect &rect){
return (lw_rate(rect) > 1.8) &&
// (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);
}
static void pipelineLightBlobPreprocess(cv::Mat &src) {
src -= 150;
src *= 3.5;
src -= 150;
src *= 3.5;
}
static bool findLightBlobs(const cv::Mat &src, LightBlobs &light_blobs) {
static cv::Mat src_gray;
if(src.type() == CV_8UC3){
cvtColor(src, src_gray, CV_BGR2GRAY);
}else if(src.type() == CV_8UC1){
src_gray = src.clone();
}
std::vector<std::vector<cv::Point> > light_contours;
cv::findContours(src_gray, 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_gray, rect)){
light_blobs.emplace_back(rect);
}
}
return light_blobs.size() >= 2;
}
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;
}
bool heightJudge(const LightBlob &light_blob_i, const LightBlob &light_blob_j) {
cv::Point2f centers = light_blob_i.rect.center - light_blob_j.rect.center;
return abs(centers.y)<30;
}
bool lengthJudge(const LightBlob &light_blob_i, const LightBlob &light_blob_j) {
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);
}
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);
}
/* 判断两个灯条的错位度，不知道英文是什么！！！ */
bool CuoWeiDuJudge(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;
float angle = (angle_i+angle_j)/2.0/180.0*3.14159265459;
if(abs(angle_i-angle_j)>90){
angle += 3.14159265459/2;
}
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;
}
bool boxAngleJudge(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;
float angle = (angle_i+angle_j)/2.0;
if(abs(angle_i-angle_j)>90){
angle += 90.0;
}
return (-120.0<angle && angle<-60.0) || (60.0<angle && angle<120.0);
}
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 &&
lengthRatioJudge(light_blob_i, light_blob_j) &&
lengthJudge(light_blob_i, light_blob_j) &&
// heightJudge(light_blob_i, light_blob_j) &&
angelJudge(light_blob_i, light_blob_j) &&
boxAngleJudge(light_blob_i, light_blob_j) &&
CuoWeiDuJudge(light_blob_i, light_blob_j);
}
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;
}
static bool findArmorBoxes(LightBlobs &light_blobs, std::vector<cv::Rect2d> &armor_boxes, uint8_t enemy_color) {
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)) {
continue;
}
cv::Rect2d rect_left = light_blobs.at(static_cast<unsigned long>(i)).rect.boundingRect();
cv::Rect2d rect_right = light_blobs.at(static_cast<unsigned long>(j)).rect.boundingRect();
double min_x, min_y, max_x, max_y;
min_x = fmin(rect_left.x, rect_right.x) - 4;
max_x = fmax(rect_left.x + rect_left.width, rect_right.x + rect_right.width) + 4;
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) {
continue;
}
armor_boxes.emplace_back(cv::Rect2d(min_x, min_y, max_x - min_x, max_y - min_y));
}
}
if(armor_boxes.empty()){
return false;
}
sort(armor_boxes.begin(), armor_boxes.end(), [](cv::Rect2d box1, cv::Rect2d box2)->bool{
return centerDistance(box1) < centerDistance(box2);
});
return true;
}
bool judge_light_color(std::vector<LightBlob> &light, std::vector<LightBlob> &color, std::vector<LightBlob> &result) {
for (auto &i:color) {
for (auto &j:light) {
cv::Rect2d a = i.rect.boundingRect2f();
cv::Rect2d b = j.rect.boundingRect2f();
cv::Rect2d ab = a & b;
if (ab.area() / fmin(a.area(), b.area()) >= 0.2) {
result.emplace_back(j);
break;
}
}
}
return !result.empty();
}
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;
}
}
}
int prior_blue[] = {6, 0, 2, 3, 4, 5, 1, 13, 7, 9, 10, 11, 12, 8};
int prior_red[]= {13, 7, 9, 10, 11, 12, 8, 6, 0, 2, 3, 4, 5, 1};
bool ArmorFinder::stateSearchingTarget(cv::Mat &src) {
cv::Mat split, src_bin/*, edge*/;
LightBlobs light_blobs, light_blobs_, light_blobs_real;
std::vector<cv::Rect2d> armor_boxes, boxes_number[14];
armor_box = cv::Rect2d(0,0,0,0);
cv::cvtColor(src, src_gray, CV_BGR2GRAY);
// cv::Canny(src_gray, edge, 100, 150);
// src_gray -= edge;
// cv::imshow("minus", src_gray);
// pipelineLightBlobPreprocess(src_gray);
cv::threshold(src_gray, src_bin, 170, 255, CV_THRESH_BINARY);
imagePreProcess(src_bin);
// imshow("gray bin", src_bin);
if(!findLightBlobs(src_bin, light_blobs)){
return false;
}
if(show_light_blobs){
showContours("blobs_gray", src_bin, light_blobs);
cv::waitKey(1);
}
// imageColorSplit(src, split, enemy_color);
//// imshow("split123",split);
// imagePreProcess(split);
//// imshow("split",split);
// cv::threshold(split, src_bin, 170, 255, CV_THRESH_BINARY);
// if(!findLightBlobs(src_bin, light_blobs_)){
// return false;
// }
// if(show_light_blobs){
// showContours("blobs_split", src_bin, light_blobs_);
// cv::waitKey(1);
// }
//
// if(!judge_light_color(light_blobs, light_blobs_, light_blobs_real)){
// return false;
// }
light_blobs_real = light_blobs;
get_blob_color(src, light_blobs_real);
if(show_light_blobs){
showContours("light_blobs", src, light_blobs_real);
// showCuoWeiDu(src, light_blobs_real);
cv::waitKey(1);
}
if(!findArmorBoxes(light_blobs_real, armor_boxes, enemy_color)){
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);
if(c){
boxes_number[c-1].emplace_back(box);
}
}
if(enemy_color == ENEMY_BLUE) {
for(auto id : prior_blue){
if(!boxes_number[id].empty()){
armor_box = boxes_number[id][0];
boxid = id;
break;
}
}
}else if(enemy_color == ENEMY_RED) {
for(auto id : prior_red){
if(!boxes_number[id].empty()){
armor_box = boxes_number[id][0];
boxid = id;
break;
}
}
}else{
LOGE("enemy_color ERROR!");
}
if(armor_box == cv::Rect2d(0,0,0,0)){
return false;
}
if(show_armor_boxes){
showArmorBoxClass("class", src, boxes_number);
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;
}
if(split.size() == cv::Size(320, 240)){
armor_box.x *= 2;
armor_box.y *= 2;
armor_box.width *= 2;
armor_box.height *= 2;
}
return sendBoxPosition();
}

0
armor/src/armor_finder/state_machine/tracking_state/tracking_state.cpp → armor/src/armor_finder/tracking_state/tracking_state.cpp
View File

144
armor/src/show_images/show_images.cpp
View File

@@ -1,33 +1,17 @@
#include <show_images/show_images.h> #include <show_images/show_images.h>
#include <opencv2/highgui.hpp>
#include <log.h> #include <log.h>
using namespace cv; using namespace cv;
std::map<int, string> id2name = { /**************************
{-1, "NO"}, * 显示多个装甲板区域 *
{ 0, "B1"}, **************************/
{ 1, "B2"},
{ 2, "B3"},
{ 3, "B4"},
{ 4, "B5"},
{ 5, "B7"},
{ 6, "B8"},
{ 7, "R1"},
{ 8, "R2"},
{ 9, "R3"},
{10, "R4"},
{11, "R5"},
{12, "R7"},
{13, "R8"},
};
void showArmorBoxVector(std::string windows_name, const cv::Mat &src, const std::vector<cv::Rect2d> &armor_box) { void showArmorBoxVector(std::string windows_name, const cv::Mat &src, const std::vector<cv::Rect2d> &armor_box) {
static Mat image2show; static Mat image2show;
if (src.type() == CV_8UC1) // 黑白图像 if (src.type() == CV_8UC1) {// 黑白图像
{
cvtColor(src, image2show, COLOR_GRAY2RGB); cvtColor(src, image2show, COLOR_GRAY2RGB);
} else if(src.type() == CV_8UC3) //RGB 彩色 } else if (src.type() == CV_8UC3) { //RGB 彩色
{
image2show = src.clone(); image2show = src.clone();
} }
@@ -37,26 +21,30 @@ void showArmorBoxVector(std::string windows_name, const cv::Mat &src, const std:
imshow(windows_name, image2show); imshow(windows_name, image2show);
} }
void showArmorBoxClass(std::string window_names, const cv::Mat &src, vector<cv::Rect2d> boxes[10]){ /**************************
* 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]) {
static Mat image2show; static Mat image2show;
if (src.type() == CV_8UC1) // 黑白图像 if (src.type() == CV_8UC1) { // 黑白图像
{
cvtColor(src, image2show, COLOR_GRAY2RGB); cvtColor(src, image2show, COLOR_GRAY2RGB);
} else if(src.type() == CV_8UC3) //RGB 彩色 } else if (src.type() == CV_8UC3) { //RGB 彩色
{
image2show = src.clone(); image2show = src.clone();
} }
for(int i=0; i<14; i++){ for (int i = 0; i < 14; i++) {
if(!boxes[i].empty()){ if (!boxes[i].empty()) {
for(auto box : boxes[i]){ for (auto box : boxes[i]) {
rectangle(image2show, box, Scalar(0, 255, 0), 1); rectangle(image2show, box, Scalar(0, 255, 0), 1);
if(i == -1) if (i == -1)
putText(image2show, id2name[i], Point(box.x+2, box.y+2), cv::FONT_HERSHEY_TRIPLEX, 1, Scalar(0,255,0)); putText(image2show, id2name[i], Point(box.x + 2, box.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1,
else if(0<=i && i<7) Scalar(0, 255, 0));
putText(image2show, id2name[i], Point(box.x+2, box.y+2), cv::FONT_HERSHEY_TRIPLEX, 1, Scalar(255,0,0)); else if (1 <= i && i < 8)
else if(7<=i && i<14) putText(image2show, id2name[i], Point(box.x + 2, box.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1,
putText(image2show, id2name[i], Point(box.x+2, box.y+2), cv::FONT_HERSHEY_TRIPLEX, 1, Scalar(0,0,255)); Scalar(255, 0, 0));
else else if (8 <= i && i < 15)
putText(image2show, id2name[i], Point(box.x + 2, box.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1,
Scalar(0, 0, 255));
else if (i != 0)
LOGE_INFO("Invalid box id:%d!", i); LOGE_INFO("Invalid box id:%d!", i);
} }
} }
@@ -64,84 +52,56 @@ void showArmorBoxClass(std::string window_names, const cv::Mat &src, vector<cv::
imshow(window_names, image2show); imshow(window_names, image2show);
} }
/**************************
* 显示多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, cv::Rect2d armor_box, int boxid) {
static Mat image2show; static Mat image2show;
if (src.type() == CV_8UC1) // 黑白图像 if (src.type() == CV_8UC1) { // 黑白图像
{
cvtColor(src, image2show, COLOR_GRAY2RGB); cvtColor(src, image2show, COLOR_GRAY2RGB);
} else if(src.type() == CV_8UC3) //RGB 彩色 } else if (src.type() == CV_8UC3) { //RGB 彩色
{
image2show = src.clone(); image2show = src.clone();
} }
rectangle(image2show, armor_box, Scalar(0, 255, 0), 1); rectangle(image2show, armor_box, Scalar(0, 255, 0), 1);
if(boxid == -1) if (boxid == -1)
putText(image2show, id2name[boxid], Point(armor_box.x+2, armor_box.y+2), cv::FONT_HERSHEY_TRIPLEX, 1, Scalar(0,255,0)); putText(image2show, id2name[boxid], Point(armor_box.x + 2, armor_box.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1,
else if(0<=boxid && boxid<7) Scalar(0, 255, 0));
putText(image2show, id2name[boxid], Point(armor_box.x+2, armor_box.y+2), cv::FONT_HERSHEY_TRIPLEX, 1, Scalar(255,0,0)); else if (1 <= boxid && boxid < 8)
else if(7<=boxid && boxid<14) putText(image2show, id2name[boxid], Point(armor_box.x + 2, armor_box.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1,
putText(image2show, id2name[boxid], Point(armor_box.x+2, armor_box.y+2), cv::FONT_HERSHEY_TRIPLEX, 1, Scalar(0,0,255)); Scalar(255, 0, 0));
else else if (8 <= boxid && boxid < 15)
putText(image2show, id2name[boxid], Point(armor_box.x + 2, armor_box.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1,
Scalar(0, 0, 255));
else if (boxid != 0)
LOGE_INFO("Invalid box id:%d!", boxid); LOGE_INFO("Invalid box id:%d!", boxid);
imshow(windows_name, image2show); 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 showContours(std::string windows_name, const cv::Mat &src, const std::vector<LightBlob> &light_blobs) {
static Mat image2show; static Mat image2show;
if(src.type() == CV_8UC1) // 黑白图像 if (src.type() == CV_8UC1) { // 黑白图像
{
cvtColor(src, image2show, COLOR_GRAY2RGB); cvtColor(src, image2show, COLOR_GRAY2RGB);
} } else if (src.type() == CV_8UC3) { //RGB 彩色
else if(src.type() == CV_8UC3) //RGB 彩色
{
image2show = src.clone(); image2show = src.clone();
} }
for(const auto &light_blob:light_blobs) for (const auto &light_blob:light_blobs) {
{
Scalar color; Scalar color;
if(light_blob.BlobColor == BLOB_RED) if (light_blob.BlobColor == BLOB_RED)
color = Scalar(0,0,255); color = Scalar(0, 0, 255);
else if(light_blob.BlobColor == BLOB_BLUE) else if (light_blob.BlobColor == BLOB_BLUE)
color = Scalar(255,0,0); color = Scalar(255, 0, 0);
else else
color = Scalar(0,255,0); color = Scalar(0, 255, 0);
cv::Point2f vertices[4]; cv::Point2f vertices[4];
light_blob.rect.points(vertices); light_blob.rect.points(vertices);
for (int j = 0; j < 4; j++){ for (int j = 0; j < 4; j++) {
cv::line(image2show, vertices[j], vertices[(j + 1) % 4], color, 2); cv::line(image2show, vertices[j], vertices[(j + 1) % 4], color, 2);
} }
} }
imshow(windows_name, image2show); imshow(windows_name, image2show);
} }
void drawCuoWeiDu(cv::Mat &src, 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;
float angle = (angle_i+angle_j)/2.0/180.0*3.14159265459;
if(abs(angle_i-angle_j)>90){
angle += 3.14159265459/2;
}
Point2f orientation(cos(angle), sin(angle));
Vector2f p2p(light_blob_j.rect.center.x-light_blob_i.rect.center.x, light_blob_i.rect.center.y-light_blob_j.rect.center.y);
cv::line(
src,
(light_blob_j.rect.center+light_blob_i.rect.center)/2.0,
(light_blob_j.rect.center+light_blob_i.rect.center)/2.0 + 100*orientation,
Scalar(0,255,0),
2
);
}
void showCuoWeiDu(const cv::Mat &src, const std::vector<LightBlob> &light_blobs){
Mat image2show = src.clone();
for (int i = 0; i < light_blobs.size() - 1; ++i) {
for (int j = i + 1; j < light_blobs.size(); ++j) {
drawCuoWeiDu(image2show, light_blobs[i], light_blobs[j]);
}
}
imshow("CuoWeiDu", image2show);
}

1
energy/include/energy/constant.h
View File

@@ -14,7 +14,6 @@ const int SRC_WIDTH_CAMERA = 640;
const int SRC_HEIGHT_CAMERA = 480; const int SRC_HEIGHT_CAMERA = 480;
const int SRC_WIDTH = 320; const int SRC_WIDTH = 320;
const int SRC_HEIGHT = 240; const int SRC_HEIGHT = 240;
const double PI = 3.1415926;
const int CLOCKWISE = 1; const int CLOCKWISE = 1;
const int ANTICLOCKWISE = -1; const int ANTICLOCKWISE = -1;
const float ATTACK_DISTANCE = 718;//cm const float ATTACK_DISTANCE = 718;//cm

1
energy/include/energy/energy.h
View File

@@ -9,6 +9,7 @@
#include <opencv2/core/core.hpp> #include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp> #include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp> #include <opencv2/imgproc/imgproc.hpp>
#include <constants.h>
#include <stdio.h> #include <stdio.h>
#include <time.h> #include <time.h>
#include <sys/timeb.h> #include <sys/timeb.h>

55
main.cpp
View File

@@ -2,61 +2,58 @@
// Created by xixiliadorabarry on 1/24/19. // Created by xixiliadorabarry on 1/24/19.
// //
#include <iostream> #include <iostream>
#include <thread>
#include <opencv2/core/core.hpp> #include <opencv2/core/core.hpp>
#include <fstream>
#include <energy/energy.h>
#include <serial/serial.h> #include <serial/serial.h>
#include <energy/param_struct_define.h>
#include <energy/constant.h>
#include <camera/camera_wrapper.h> #include <camera/camera_wrapper.h>
#include <camera/video_wrapper.h> #include <camera/video_wrapper.h>
#include <camera/wrapper_head.h> #include <camera/wrapper_head.h>
#include <energy/energy.h>
#include <armor_finder/armor_finder.h> #include <armor_finder/armor_finder.h>
#include <options/options.h> #include <options/options.h>
#include <additions/additions.h> #include <additions/additions.h>
#include <thread>
#define DO_NOT_CNT_TIME #define DO_NOT_CNT_TIME
#include <log.h> #include <log.h>
using namespace cv; using namespace cv;
using namespace std; using namespace std;
mcu_data mcuData = { mcu_data mcuData = { // 单片机端回传结构体
0, 0, // 当前云台yaw角
0, 0, // 当前云台pitch角
SMALL_ENERGY_STATE, ARMOR_STATE, // 当前状态，自瞄-大符-小符
0, 0, // 云台角度标记位
1, 1, // 是否启用数字识别
ENEMY_BLUE, ENEMY_RED, // 敌方颜色
}; };
WrapperHead *video_gimble = nullptr; WrapperHead *video_gimble = nullptr; // 云台摄像头视频源
WrapperHead *video_chassis = nullptr; WrapperHead *video_chassis = nullptr; // 底盘摄像头视频源
Serial serial(115200);
uint8_t last_state = mcuData.state;
Serial serial(115200); // 串口对象
uint8_t last_state = mcuData.state; // 上次状态，用于初始化
// 自瞄主程序对象
ArmorFinder armorFinder(mcuData.enemy_color, serial, PROJECT_DIR"/tools/para/", mcuData.use_classifier); ArmorFinder armorFinder(mcuData.enemy_color, serial, PROJECT_DIR"/tools/para/", mcuData.use_classifier);
// 能量机关主程序对象
Energy energy(serial, mcuData.enemy_color); Energy energy(serial, mcuData.enemy_color);
int main(int argc, char *argv[]) { int main(int argc, char *argv[]) {
process_options(argc, argv); process_options(argc, argv); // 处理命令行参数
thread receive(uartReceive, &serial); thread receive(uartReceive, &serial); // 开启串口接收线程
int from_camera = 1; int from_camera = 1; // 根据条件选择视频源
if (!run_with_camera) { if (!run_with_camera) {
cout << "Input 1 for camera, 0 for video files" << endl; cout << "Input 1 for camera, 0 for video files" << endl;
cin >> from_camera; cin >> from_camera;
} }
while (true) { while (true) {
// 打开视频源
if (from_camera) { if (from_camera) {
video_gimble = new CameraWrapper(0/*, "armor"*/); video_gimble = new CameraWrapper(0/*, "armor"*/);
video_chassis = new CameraWrapper(1/*, "energy"*/); video_chassis = new CameraWrapper(1/*, "energy"*/);
} else { } else {
video_gimble = new VideoWrapper("/home/sun/项目/energy_video/energy_test.avi"); video_gimble = new VideoWrapper("/home/sun/项目/energy_video/official_r_l.mp4");
video_chassis = new VideoWrapper("/home/sun/项目/energy_video/energy_test.avi"); video_chassis = new VideoWrapper("/home/sun/项目/energy_video/energy_test.avi");
} }
if (video_gimble->init()) { if (video_gimble->init()) {
@@ -74,6 +71,7 @@ int main(int argc, char *argv[]) {
video_chassis = nullptr; video_chassis = nullptr;
} }
// 跳过前10帧噪声图像。
Mat gimble_src, chassis_src; Mat gimble_src, chassis_src;
for (int i = 0; i < 10; i++) { for (int i = 0; i < 10; i++) {
if (video_gimble) { if (video_gimble) {
@@ -84,7 +82,7 @@ int main(int argc, char *argv[]) {
} }
} }
bool ok = true; bool ok = true;
cout<<"start running"<<endl; cout << "start running" << endl;
do { do {
CNT_TIME("Total", { CNT_TIME("Total", {
if (mcuData.state == BIG_ENERGY_STATE) {//大符模式 if (mcuData.state == BIG_ENERGY_STATE) {//大符模式
@@ -102,23 +100,20 @@ int main(int argc, char *argv[]) {
} }
energy.runBig(gimble_src, chassis_src);//击打大符 energy.runBig(gimble_src, chassis_src);//击打大符
last_state = mcuData.state;//更新上一帧状态 last_state = mcuData.state;//更新上一帧状态
} } else if (mcuData.state != BIG_ENERGY_STATE) {//自瞄或小符模式
else if (mcuData.state != BIG_ENERGY_STATE) {//自瞄或小符模式
last_state = mcuData.state; last_state = mcuData.state;
ok = checkReconnect(video_gimble->read(gimble_src)); ok = checkReconnect(video_gimble->read(gimble_src));
if (save_video) saveVideos(gimble_src); if (save_video) saveVideos(gimble_src);
if (show_origin) showOrigin(gimble_src); if (show_origin) showOrigin(gimble_src);
if (mcuData.state == ARMOR_STATE){ if (mcuData.state == ARMOR_STATE) {
CNT_TIME("Armor Time", { CNT_TIME("Armor Time", {
armorFinder.run(gimble_src); armorFinder.run(gimble_src);
}); });
} } else if (mcuData.state == SMALL_ENERGY_STATE) {
else if(mcuData.state == SMALL_ENERGY_STATE){
// energy.runSmall(gimble_src); // energy.runSmall(gimble_src);
energy.runBig(gimble_src); energy.runBig(gimble_src);
} }
} }
cv::waitKey(3);
}); });
} while (ok); } while (ok);

9
others/include/additions/additions.h
View File

@@ -7,15 +7,6 @@
#include <stdint.h> #include <stdint.h>
#include <serial/serial.h> #include <serial/serial.h>
#include <opencv2/videoio.hpp>
#include <camera/wrapper_head.h>
#define ENEMY_BLUE 0
#define ENEMY_RED 1
#define BIG_ENERGY_STATE 'b'
#define SMALL_ENERGY_STATE 's'
#define ARMOR_STATE 'a'
struct mcu_data{ struct mcu_data{
float curr_yaw; float curr_yaw;

17
others/include/constants.h Normal file
View File

@@ -0,0 +1,17 @@
//
// Created by xinyang on 19-7-8.
//
#ifndef _CONSTANTS_H_
#define _CONSTANTS_H_
#define PI (3.14159265459)
#define ENEMY_BLUE 0
#define ENEMY_RED 1
#define BIG_ENERGY_STATE 'b'
#define SMALL_ENERGY_STATE 's'
#define ARMOR_STATE 'a'
#endif /* _CONSTANTS_H */

3
others/include/options/options.h
View File

@@ -11,11 +11,10 @@ extern bool show_armor_box;
extern bool show_armor_boxes; extern bool show_armor_boxes;
extern bool show_light_blobs; extern bool show_light_blobs;
extern bool show_origin; extern bool show_origin;
extern bool save_labelled;
extern bool run_with_camera; extern bool run_with_camera;
extern bool save_video; extern bool save_video;
extern bool collect_data;
extern bool wait_uart; extern bool wait_uart;
extern bool save_labelled_boxes;
void process_options(int argc, char *argv[]); void process_options(int argc, char *argv[]);

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

@@ -3,17 +3,17 @@
// //
#include <cstring> #include <cstring>
#include <iostream>
#include <fstream> #include <fstream>
#include <opencv2/core/core.hpp> #include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp> #include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp> #include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/videoio/videoio_c.h>
#include <additions/additions.h> #include <additions/additions.h>
#include <camera/camera_wrapper.h> #include <camera/camera_wrapper.h>
#include <log.h>
#include <opencv2/videoio/videoio_c.h>
#include <iostream>
#include <energy/energy.h> #include <energy/energy.h>
#include <armor_finder/armor_finder.h> #include <armor_finder/armor_finder.h>
#include <log.h>
#define RECEIVE_LOG_LEVEL LOG_MSG #define RECEIVE_LOG_LEVEL LOG_MSG

7
others/src/camera/camera_wrapper.cpp
View File

@@ -76,7 +76,7 @@ bool CameraWrapper::init() {
#elif defined(Linux) #elif defined(Linux)
CameraSetAeState(h_camera, false); CameraSetAeState(h_camera, false);
CameraSetExposureTime(h_camera, 10*1000); CameraSetExposureTime(h_camera, 10*1000);
CameraSetAnalogGain(h_camera, 30); CameraSetAnalogGain(h_camera, 50);
if(mode == 0){ if(mode == 0){
CameraSetGain(h_camera, 100, 100, 100); CameraSetGain(h_camera, 100, 100, 100);
CameraSetLutMode(h_camera, LUTMODE_PRESET); CameraSetLutMode(h_camera, LUTMODE_PRESET);
@@ -111,11 +111,8 @@ bool CameraWrapper::init() {
bool CameraWrapper::read(cv::Mat& src) { bool CameraWrapper::read(cv::Mat& src) {
// return readRaw(src); //suit for using bayer hacking in armor_finder to replace process, fast and it can filter red and blue. if(mode==0)return readProcessed(src);
if(mode==0)return readProcessed(src); // processed color image, but this runs slowly, about half fps of previous one.
if(mode==1)return readRaw(src); if(mode==1)return readRaw(src);
} }
bool CameraWrapper::readRaw(cv::Mat &src) { bool CameraWrapper::readRaw(cv::Mat &src) {

15
others/src/options/options.cpp
View File

@@ -10,11 +10,10 @@ bool show_armor_box = false;
bool show_armor_boxes = false; bool show_armor_boxes = false;
bool show_light_blobs = false; bool show_light_blobs = false;
bool show_origin = false; bool show_origin = false;
bool save_labelled = false;
bool run_with_camera = false; bool run_with_camera = false;
bool save_video = false; bool save_video = false;
bool collect_data = false;
bool wait_uart = false; bool wait_uart = false;
bool save_labelled_boxes = false;
void process_options(int argc, char *argv[]){ void process_options(int argc, char *argv[]){
if(argc >= 2){ if(argc >= 2){
@@ -24,10 +23,9 @@ void process_options(int argc, char *argv[]){
LOGM("--show-armor-boxes: show the candidate aim boxes."); LOGM("--show-armor-boxes: show the candidate aim boxes.");
LOGM("--show-light-blobs: show the candidate light blobs."); LOGM("--show-light-blobs: show the candidate light blobs.");
LOGM("--show-origin: show the origin image."); LOGM("--show-origin: show the origin image.");
LOGM("--save-label: save the image when box found.");
LOGM("--run-with-camera: start the program with camera directly without asking."); LOGM("--run-with-camera: start the program with camera directly without asking.");
LOGM("--save-video: save the video."); LOGM("--save-video: save the video.");
LOGM("--collect-data: collect data sent from mcu."); LOGM("--save-labelled-boxes: save labelled armor boxes.");
}else if(strcmp(argv[i], "--show-armor-box") == 0){ }else if(strcmp(argv[i], "--show-armor-box") == 0){
show_armor_box = true; show_armor_box = true;
LOGM("Enable show armor box"); LOGM("Enable show armor box");
@@ -49,21 +47,18 @@ void process_options(int argc, char *argv[]){
LOGM("Enable show light blobs"); LOGM("Enable show light blobs");
show_origin = true; show_origin = true;
LOGM("Enable show origin"); LOGM("Enable show origin");
}else if(strcmp(argv[i], "--save-labeled") == 0){
save_labelled = true;
LOGM("Enable save labeled");
}else if(strcmp(argv[i], "--run-with-camera") == 0){ }else if(strcmp(argv[i], "--run-with-camera") == 0){
run_with_camera = true; run_with_camera = true;
LOGM("Run with camera!"); LOGM("Run with camera!");
}else if(strcmp(argv[i], "--save-video") == 0){ }else if(strcmp(argv[i], "--save-video") == 0){
save_video = true; save_video = true;
LOGM("Save video!"); LOGM("Save video!");
}else if(strcmp(argv[i], "--collect-data") == 0){
collect_data = true;
LOGM("Enable data collection!");
}else if(strcmp(argv[i], "--wait-uart") == 0){ }else if(strcmp(argv[i], "--wait-uart") == 0){
wait_uart = true; wait_uart = true;
LOGM("Wait uart until available!"); LOGM("Wait uart until available!");
}else if(strcmp(argv[i], "--save-labelled-boxes") == 0){
save_labelled_boxes = true;
LOGM("labelled armor boxes will be saved!");
}else{ }else{
LOGW("Unknown option: %s. Use --help to see options.", argv[i]); LOGW("Unknown option: %s. Use --help to see options.", argv[i]);
} }

8
tools/TrainCNN/backward.py
View File

@@ -70,8 +70,8 @@ def train(dataset, show_bar=False):
nodes, vars = forward.forward(x, 0.01) nodes, vars = forward.forward(x, 0.01)
y = nodes[-1] y = nodes[-1]
# ce = tf.nn.sparse_softmax_cross_entropy_with_logits(logits=y, labels=tf.argmax(y_, 1)) ce = tf.nn.sparse_softmax_cross_entropy_with_logits(logits=y, labels=tf.argmax(y_, 1))
ce = tf.nn.weighted_cross_entropy_with_logits(logits=y, labels=tf.argmax(y_, 1), pos_weight=1) # ce = tf.nn.weighted_cross_entropy_with_logits(logits=y, labels=tf.argmax(y_, 1), pos_weight=1)
cem = tf.reduce_mean(ce) cem = tf.reduce_mean(ce)
loss= cem + tf.add_n(tf.get_collection("losses")) loss= cem + tf.add_n(tf.get_collection("losses"))
@@ -114,7 +114,7 @@ def train(dataset, show_bar=False):
vars_val = sess.run(vars) vars_val = sess.run(vars)
save_para("/home/xinyang/Desktop/RM_auto-aim/tools/para", vars_val) save_para("/home/xinyang/Workspace/RM_auto-aim/tools/para", vars_val)
print("save done!") print("save done!")
# nodes_val = sess.run(nodes, feed_dict={x:test_images}) # nodes_val = sess.run(nodes, feed_dict={x:test_images})
# return vars_val, nodes_val # return vars_val, nodes_val
@@ -204,5 +204,5 @@ def train(dataset, show_bar=False):
if __name__ == "__main__": if __name__ == "__main__":
dataset = generate.DataSet("/home/xinyang/Desktop/box_cut") dataset = generate.DataSet("/home/xinyang/Workspace/dataset/box_cut")
train(dataset, show_bar=True) train(dataset, show_bar=True)

12
tools/para/conv1_b
View File

@@ -1,7 +1,7 @@
6 6
2.196893 1.0992107
0.07216131 -0.074966855
0.30069783 0.6112759
-0.4587247 0.15176532
0.25476167 0.7093666
-0.07236218 0.0066502886

900
tools/para/conv1_w
View File

@@ -2,453 +2,453 @@
6 6
5 5
5 5
0.44015908 -0.5127243
-0.2615819 -0.35076743
-0.7202753 -0.94582695
-0.6970971 -1.1496089
-1.4688265 -0.21747248
0.041381914 -0.697151
-0.4771021 -0.31303257
-0.66656536 -0.84063727
-0.48385224 -0.60029787
-1.4722625 -0.08752324
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