From ab0ddede0cdde38cd1e2893d2587bc0f2e212f14 Mon Sep 17 00:00:00 2001 From: xinyang <895639507@qq.com> Date: Mon, 8 Jul 2019 20:22:48 +0800 Subject: [PATCH] =?UTF-8?q?=E6=95=B4=E7=90=86=E4=BB=A3=E7=A0=81=E7=BB=93?= =?UTF-8?q?=E6=9E=84=E3=80=82?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- armor/include/armor_finder/armor_finder.h | 5 +- armor/include/show_images/show_images.h | 3 - armor/src/armor_finder/armor_finder.cpp | 17 +- .../searching_state/searching_state.cpp | 306 ++++++++---------- armor/src/show_images/show_images.cpp | 131 +++----- main.cpp | 10 +- others/include/options/options.h | 3 +- others/src/options/options.cpp | 15 +- 8 files changed, 199 insertions(+), 291 deletions(-) diff --git a/armor/include/armor_finder/armor_finder.h b/armor/include/armor_finder/armor_finder.h index e892428..b376c1d 100644 --- a/armor/include/armor_finder/armor_finder.h +++ b/armor/include/armor_finder/armor_finder.h @@ -5,12 +5,16 @@ #ifndef _ARMOR_FINDER_H_ #define _ARMOR_FINDER_H_ +#include #include #include #include #include #include "additions/additions.h" +extern std::map id2name; +extern std::map name2id; + class ArmorFinder{ public: ArmorFinder(uint8_t &color, Serial &u, string paras_folder, const uint8_t &use); @@ -28,7 +32,6 @@ private: cv::Rect2d armor_box; int boxid; cv::Ptr tracker; - cv::Mat src_gray; Classifier classifier; diff --git a/armor/include/show_images/show_images.h b/armor/include/show_images/show_images.h index b9998b5..7abca01 100644 --- a/armor/include/show_images/show_images.h +++ b/armor/include/show_images/show_images.h @@ -9,13 +9,10 @@ #include #include #include -#include -extern std::map id2name; void showArmorBoxVector(std::string windows_name, const cv::Mat &src, const std::vector &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 &light_blobs); void showArmorBoxClass(std::string window_names, const cv::Mat &src, vector boxes[10]); -void showCuoWeiDu(const cv::Mat &src, const std::vector &light_blobs); #endif /* _SHOW_IMAGES_H_ */ diff --git a/armor/src/armor_finder/armor_finder.cpp b/armor/src/armor_finder/armor_finder.cpp index c17f93b..c278d35 100644 --- a/armor/src/armor_finder/armor_finder.cpp +++ b/armor/src/armor_finder/armor_finder.cpp @@ -8,6 +8,18 @@ #include #include +std::map 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"}, +}; + +std::map 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}, +}; + ArmorFinder::ArmorFinder(uint8_t &color, Serial &u, string paras_folder, const uint8_t &use) : serial(u), enemy_color(color), @@ -23,14 +35,13 @@ void ArmorFinder::run(cv::Mat &src) { static int tracking_cnt = 0; cv::Mat src_use; src_use = src.clone(); - cv::cvtColor(src_use, src_gray, CV_RGB2GRAY); if(show_armor_box){ showArmorBox("box", src, armor_box, boxid); cv::waitKey(1); } - stateSearchingTarget(src_use); - return; +// stateSearchingTarget(src_use); +// return; switch (state){ case SEARCHING_STATE: if(stateSearchingTarget(src_use)){ diff --git a/armor/src/armor_finder/state_machine/searching_state/searching_state.cpp b/armor/src/armor_finder/state_machine/searching_state/searching_state.cpp index df6046e..dc4f1eb 100644 --- a/armor/src/armor_finder/state_machine/searching_state/searching_state.cpp +++ b/armor/src/armor_finder/state_machine/searching_state/searching_state.cpp @@ -4,43 +4,42 @@ #include #include -#include "image_process/image_process.h" +#include #include #include #include typedef std::vector 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 ; +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) -{ +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 contour(corners,lastItemPointer); + cv::Point2f *lastItemPointer = (corners + sizeof corners / sizeof corners[0]); + vector contour(corners, lastItemPointer); //判断 - double indicator = pointPolygonTest(contour,point,true); + 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){ +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){ + 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(r, c)){ + 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(r, c)) { cnt++; } } @@ -49,57 +48,44 @@ static double nonZeroRateOfRotateRect(const cv::Mat &bin, const cv::RotatedRect 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; +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; +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){ + sort(corners, &corners[4], [](cv::Point2f p1, cv::Point2f p2) { return p1.y < p2.y; }); -// for(int r=corners[0].y; r(c, r)){ -// cnt++; -// } -// } -// } - for(int r=corners[0].y; r640) return 0; - for(int c=start; c(c, r)){ + 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(c, r)) { cnt++; } } } - for(int r=corners[1].y; r640) return 0; - for(int c=start; c(r, c)){ + 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(r, c)) { cnt++; } } } - for(int r=corners[2].y; r640) return 0; - for(int c=start; c(c, r)){ + 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(c, r)) { cnt++; } } @@ -107,26 +93,19 @@ static double nonZeroRateOfRotateRect_opt(const cv::Mat &bin, const cv::RotatedR return double(cnt) / rotrect.size.area(); } -static bool isValidLightBlob(const cv::Mat &bin, const cv::RotatedRect &rect){ +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); + // (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){ + if (src.type() == CV_8UC3) { cvtColor(src, src_gray, CV_BGR2GRAY); - }else if(src.type() == CV_8UC1){ + } else if (src.type() == CV_8UC1) { src_gray = src.clone(); } std::vector > light_contours; @@ -134,7 +113,7 @@ static bool findLightBlobs(const cv::Mat &src, LightBlobs &light_blobs) { for (auto &light_contour : light_contours) { cv::RotatedRect rect = cv::minAreaRect(light_contour); - if(isValidLightBlob(src_gray, rect)){ + if (isValidLightBlob(src_gray, rect)) { light_blobs.emplace_back(rect); } } @@ -142,15 +121,16 @@ static bool findLightBlobs(const cv::Mat &src, LightBlobs &light_blobs) { } 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: + 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: + 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) < 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; + return abs(centers.y) < 30; } bool lengthJudge(const LightBlob &light_blob_i, const LightBlob &light_blob_j) { @@ -166,30 +146,31 @@ bool lengthRatioJudge(const LightBlob &light_blob_i, const LightBlob &light_blob } /* 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: +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: + 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; + 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); + 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: +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: + 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){ + float angle = (angle_i + angle_j) / 2.0; + if (abs(angle_i - angle_j) > 90) { angle += 90.0; } - return (-120.0 &armor_boxes, uint8_t enemy_color) { @@ -221,40 +202,26 @@ static bool findArmorBoxes(LightBlobs &light_blobs, std::vector &arm 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; + 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()){ + if (armor_boxes.empty()) { return false; } - sort(armor_boxes.begin(), armor_boxes.end(), [](cv::Rect2d box1, cv::Rect2d box2)->bool{ + 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 &light, std::vector &color, std::vector &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 &blobs) { - for(auto &blob : 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); @@ -263,122 +230,113 @@ void get_blob_color(const cv::Mat &src, std::vector &blobs) { 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(row, col)[2]; blue_cnt += roi.at(row, col)[0]; } } - if(red_cnt > blue_cnt){ + if (red_cnt > blue_cnt) { blob.BlobColor = BLOB_RED; - }else{ + } 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}; +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) { - cv::Mat split, src_bin/*, edge*/; - LightBlobs light_blobs, light_blobs_, light_blobs_real; + cv::Mat split, src_bin, color; + LightBlobs light_blobs; std::vector armor_boxes, boxes_number[14]; - armor_box = cv::Rect2d(0,0,0,0); + std::vector channels; - 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); + armor_box = cv::Rect2d(0, 0, 0, 0); + + cv::split(src, channels); + if (enemy_color == ENEMY_BLUE) + color = channels[0]; + else if (enemy_color == ENEMY_RED) + color = channels[2]; + cv::threshold(color, src_bin, 170, 255, CV_THRESH_BINARY); imagePreProcess(src_bin); -// imshow("gray bin", src_bin); - if(!findLightBlobs(src_bin, light_blobs)){ + if (!findLightBlobs(src_bin, light_blobs)) { return false; } - if(show_light_blobs){ + 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); + get_blob_color(src, light_blobs); + if (show_light_blobs) { + showContours("light_blobs", src, light_blobs); cv::waitKey(1); } - if(!findArmorBoxes(light_blobs_real, armor_boxes, enemy_color)){ + if (!findArmorBoxes(light_blobs, armor_boxes, enemy_color)) { return false; } - if(show_armor_boxes){ + if (show_armor_boxes) { showArmorBoxVector("boxes", src, armor_boxes); cv::waitKey(1); } - if(classifier && use_classifier){ - for(auto box : armor_boxes){ + 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); - } + boxes_number[c].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; + 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 id : prior_red){ - if(!boxes_number[id].empty()){ - armor_box = boxes_number[id][0]; - boxid = id; + } 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{ + } else { LOGE("enemy_color ERROR!"); } - if(armor_box == cv::Rect2d(0,0,0,0)){ + if (armor_box == cv::Rect2d(0, 0, 0, 0)) { return false; } - if(show_armor_boxes){ + if (show_armor_boxes) { showArmorBoxClass("class", src, boxes_number); - for(int i=0; i id2name = { - {-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"}, -}; - void showArmorBoxVector(std::string windows_name, const cv::Mat &src, const std::vector &armor_box) { 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); - } else if(src.type() == CV_8UC3) //RGB 彩色 - { + } else if (src.type() == CV_8UC3) { //RGB 彩色 image2show = src.clone(); } @@ -37,26 +17,27 @@ void showArmorBoxVector(std::string windows_name, const cv::Mat &src, const std: imshow(windows_name, image2show); } -void showArmorBoxClass(std::string window_names, const cv::Mat &src, vector boxes[10]){ +void showArmorBoxClass(std::string window_names, const cv::Mat &src, vector boxes[10]) { 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); - } else if(src.type() == CV_8UC3) //RGB 彩色 - { + } 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]){ + 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, Scalar(0,255,0)); - else if(0<=i && i<7) - putText(image2show, id2name[i], Point(box.x+2, box.y+2), cv::FONT_HERSHEY_TRIPLEX, 1, Scalar(255,0,0)); - else if(7<=i && i<14) - putText(image2show, id2name[i], Point(box.x+2, box.y+2), cv::FONT_HERSHEY_TRIPLEX, 1, Scalar(0,0,255)); - else + if (i == -1) + putText(image2show, id2name[i], Point(box.x + 2, box.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, + 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, + Scalar(0, 0, 255)); + else if (i != 0) LOGE_INFO("Invalid box id:%d!", i); } } @@ -66,21 +47,22 @@ void showArmorBoxClass(std::string window_names, const cv::Mat &src, vector &light_blobs) { 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); - } - else if(src.type() == CV_8UC3) //RGB 彩色 - { + } else if (src.type() == CV_8UC3) { //RGB 彩色 image2show = src.clone(); } - for(const auto &light_blob:light_blobs) - { + for (const auto &light_blob:light_blobs) { Scalar color; - if(light_blob.BlobColor == BLOB_RED) - color = Scalar(0,0,255); - else if(light_blob.BlobColor == BLOB_BLUE) - color = Scalar(255,0,0); + if (light_blob.BlobColor == BLOB_RED) + color = Scalar(0, 0, 255); + else if (light_blob.BlobColor == BLOB_BLUE) + color = Scalar(255, 0, 0); else - color = Scalar(0,255,0); + color = Scalar(0, 255, 0); cv::Point2f vertices[4]; 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); } } 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 &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); -} - diff --git a/main.cpp b/main.cpp index b1067b7..de182c7 100644 --- a/main.cpp +++ b/main.cpp @@ -84,7 +84,7 @@ int main(int argc, char *argv[]) { } } bool ok = true; - cout<<"start running"<read(gimble_src)); if (save_video) saveVideos(gimble_src); if (show_origin) showOrigin(gimble_src); - if (mcuData.state == ARMOR_STATE){ + if (mcuData.state == ARMOR_STATE) { CNT_TIME("Armor Time", { armorFinder.run(gimble_src); }); - } - else if(mcuData.state == SMALL_ENERGY_STATE){ + } else if (mcuData.state == SMALL_ENERGY_STATE) { // energy.runSmall(gimble_src); energy.runBig(gimble_src); } diff --git a/others/include/options/options.h b/others/include/options/options.h index b1285f3..b7c07c3 100644 --- a/others/include/options/options.h +++ b/others/include/options/options.h @@ -11,11 +11,10 @@ extern bool show_armor_box; extern bool show_armor_boxes; extern bool show_light_blobs; extern bool show_origin; -extern bool save_labelled; extern bool run_with_camera; extern bool save_video; -extern bool collect_data; extern bool wait_uart; +extern bool save_labelled_boxes; void process_options(int argc, char *argv[]); diff --git a/others/src/options/options.cpp b/others/src/options/options.cpp index 088dc73..0448aec 100644 --- a/others/src/options/options.cpp +++ b/others/src/options/options.cpp @@ -10,11 +10,10 @@ bool show_armor_box = false; bool show_armor_boxes = false; bool show_light_blobs = false; bool show_origin = false; -bool save_labelled = false; bool run_with_camera = false; bool save_video = false; -bool collect_data = false; bool wait_uart = false; +bool save_labelled_boxes = false; void process_options(int argc, char *argv[]){ 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-light-blobs: show the candidate light blobs."); 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("--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){ show_armor_box = true; LOGM("Enable show armor box"); @@ -49,21 +47,18 @@ void process_options(int argc, char *argv[]){ LOGM("Enable show light blobs"); show_origin = true; 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){ run_with_camera = true; LOGM("Run with camera!"); }else if(strcmp(argv[i], "--save-video") == 0){ save_video = true; 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){ wait_uart = true; 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{ LOGW("Unknown option: %s. Use --help to see options.", argv[i]); }