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This commit is contained in:
xinyang
2019-08-15 15:57:27 +08:00
parent ae059cb572
commit d650907319
4 changed files with 34 additions and 84 deletions
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10
armor/src/armor_finder/armor_box/armor_box.cpp
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@@ -8,7 +8,7 @@
ArmorBox::ArmorBox(const cv::Rect &pos, const LightBlobs &blobs, uint8_t color, int i) :
rect(pos), light_blobs(blobs), box_color(color), id(i) {};
// 获取装甲板中心点
cv::Point2f ArmorBox::getCenter() const {
return cv::Point2f(
rect.x + rect.width / 2,
@@ -16,7 +16,7 @@ cv::Point2f ArmorBox::getCenter() const {
);
}
// 获取两个灯条中心点的间距
double ArmorBox::getBlobsDistance() const {
if (light_blobs.size() == 2) {
auto &x = light_blobs[0].rect.center;
@@ -27,6 +27,7 @@ double ArmorBox::getBlobsDistance() const {
}
}
// 获取灯条长度和间距的比例
double ArmorBox::lengthDistanceRatio() const {
if (light_blobs.size() == 2) {
return max(light_blobs[0].length, light_blobs[1].length)
@@ -36,6 +37,7 @@ double ArmorBox::lengthDistanceRatio() const {
}
}
// 计算装甲板到摄像头的距离
double ArmorBox::getBoxDistance() const {
if (light_blobs.size() == 2) {
return DISTANCE_HEIGHT / 2 / max(light_blobs[0].length, light_blobs[1].length);
@@ -44,8 +46,8 @@ double ArmorBox::getBoxDistance() const {
}
}
// 判断装甲板的正对还是侧对(已弃用，误差过大)
ArmorBox::BoxOrientation ArmorBox::getOrientation() const {
// cout << lengthDistanceRatio() << endl;
if (light_blobs.size() != 2) {
return UNKNOWN;
}
@@ -78,7 +80,7 @@ ArmorBox::BoxOrientation ArmorBox::getOrientation() const {
return UNKNOWN;
}
}
// 装甲板的优先级比较
bool ArmorBox::operator<(const ArmorBox &box) const {
if (id != box.id) {
if (box_color == BOX_BLUE) {

35
armor/src/armor_finder/find/find_armor_box.cpp
View File

@@ -11,7 +11,7 @@
#include <log.h>
// 判断两个灯条的角度差
static bool angelJudge(const LightBlob &light_blob_i, const LightBlob &light_blob_j) {
float angle_i = light_blob_i.rect.size.width > light_blob_i.rect.size.height ? light_blob_i.rect.angle :
light_blob_i.rect.angle - 90;
@@ -19,19 +19,19 @@ static bool angelJudge(const LightBlob &light_blob_i, const LightBlob &light_blo
light_blob_j.rect.angle - 90;
return abs(angle_i - angle_j) < 20;
}
// 判断两个灯条的高度差
static 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;
}
// 判断两个灯条的间距
static 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 < 10 && side_length / light_blob_i.length > 0.5);
}
// 判断两个灯条的长度比
static bool lengthRatioJudge(const LightBlob &light_blob_i, const LightBlob &light_blob_j) {
return (light_blob_i.length / light_blob_j.length < 2.5
&& light_blob_i.length / light_blob_j.length > 0.4);
@@ -52,7 +52,7 @@ static bool CuoWeiDuJudge(const LightBlob &light_blob_i, const LightBlob &light_
light_blob_j.rect.center.y - light_blob_i.rect.center.y);
return abs(orientation.dot(p2p)) < 25;
}
// 判断装甲板方向
static 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;
@@ -64,7 +64,7 @@ static bool boxAngleJudge(const LightBlob &light_blob_i, const LightBlob &light_
}
return (-120.0 < angle && angle < -60.0) || (60.0 < angle && angle < 120.0);
}
// 判断两个灯条是否可以匹配
static bool isCoupleLight(const LightBlob &light_blob_i, const LightBlob &light_blob_j, uint8_t enemy_color) {
return light_blob_i.blob_color == enemy_color &&
light_blob_j.blob_color == enemy_color &&
@@ -76,13 +76,7 @@ static bool isCoupleLight(const LightBlob &light_blob_i, const LightBlob &light_
CuoWeiDuJudge(light_blob_i, light_blob_j);
}
static 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;
}
// 匹配所有灯条，得出装甲板候选区
bool ArmorFinder::matchArmorBoxes(const cv::Mat &src, const LightBlobs &light_blobs, ArmorBoxes &armor_boxes) {
armor_boxes.clear();
for (int i = 0; i < light_blobs.size() - 1; ++i) {
@@ -113,32 +107,34 @@ bool ArmorFinder::matchArmorBoxes(const cv::Mat &src, const LightBlobs &light_bl
}
return !armor_boxes.empty();
}
// 在给定的图像上寻找装甲板
bool ArmorFinder::findArmorBox(const cv::Mat &src, ArmorBox &box) {
LightBlobs light_blobs; // 存储所有可能的灯条
ArmorBoxes armor_boxes; // 装甲板候选区
box.rect = cv::Rect2d(0, 0, 0, 0);
box.id = -1;
// 寻找所有可能的灯条
CNT_TIME("blob", {
if (!findLightBlobs(src, light_blobs)) {
return false;
}
});
if (show_light_blobs && src.size() == cv::Size(640, 480)) {
if (show_light_blobs && state==SEARCHING_STATE) {
showLightBlobs("light_blobs", src, light_blobs);
cv::waitKey(1);
}
// 对灯条进行匹配得出装甲板候选区
CNT_TIME("boxes", {
if (!matchArmorBoxes(src, light_blobs, armor_boxes)) {
return false;
}
});
if (show_armor_boxes && src.size() == cv::Size(640, 480)) {
if (show_armor_boxes && state==SEARCHING_STATE) {
showArmorBoxes("boxes", src, armor_boxes);
cv::waitKey(1);
}
// 如果分类器可用，则使用分类器对装甲板候选区进行筛选
if (classifier) {
CNT_TIME("classify: %d", {
for (auto &armor_box : armor_boxes) {
@@ -148,6 +144,7 @@ bool ArmorFinder::findArmorBox(const cv::Mat &src, ArmorBox &box) {
armor_box.id = c;
}
}, armor_boxes.size());
// 按照优先级对装甲板进行排序
sort(armor_boxes.begin(), armor_boxes.end(), [&](const ArmorBox &a, const ArmorBox &b) {
if (last_box.rect != cv::Rect2d()) {
return getPointLength(a.getCenter() - last_box.getCenter()) <
@@ -174,10 +171,10 @@ bool ArmorFinder::findArmorBox(const cv::Mat &src, ArmorBox &box) {
if (box.rect == cv::Rect2d(0, 0, 0, 0)) {
return false;
}
if (show_armor_boxes && src.size() == cv::Size(640, 480)) {
if (show_armor_boxes && state==SEARCHING_STATE) {
showArmorBoxesClass("class", src, armor_boxes);
}
} else {
} else { // 如果分类器不可用，则直接选取候选区中的第一个区域作为目标(往往会误识别)
box = armor_boxes[0];
}
return true;

70
armor/src/armor_finder/find/find_light_blobs.cpp
View File

@@ -6,25 +6,24 @@
#include <options.h>
#include <opencv2/highgui.hpp>
// 旋转矩形的长宽比
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;
}
// 轮廓面积和其最小外接矩形面积之比
static double areaRatio(const std::vector<cv::Point> &contour, const cv::RotatedRect &rect) {
return cv::contourArea(contour) / rect.size.area();
}
// 判断轮廓是否为一个灯条
static bool isValidLightBlob(const std::vector<cv::Point> &contour, const cv::RotatedRect &rect) {
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));
}
// 此函数可以有性能优化.
// 判断灯条颜色(此函数可以有性能优化).
static uint8_t get_blob_color(const cv::Mat &src, const cv::RotatedRect &blobPos) {
auto region = blobPos.boundingRect();
region.x -= fmax(3, region.width * 0.1);
@@ -46,60 +45,12 @@ static uint8_t get_blob_color(const cv::Mat &src, const cv::RotatedRect &blobPos
return BLOB_BLUE;
}
}
static float 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（还有点问题）
static double get_blob_color_opt(const cv::Mat &src, cv::RotatedRect blobPos) {
int blue_cnt = 0, red_cnt = 0;
blobPos.size.height *= 1.05;
blobPos.size.width *= 1.1;
cv::Point2f corners[4];
blobPos.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++) {
red_cnt += src.at<cv::Vec3b>(r, c)[2];
blue_cnt += src.at<cv::Vec3b>(r, c)[0];
}
}
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++) {
red_cnt += src.at<cv::Vec3b>(r, c)[2];
blue_cnt += src.at<cv::Vec3b>(r, c)[0];
}
}
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++) {
red_cnt += src.at<cv::Vec3b>(r, c)[2];
blue_cnt += src.at<cv::Vec3b>(r, c)[0];
}
}
if (red_cnt > blue_cnt) {
return BLOB_RED;
} else {
return BLOB_BLUE;
}
}
// 判断两个灯条区域是同一个灯条
static bool isSameBlob(LightBlob blob1, LightBlob blob2) {
auto dist = blob1.rect.center - blob2.rect.center;
return (dist.x * dist.x + dist.y * dist.y) < 9;
}
// 开闭运算
static void imagePreProcess(cv::Mat &src) {
static cv::Mat kernel_erode = getStructuringElement(cv::MORPH_RECT, cv::Size(3, 5));
erode(src, src, kernel_erode);
@@ -112,12 +63,8 @@ static void imagePreProcess(cv::Mat &src) {
static cv::Mat kernel_erode2 = getStructuringElement(cv::MORPH_RECT, cv::Size(3, 5));
erode(src, src, kernel_erode2);
// float alpha = 1.5;
// int beta = 0;
// src.convertTo(src, -1, alpha, beta);
}
// 在给定图像上寻找所有可能的灯条
bool ArmorFinder::findLightBlobs(const cv::Mat &src, LightBlobs &light_blobs) {
cv::Mat color_channel;
cv::Mat src_bin_light, src_bin_dim;
@@ -148,7 +95,8 @@ bool ArmorFinder::findLightBlobs(const cv::Mat &src, LightBlobs &light_blobs) {
imshow("bin_light", src_bin_light);
imshow("bin_dim", src_bin_dim);
}
// 使用两个不同的二值化阈值同时进行灯条提取，减少环境光照对二值化这个操作的影响。
// 同时剔除重复的灯条，剔除冗余计算，即对两次找出来的灯条取交集。
std::vector<std::vector<cv::Point>> light_contours_light, light_contours_dim;
LightBlobs light_blobs_light, light_blobs_dim;
std::vector<cv::Vec4i> hierarchy_light, hierarchy_dim;