Merge remote-tracking branch 'origin/master'

armor/src/armor_finder/find/find_light_blobs.cpp

@@ -18,7 +18,7 @@ static double areaRatio(const std::vector<cv::Point> &contour, const cv::Rotated
 }
 
 static bool isValidLightBlob(const std::vector<cv::Point> &contour, const cv::RotatedRect &rect) {
-    return (1.5 < lw_rate(rect) && lw_rate(rect) < 10) &&
+    return (1.2 < lw_rate(rect) && lw_rate(rect) < 10) &&
            //           (rect.size.area() < 3000) &&
            ((rect.size.area() < 50 && areaRatio(contour, rect) > 0.4) ||
             (rect.size.area() >= 50 && areaRatio(contour, rect) > 0.6));
@@ -130,8 +130,13 @@ bool ArmorFinder::findLightBlobs(const cv::Mat &src, LightBlobs &light_blobs) {
         color_channel = channels[2];        /************************/
     }
 
-
+    int light_threshold;
-    cv::threshold(color_channel, src_bin_light, 200, 255, CV_THRESH_BINARY); // 二值化对应通道
+    if(enemy_color == ENEMY_BLUE){
+        light_threshold = 225;
+    }else{
+        light_threshold = 200;
+    }
+    cv::threshold(color_channel, src_bin_light, light_threshold, 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
 

main.cpp

@@ -30,7 +30,7 @@ using namespace std;
 McuData mcu_data = {    // 单片机端回传结构体
         0,              // 当前云台yaw角
         0,              // 当前云台pitch角
-        BIG_ENERGY_STATE,    // 当前状态，自瞄-大符-小符
+        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_RED,      // 敌方颜色
@@ -42,7 +42,7 @@ WrapperHead *video_gimbal = nullptr;    // 云台摄像头视频源
 WrapperHead *video_chassis = nullptr;   // 底盘摄像头视频源
 
 Serial serial(115200);                  // 串口对象
-uint8_t last_state = INIT_STATE;     // 上次状态，用于初始化y
+uint8_t last_state = INIT_STATE;     // 上次状态，用于初始化
 // 自瞄主程序对象
 ArmorFinder armor_finder(mcu_data.enemy_color, serial, PROJECT_DIR"/tools/para/");
 // 能量机关主程序对象
@@ -66,8 +66,8 @@ int main(int argc, char *argv[]) {
             video_gimbal = new CameraWrapper(ARMOR_CAMERA_EXPOSURE, ARMOR_CAMERA_GAIN, 2/*, "armor"*/);
             video_chassis = new CameraWrapper(ENERGY_CAMERA_EXPOSURE, ENERGY_CAMERA_GAIN, 2/*, "energy"*/);
         } else {
-            video_gimbal = new VideoWrapper("/home/sun/桌面/video_8.8/8.7.4-big.avi");
+            video_gimbal = new VideoWrapper(PROJECT_DIR"/8-7-NO7.avi");
-            video_chassis = new VideoWrapper("/home/sun/桌面/video_8.8/8.7.4-big.avi");
+            video_chassis = new VideoWrapper(PROJECT_DIR"/8-7-NO7.avi");
         }
         if (video_gimbal->init()) {
             LOGM("video_gimbal source initialization successfully.");

tools/create-startup.sh

@@ -5,5 +5,5 @@ echo "echo sjturm | sudo -S cpufreq-set -g performance" >> $2/startup-run
 echo "mkdir $1/Mark" >> $2/startup-run
 echo "mkdir $1/gimbal_video" >> $2/startup-run
 echo "mkdir $1/armor_box_photo" >> $2/startup-run
-echo "gnome-terminal -- bash -c \"echo sjturm | sudo -S $1/tools/monitor.sh \\\"$2/run --run-with-camera --save-video --save-mark --wait-uart --save-labelled-boxes\\\"\"" >> $2/startup-run
+echo "gnome-terminal -- bash -c \"echo sjturm | sudo -S $1/tools/monitor.sh \\\"$2/run --run-with-camera --save-video --save-mark --show-armor-box --wait-uart --save-labelled-boxes\\\"\"" >> $2/startup-run
 chmod +x $2/startup-run

tools/para/conv1_b

@@ -1,5 +1,7 @@
-4
+6
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-0.75360304
+0.06878903
-0.32836446
+0.031124229
-0.27722517
+1.4302016
+-0.1433692
+1.1473336

tools/para/conv1_w

@@ -1,304 +1,454 @@
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tools/para/conv2_b

@@ -1,9 +1,11 @@
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tools/para/conv2_w

@@ -1,292 +1,544 @@
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