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2019赛季RM中部分区赛，自瞄和能量机关，完整稳定版。

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This commit is contained in:
xinyang
2019-05-31 19:29:22 +08:00
parent 76bc5988c0
commit c0c12b24f0
28 changed files with 816 additions and 728 deletions
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3
others/include/additions/additions.h
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@@ -25,6 +25,7 @@ struct mcu_data{
extern mcu_data mcuData;
void uartReceive(Serial *pSerial);
void initVideoWriter(cv::VideoWriter& video, const std::string &armor_filename_prefix);
void initVideoWriter(cv::VideoWriter& video, const std::string &filename_prefix);
void lastVideo(std::string &video_name, const std::string &filename_prefix);
#endif /* _ADDITIONS_H_ */

4
others/include/log.h
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@@ -138,9 +138,9 @@
#include <sys/time.h>
#define CNT_TIME(tag, codes, ...) do{ \
static timeval ts, te; \
gettimeofday(&ts); \
gettimeofday(&ts, NULL); \
codes; \
gettimeofday(&te); \
gettimeofday(&te, NULL); \
LOGM(tag": %.1lfms", (te.tv_sec-ts.tv_sec)*1000.0+(te.tv_usec-ts.tv_usec)/1000.0); \
}while (0)
#endif

16
others/include/options/additions.h
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@@ -1,16 +0,0 @@
//
// Created by xinyang on 19-4-7.
//
#ifndef _ADDITIONS_H_
#define _ADDITIONS_H_
#include <serial/serial.h>
#include <opencv2/core.hpp>
#include <thread>
void save_video_file(cv::Mat &src);
void save_labelled_image(cv::Mat &src, cv::Rect2d box);
#endif /* _ADDITIONS_H_ */

35
others/src/additions/additions.cpp
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@@ -7,24 +7,32 @@
#include <additions/additions.h>
#include <log.h>
#include <opencv2/videoio/videoio_c.h>
#include <iostream>
#define RECEIVE_LOG_LEVEL LOG_NOTHING
#define RECEIVE_LOG_LEVEL LOG_MSG
using namespace std;
void uartReceive(Serial* pSerial) {
char buffer[100];
char buffer[20];
int cnt = 0;
LOGM("data receive start!");
LOGM(STR_CTR(WORD_LIGHT_WHITE,"data receive start!"));
while (true) {
char byte;
char byte = 0;
memset(buffer, 0, sizeof(buffer));
while (pSerial->ReadData((uint8_t*)&byte, 1) && byte!='\n') {
buffer[cnt++] = byte;
if (cnt >= 100) {
LOG(RECEIVE_LOG_LEVEL, "data receive over flow!");
if (cnt >= sizeof(buffer)) {
// LOGE("data receive over flow!");
cnt = 0;
}
}
if (cnt==0 && byte=='\n'){
LOGM("%d", cnt);
}
if (cnt == sizeof(mcuData)) {
memcpy(&mcuData, buffer, sizeof(mcuData));
LOGM("Get, state:%c, mark:%d!", mcuData.state, (int)mcuData.mark);
}
cnt = 0;
}
@@ -38,13 +46,24 @@ void initVideoWriter(cv::VideoWriter& video, const std::string &filename_prefix)
in >> cnt;
in.close();
}
std::string armor_file_name = filename_prefix + std::to_string(cnt) + ".avi";
std::string file_name = filename_prefix + std::to_string(cnt) + ".avi";
cnt++;
std::ofstream out(filename_prefix + "cnt.txt");
if (out.is_open()) {
out << cnt << std::endl;
out.close();
}
video.open(armor_file_name, CV_FOURCC('P', 'I', 'M', '1'), 90, cv::Size(640, 480), true);
video.open(file_name, CV_FOURCC('P', 'I', 'M', '1'), 90, cv::Size(640, 480), true);
}
void lastVideo(std::string &video_name, const std::string &filename_prefix){
std::ifstream in(filename_prefix + "cnt.txt");
int cnt = 0;
if (in.is_open())
{
in >> cnt;
in.close();
}
if(cnt > 1) std::string video_name = filename_prefix + std::to_string(cnt) + ".avi";
}

10
others/src/camera/camera_wrapper.cpp
View File

@@ -61,6 +61,7 @@ bool CameraWrapper::init() {
rgb_buffer = (unsigned char *)malloc(tCapability.sResolutionRange.iHeightMax *
tCapability.sResolutionRange.iWidthMax * 3);
#ifdef Windows
char filepath[200];
sprintf(filepath, PROJECT_DIR"/others/%s.Config", name.data());
if (CameraReadParameterFromFile(h_camera, filepath) != CAMERA_STATUS_SUCCESS) {
@@ -72,6 +73,15 @@ bool CameraWrapper::init() {
return false;
}
LOGM("successfully loaded %s!", filepath);
#elif defined(Linux)
CameraSetAeState(h_camera, false);
CameraSetExposureTime(h_camera, 17*1000);
CameraSetAnalogGain(h_camera, 60);
if(mode == 0){
CameraSetGain(h_camera, 140, 140, 140);
CameraSetLutMode(h_camera, LUTMODE_PRESET);
}
#endif
double t;
CameraGetExposureTime(h_camera, &t);
LOGM("Exposure time: %lfms", t / 1000.0);

71
others/src/options/additions.cpp
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@@ -1,71 +0,0 @@
//
// Created by xinyang on 19-4-7.
//
#include <options/additions.h>
#include <options/options.h>
#include <stdio.h>
#include <log.h>
#include <opencv2/imgproc.hpp>
#include <opencv2/imgcodecs.hpp>
#include <opencv2/videoio.hpp>
#include <opencv2/highgui.hpp>
using namespace std;
#define VIDEO_SAVE_DIR "/home/sjturm/Desktop/video/"
static cv::VideoWriter *create_video_writer(){
FILE* info = fopen(VIDEO_SAVE_DIR"info.txt", "r");
int cnt=0;
fscanf(info, "%d", &cnt);
fclose(info);
info = fopen(VIDEO_SAVE_DIR"info.txt", "w");
fprintf(info, "%d", ++cnt);
char name[100];
sprintf(name, VIDEO_SAVE_DIR"%d.avi", cnt);
return new cv::VideoWriter(name, cv::VideoWriter::fourcc('P','I','M','1'), 80, cv::Size(640,480),false);
}
void save_video_file(cv::Mat &src){
static cv::VideoWriter *video = create_video_writer();
video->write(src);
}
#define SAVE_DIR "/home/sjturm/Desktop/labelled/"
bool save_label_error_flag = false;
int get_labelled_cnt(){
FILE *fp = fopen(SAVE_DIR"info.txt", "r");
int cnt=0;
fscanf(fp, "%d", &cnt);
fclose(fp);
return cnt+1;
}
void save_labelled_cnt(int cnt){
FILE *fp = fopen(SAVE_DIR"info.txt", "w");
fprintf(fp, "%d", cnt);
fclose(fp);
}
void save_labelled_image(cv::Mat &src, cv::Rect2d box){
if(!save_label_error_flag) {
static int cnt = get_labelled_cnt();
char name[50];
sprintf(name, SAVE_DIR"%d.jpg", cnt);
cv::imwrite(name, src);
sprintf(name, SAVE_DIR"%d.txt", cnt);
FILE *fp = fopen(name, "w");
if (fp == NULL) {
LOGW("Can't create file: %s!\nStop saving!", name);
save_label_error_flag = true;
return;
}
fprintf(fp, "%lf %lf %lf %lf\n", box.x, box.y, box.width, box.height);
fclose(fp);
save_labelled_cnt(cnt);
}
}

2
others/src/serial/serial.cpp
View File

@@ -2,7 +2,7 @@
#include <options/options.h>
#include <iostream>
#define LOG_LEVEL LOG_NONE
//#define LOG_LEVEL LOG_NONE
#include <log.h>
using namespace std;