From ef32b54761d30b3679179ec928a93b05ab0683c1 Mon Sep 17 00:00:00 2001 From: xinyang <895639507@qq.com> Date: Sat, 3 Aug 2019 19:00:46 +0800 Subject: [PATCH] =?UTF-8?q?=E6=96=B0=E7=89=88=E5=8F=8D=E9=99=80=E8=9E=BA?= =?UTF-8?q?=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 | 10 +++-- armor/src/armor_finder/anti_top/anti_top.cpp | 43 +++++++++++++++++-- .../src/armor_finder/armor_box/armor_box.cpp | 17 ++++++-- armor/src/armor_finder/armor_finder.cpp | 11 +++-- .../src/armor_finder/find/find_armor_box.cpp | 9 +++- .../searching_state/searching_state.cpp | 21 +++++++-- .../armor_finder/send_target/send_target.cpp | 4 +- .../tracking_state/tracking_state.cpp | 24 +++++------ energy/src/energy/get/aim_point_get.cpp | 8 ++-- energy/src/energy/get/gimble_rotation_get.cpp | 16 +++---- energy/src/energy/get/origin_get.cpp | 4 +- energy/src/energy/judge/judge_shoot.cpp | 2 +- energy/src/energy/mark/mark.cpp | 4 +- energy/src/energy/send/send.cpp | 8 ++-- main.cpp | 16 +++---- others/include/additions.h | 6 ++- others/src/additions.cpp | 16 ++++--- tools/TrainCNN/backward.py | 2 +- 18 files changed, 148 insertions(+), 73 deletions(-) diff --git a/armor/include/armor_finder/armor_finder.h b/armor/include/armor_finder/armor_finder.h index 9a02838..2a4ad28 100644 --- a/armor/include/armor_finder/armor_finder.h +++ b/armor/include/armor_finder/armor_finder.h @@ -79,6 +79,7 @@ public: explicit ArmorBox(const cv::Rect &pos=cv::Rect2d(), const LightBlobs &blobs=LightBlobs(), uint8_t color=0, int i=0); + cv::Point2f getCenter() const; double getBlobsDistance() const; double lengthDistanceRatio() const; double getBoxDistance() const; @@ -114,17 +115,18 @@ private: systime frame_time; // 当前帧对应时间; 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 - ArmorBox armor_box; // 当前目标装甲板 + ArmorBox target_box, last_box; // 目标装甲板 + int anti_switch_cnt; // 防止乱切目标计数器 cv::Ptr 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） int tracking_cnt; // 记录追踪帧数，用于定时退出追踪 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 - RoundQueue top_periodms; - RoundQueue box_ratioes; + RoundQueue top_periodms; // 陀螺周期循环队列 + RoundQueue box_ratioes; // systime last_front_time; // 上一次发生装甲板方向切换的时间 - BoxRatioChangeType last_ratio_type; + BoxRatioChangeType last_ratio_type; // int anti_top_cnt; // 满足条件的装甲板方向切换持续次数，用于反陀螺 AntiTopState anti_top_state; // 当前是否识别到陀螺 diff --git a/armor/src/armor_finder/anti_top/anti_top.cpp b/armor/src/armor_finder/anti_top/anti_top.cpp index ea12515..6d99005 100644 --- a/armor/src/armor_finder/anti_top/anti_top.cpp +++ b/armor/src/armor_finder/anti_top/anti_top.cpp @@ -13,7 +13,7 @@ static double boxDistance(const cv::Rect2d &a, const cv::Rect2d &b) { return sqrt(dist.x * dist.x + dist.y * dist.y); } -template +template static double mean(RoundQueue &vec) { double sum = 0; for (int i = 0; i < vec.size(); i++) { @@ -33,13 +33,14 @@ ArmorFinder::BoxRatioChangeType ArmorFinder::getRatioChangeType(RoundQueue 700) { anti_top_cnt = 0; if (anti_top_state == ANTI_TOP) { @@ -76,4 +77,38 @@ void ArmorFinder::antiTop() { sendBoxPosition(shoot_delay); } } +*/ + +void ArmorFinder::antiTop() { + if (target_box.rect == cv::Rect2d()) return; + uint16_t shoot_delay = 0; + auto interval = getTimeIntervalms(frame_time, last_front_time); + if (anti_top_state == ANTI_TOP && interval > 700) { + anti_top_state = NORMAL; + LOGM(STR_CTR(WORD_YELLOW, "switch to normal")); + } + if (getPointLength(last_box.getCenter() - target_box.getCenter()) > last_box.rect.height * 3.0) { + if (150 < interval && interval < 700) { + if (anti_top_state == ANTI_TOP) { + top_periodms.push(interval); + LOGM(STR_CTR(WORD_LIGHT_GREEN, "top period: %.1lf ms"), interval); + systime curr_time; + getsystime(curr_time); + auto calculate_time = getTimeIntervalms(curr_time, frame_time); + shoot_delay = mean(top_periodms) - calculate_time; + + } else { + if (++anti_top_cnt > 4) { + anti_top_state == ANTI_TOP; + LOGM(STR_CTR(WORD_CYAN, "switch to anti-top")); + } + } + } + } + if (anti_top_state == NORMAL) { + sendBoxPosition(0); + } else if (interval < top_periodms[-1] * 0.2){ + sendBoxPosition(shoot_delay); + } +} diff --git a/armor/src/armor_finder/armor_box/armor_box.cpp b/armor/src/armor_finder/armor_box/armor_box.cpp index 607e984..0278ab4 100644 --- a/armor/src/armor_finder/armor_box/armor_box.cpp +++ b/armor/src/armor_finder/armor_box/armor_box.cpp @@ -8,6 +8,15 @@ ArmorBox::ArmorBox(const cv::Rect &pos, const LightBlobs &blobs, uint8_t color, int i) : rect(pos), light_blobs(blobs), box_color(color), id(i) {}; + +cv::Point2f ArmorBox::getCenter() const { + return cv::Point2f( + rect.x + rect.width / 2, + rect.y + rect.height / 2 + ); +} + + double ArmorBox::getBlobsDistance() const { if (light_blobs.size() == 2) { auto &x = light_blobs[0].rect.center; @@ -78,10 +87,10 @@ bool ArmorBox::operator<(const ArmorBox &box) const { return prior_red[id2name[id]] < prior_red[id2name[box.id]]; } } else { - auto d1 = (rect.x-IMAGE_CENTER_X)*(rect.x-IMAGE_CENTER_X) - + (rect.y-IMAGE_CENTER_Y)*(rect.y-IMAGE_CENTER_Y); - auto d2 = (box.rect.x-IMAGE_CENTER_X)*(box.rect.x-IMAGE_CENTER_X) - + (box.rect.y-IMAGE_CENTER_Y)*(box.rect.y-IMAGE_CENTER_Y); + auto d1 = (rect.x - IMAGE_CENTER_X) * (rect.x - IMAGE_CENTER_X) + + (rect.y - IMAGE_CENTER_Y) * (rect.y - IMAGE_CENTER_Y); + auto d2 = (box.rect.x - IMAGE_CENTER_X) * (box.rect.x - IMAGE_CENTER_X) + + (box.rect.y - IMAGE_CENTER_Y) * (box.rect.y - IMAGE_CENTER_Y); return d1 < d2; } } diff --git a/armor/src/armor_finder/armor_finder.cpp b/armor/src/armor_finder/armor_finder.cpp index 2b90d35..800ef49 100644 --- a/armor/src/armor_finder/armor_finder.cpp +++ b/armor/src/armor_finder/armor_finder.cpp @@ -50,6 +50,9 @@ ArmorFinder::ArmorFinder(uint8_t &color, Serial &u, const string ¶s_folder, serial(u), enemy_color(color), state(STANDBY_STATE), + anti_top_cnt(0), + anti_switch_cnt(0), + anti_top_state(NORMAL), classifier(paras_folder), contour_area(0), use_classifier(use), @@ -63,15 +66,15 @@ void ArmorFinder::run(cv::Mat &src) { switch (state) { case SEARCHING_STATE: if (stateSearchingTarget(src)) { - if ((armor_box.rect & cv::Rect2d(0, 0, 640, 480)) == armor_box.rect) { // 判断装甲板区域是否脱离图像区域 + if ((target_box.rect & cv::Rect2d(0, 0, 640, 480)) == target_box.rect) { // 判断装甲板区域是否脱离图像区域 if (!classifier || !use_classifier) { /* 如果分类器不可用或者不使用分类器 */ - cv::Mat roi = src(armor_box.rect).clone(), roi_gray; /* 就使用装甲区域亮点数判断是否跟丢 */ + cv::Mat roi = src(target_box.rect).clone(), 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::threshold(roi_gray, roi_gray, 180, 255, cv::THRESH_BINARY); contour_area = cv::countNonZero(roi_gray); } tracker = TrackerToUse::create(); // 成功搜寻到装甲板，创建tracker对象 - tracker->init(src, armor_box.rect); + tracker->init(src, target_box.rect); state = TRACKING_STATE; tracking_cnt = 0; LOGM(STR_CTR(WORD_LIGHT_CYAN, "into track")); @@ -92,7 +95,7 @@ end: antiTop(); if (show_armor_box) { // 根据条件显示当前目标装甲板 - showArmorBox("box", src, armor_box); + showArmorBox("box", src, target_box); cv::waitKey(1); } } diff --git a/armor/src/armor_finder/find/find_armor_box.cpp b/armor/src/armor_finder/find/find_armor_box.cpp index 1e9f1ae..3a4b053 100644 --- a/armor/src/armor_finder/find/find_armor_box.cpp +++ b/armor/src/armor_finder/find/find_armor_box.cpp @@ -147,7 +147,14 @@ bool ArmorFinder::findArmorBox(const cv::Mat &src, ArmorBox &box) { armor_box.id = c; } }, armor_boxes.size()); - sort(armor_boxes.begin(), armor_boxes.end()); + 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()) < + getPointLength(b.getCenter()-last_box.getCenter()); + }else{ + return a < b; + } + }); if(armor_boxes[0].id != 0){ box = armor_boxes[0]; } diff --git a/armor/src/armor_finder/searching_state/searching_state.cpp b/armor/src/armor_finder/searching_state/searching_state.cpp index 5049093..be99312 100644 --- a/armor/src/armor_finder/searching_state/searching_state.cpp +++ b/armor/src/armor_finder/searching_state/searching_state.cpp @@ -8,10 +8,23 @@ #include bool ArmorFinder::stateSearchingTarget(cv::Mat &src) { - if(findArmorBox(src, armor_box)){ - return true; - }else{ - armor_box = ArmorBox(); + if(anti_switch_cnt >= 3){ + last_box = ArmorBox(); + } + if (findArmorBox(src, target_box)) { + if (last_box.rect != cv::Rect2d() && + (getPointLength(last_box.getCenter() - target_box.getCenter()) > last_box.rect.height * 3.0) && + anti_switch_cnt++ < 3) { + target_box = ArmorBox(); + return false; + } else { + last_box = target_box; + anti_switch_cnt = 0; + return true; + } + } else { + target_box = ArmorBox(); + anti_switch_cnt++; return false; } } diff --git a/armor/src/armor_finder/send_target/send_target.cpp b/armor/src/armor_finder/send_target/send_target.cpp index 3212a91..06f53f2 100644 --- a/armor/src/armor_finder/send_target/send_target.cpp +++ b/armor/src/armor_finder/send_target/send_target.cpp @@ -42,11 +42,11 @@ static bool sendTarget(Serial &serial, double x, double y, double z, uint16_t sh } bool ArmorFinder::sendBoxPosition(uint16_t shoot_delay) { - if (armor_box.rect == cv::Rect2d()) return false; + if (target_box.rect == cv::Rect2d()) return false; if (shoot_delay) { LOGM(STR_CTR(WORD_BLUE, "shoot after %dms"), shoot_delay); } - auto rect = armor_box.rect; + auto rect = target_box.rect; double dx = rect.x + rect.width / 2 - IMAGE_CENTER_X; double dy = rect.y + rect.height / 2 - IMAGE_CENTER_Y; double yaw = atan(dx / FOCUS_PIXAL) * 180 / PI; diff --git a/armor/src/armor_finder/tracking_state/tracking_state.cpp b/armor/src/armor_finder/tracking_state/tracking_state.cpp index 9a05d6b..cd9a9b7 100644 --- a/armor/src/armor_finder/tracking_state/tracking_state.cpp +++ b/armor/src/armor_finder/tracking_state/tracking_state.cpp @@ -7,13 +7,13 @@ #include bool ArmorFinder::stateTrackingTarget(cv::Mat &src) { - auto pos = armor_box.rect; + auto pos = target_box.rect; if(!tracker->update(src, pos)){ - armor_box = ArmorBox(); + target_box = ArmorBox(); return false; } if((pos & cv::Rect2d(0, 0, 640, 480)) != pos){ - armor_box = ArmorBox(); + target_box = ArmorBox(); return false; } @@ -32,21 +32,21 @@ bool ArmorFinder::stateTrackingTarget(cv::Mat &src) { ArmorBox box; if(findArmorBox(roi, box)) { - armor_box = box; - armor_box.rect.x += bigger_rect.x; - armor_box.rect.y += bigger_rect.y; - for(auto &blob : armor_box.light_blobs){ + target_box = box; + target_box.rect.x += bigger_rect.x; + target_box.rect.y += bigger_rect.y; + for(auto &blob : target_box.light_blobs){ blob.rect.center.x += bigger_rect.x; blob.rect.center.y += bigger_rect.y; } tracker = TrackerToUse::create(); - tracker->init(src, armor_box.rect); + tracker->init(src, target_box.rect); }else{ roi = src(pos).clone(); if(classifier){ cv::resize(roi, roi, cv::Size(48, 36)); if(classifier(roi) == 0){ - armor_box = ArmorBox(); + target_box = ArmorBox(); return false; } }else{ @@ -55,12 +55,12 @@ bool ArmorFinder::stateTrackingTarget(cv::Mat &src) { cv::threshold(roi_gray, roi_gray, 180, 255, cv::THRESH_BINARY); contour_area = cv::countNonZero(roi_gray); if(abs(cv::countNonZero(roi_gray) - contour_area) > contour_area * 0.3){ - armor_box = ArmorBox(); + target_box = ArmorBox(); return false; } } - armor_box.rect = pos; - armor_box.light_blobs.clear(); + target_box.rect = pos; + target_box.light_blobs.clear(); } return true; } diff --git a/energy/src/energy/get/aim_point_get.cpp b/energy/src/energy/get/aim_point_get.cpp index 7199112..d382300 100644 --- a/energy/src/energy/get/aim_point_get.cpp +++ b/energy/src/energy/get/aim_point_get.cpp @@ -9,7 +9,7 @@ using namespace std; using namespace cv; -extern mcu_data mcuData; +extern McuData mcu_data; //---------------------------------------------------------------------------------------------------------------------- // 此函数通过自瞄逻辑击打目标点，用于大符的自动对心和小符直接打击 @@ -29,12 +29,12 @@ void Energy::getAimPoint(cv::Point target_point_) { extra_delta_y = 0; } - double dx = -(target_point_.x - 320 - COMPENSATE_YAW - mcuData.delta_x - manual_delta_x - extra_delta_x); - double dy = -(target_point_.y - 240 - COMPENSATE_PITCH - mcuData.delta_y - manual_delta_y - extra_delta_y); + double dx = -(target_point_.x - 320 - COMPENSATE_YAW - mcu_data.delta_x - manual_delta_x - extra_delta_x); + double dy = -(target_point_.y - 240 - COMPENSATE_PITCH - mcu_data.delta_y - manual_delta_y - extra_delta_y); yaw_rotation = atan(dx / FOCUS_PIXAL) * 180 / PI; pitch_rotation = atan(dy / FOCUS_PIXAL) * 180 / PI; // cout << "yaw: " << yaw_rotation << '\t' << "pitch: " << pitch_rotation << endl; -// cout << "mcuData.delta_x: " << mcuData.delta_x << '\t' << "mcuData.delta_y: " << mcuData.delta_y << endl; +// cout << "mcu_data.delta_x: " << mcu_data.delta_x << '\t' << "mcu_data.delta_y: " << mcu_data.delta_y << endl; // cout << "manual delta: " << manual_delta_x << '\t' << manual_delta_y << endl; } diff --git a/energy/src/energy/get/gimble_rotation_get.cpp b/energy/src/energy/get/gimble_rotation_get.cpp index 6ec5dd5..f011b1e 100644 --- a/energy/src/energy/get/gimble_rotation_get.cpp +++ b/energy/src/energy/get/gimble_rotation_get.cpp @@ -15,23 +15,23 @@ using std::vector; // 此函数用于操作手手动标定 // --------------------------------------------------------------------------------------------------------------------- void Energy::changeMark() { - if (mcuData.mark == 0 && last_mark == 1) {//完成标定 - last_mark = mcuData.mark; - origin_yaw = mcuData.curr_yaw; - origin_pitch = mcuData.curr_pitch; + if (mcu_data.mark == 0 && last_mark == 1) {//完成标定 + last_mark = mcu_data.mark; + origin_yaw = mcu_data.curr_yaw; + origin_pitch = mcu_data.curr_pitch; is_mark = false; manual_mark = true; // LOGM(STR_CTR(WORD_LIGHT_YELLOW, "IsMark")); - } else if (mcuData.mark == 1) {//正在标定 - last_mark = mcuData.mark; + } else if (mcu_data.mark == 1) {//正在标定 + last_mark = mcu_data.mark; is_mark = true; // LOGM(STR_CTR(WORD_BLUE,"Marking...")); } else {//未在标定 - last_mark = mcuData.mark; + last_mark = mcu_data.mark; is_mark = false; } - //cout<<"mark: "< 0.3 || abs(center_delta_pitch) > 0.3) { return false; } else { - origin_yaw = mcuData.curr_yaw; - origin_pitch = mcuData.curr_pitch; + origin_yaw = mcu_data.curr_yaw; + origin_pitch = mcu_data.curr_pitch; auto_mark = true; LOGM(STR_CTR(WORD_BLUE_CODE, "auto mark success!")); return true; diff --git a/energy/src/energy/judge/judge_shoot.cpp b/energy/src/energy/judge/judge_shoot.cpp index d9b9aa3..83ad028 100644 --- a/energy/src/energy/judge/judge_shoot.cpp +++ b/energy/src/energy/judge/judge_shoot.cpp @@ -14,7 +14,7 @@ using namespace cv; // 此函数用于判断世界坐标系下是否可以发弹 // --------------------------------------------------------------------------------------------------------------------- void Energy::judgeShootInWorld() { - if (abs(yaw_rotation - mcuData.curr_yaw) < 0.5 && abs(pitch_rotation - mcuData.curr_pitch) < 0.5) { + if (abs(yaw_rotation - mcu_data.curr_yaw) < 0.5 && abs(pitch_rotation - mcu_data.curr_pitch) < 0.5) { shoot = 4; // is_predicting = false; // is_guessing = true; diff --git a/energy/src/energy/mark/mark.cpp b/energy/src/energy/mark/mark.cpp index 0168f5f..264ac59 100644 --- a/energy/src/energy/mark/mark.cpp +++ b/energy/src/energy/mark/mark.cpp @@ -15,8 +15,8 @@ void Energy::writeDownSlightChange(cv::Mat &src) { if (findFans(src) >= 4) { FILE *fp_delta = fopen(PROJECT_DIR"/Mark/delta.txt", "w"); if (fp_delta) { - fprintf(fp_delta, "delta_x: %d, delta_y: %d\n", mcuData.delta_x + manual_delta_x, - mcuData.delta_y + manual_delta_y); + fprintf(fp_delta, "delta_x: %d, delta_y: %d\n", mcu_data.delta_x + manual_delta_x, + mcu_data.delta_y + manual_delta_y); fclose(fp_delta); } } diff --git a/energy/src/energy/send/send.cpp b/energy/src/energy/send/send.cpp index 281dcf1..04fd7fd 100644 --- a/energy/src/energy/send/send.cpp +++ b/energy/src/energy/send/send.cpp @@ -20,10 +20,10 @@ void Energy::sendEnergy() { yaw_rotation = AIM_KP * yaw_rotation + AIM_KI * sum_yaw; pitch_rotation = AIM_KP * pitch_rotation + AIM_KI * sum_pitch; } else if (is_chassis) { - sum_yaw += yaw_rotation - mcuData.curr_yaw; - sum_pitch += pitch_rotation - mcuData.curr_pitch; - yaw_rotation = AIM_KP * (yaw_rotation - mcuData.curr_yaw) + AIM_KI * sum_yaw; - pitch_rotation = AIM_KP * (pitch_rotation - mcuData.curr_pitch) + AIM_KI * sum_pitch; + sum_yaw += yaw_rotation - mcu_data.curr_yaw; + sum_pitch += pitch_rotation - mcu_data.curr_pitch; + yaw_rotation = AIM_KP * (yaw_rotation - mcu_data.curr_yaw) + AIM_KI * sum_yaw; + pitch_rotation = AIM_KP * (pitch_rotation - mcu_data.curr_pitch) + AIM_KI * sum_pitch; } } diff --git a/main.cpp b/main.cpp index 7aea291..7d6a681 100644 --- a/main.cpp +++ b/main.cpp @@ -27,7 +27,7 @@ using namespace cv; using namespace std; -mcu_data mcuData = { // 单片机端回传结构体 +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 ARMOR_STATE, // 当前状态，自瞄-大符-小符 @@ -44,9 +44,9 @@ 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 // 自瞄主程序对象 -ArmorFinder armorFinder(mcuData.enemy_color, serial, PROJECT_DIR"/tools/para/", mcuData.use_classifier); +ArmorFinder armorFinder(mcu_data.enemy_color, serial, PROJECT_DIR"/tools/para/", mcu_data.use_classifier); // 能量机关主程序对象 -Energy energy(serial, mcuData.enemy_color); +Energy energy(serial, mcu_data.enemy_color); int box_distance = 0; @@ -94,7 +94,7 @@ int main(int argc, char *argv[]) { cout << "start running" << endl; do { CNT_TIME("Total", { - if (mcuData.state == BIG_ENERGY_STATE) {//大能量机关模式 + if (mcu_data.state == BIG_ENERGY_STATE) {//大能量机关模式 if (last_state != BIG_ENERGY_STATE) {//若上一帧不是大能量机关模式，即刚往完成切换，则需要初始化 LOGM(STR_CTR(WORD_BLUE, "Start Big Energy!")); destroyAllWindows(); @@ -110,7 +110,7 @@ int main(int argc, char *argv[]) { checkReconnect(video_chassis->read(chassis_src)); energy.setBigEnergyInit(); } - last_state = mcuData.state;//更新上一帧状态 + last_state = mcu_data.state;//更新上一帧状态 ok = checkReconnect(video_gimbal->read(gimbal_src)); video_chassis->read(chassis_src); #ifdef GIMBAL_FLIP_MODE @@ -124,7 +124,7 @@ int main(int argc, char *argv[]) { if (show_origin) showOrigin(gimbal_src, chassis_src);//显示原始图像 energy.runBig(gimbal_src, chassis_src); // energy.runBig(gimbal_src); - } else if (mcuData.state == SMALL_ENERGY_STATE) { + } else if (mcu_data.state == SMALL_ENERGY_STATE) { if (last_state != SMALL_ENERGY_STATE) { LOGM(STR_CTR(WORD_GREEN, "Start Small Energy!")); destroyAllWindows(); @@ -139,7 +139,7 @@ int main(int argc, char *argv[]) { } energy.setSmallEnergyInit(); } - last_state = mcuData.state;//更新上一帧状态 + last_state = mcu_data.state;//更新上一帧状态 ok = checkReconnect(video_gimbal->read(gimbal_src)); #ifdef GIMBAL_FLIP_MODE flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE); @@ -162,7 +162,7 @@ int main(int argc, char *argv[]) { } } } - last_state = mcuData.state; + last_state = mcu_data.state; CNT_TIME(STR_CTR(WORD_GREEN, "read img"), { if(!checkReconnect(video_gimbal->read(gimbal_src))) continue; }); diff --git a/others/include/additions.h b/others/include/additions.h index f51fdac..a6edadf 100644 --- a/others/include/additions.h +++ b/others/include/additions.h @@ -10,7 +10,7 @@ #include #include -struct mcu_data { +struct McuData { float curr_yaw; float curr_pitch; uint8_t state; @@ -21,7 +21,7 @@ struct mcu_data { int delta_y; }; -extern mcu_data mcuData; +extern McuData mcu_data; void uartReceive(Serial *pSerial); @@ -43,6 +43,8 @@ void extract(cv::Mat &gimbal_src); float getTimeIntervalms(const systime &now, const systime &last); +double getPointLength(const cv::Point2f &p); + template class RoundQueue { private: diff --git a/others/src/additions.cpp b/others/src/additions.cpp index ea030c6..81af7c2 100644 --- a/others/src/additions.cpp +++ b/others/src/additions.cpp @@ -34,12 +34,12 @@ void uartReceive(Serial *pSerial) { LOGM(STR_CTR(WORD_LIGHT_WHITE, "data receive start!")); while (true) { memset(buffer, 0, sizeof(buffer)); - pSerial->ReadData((uint8_t *) buffer, sizeof(mcuData)+1); - if (buffer[sizeof(mcuData)] == '\n') { - memcpy(&mcuData, buffer, sizeof(mcuData)); -// LOGM("Get, state:%c, mark:%d!", mcuData.state, (int) mcuData.mark); -// LOGM("Get yaw: %f, pitch: %f!", mcuData.curr_yaw, mcuData.curr_pitch); -// LOGM("Get delta x: %d, delta y: %d!", mcuData.delta_x, mcuData.delta_y); + pSerial->ReadData((uint8_t *) buffer, sizeof(mcu_data)+1); + if (buffer[sizeof(mcu_data)] == '\n') { + memcpy(&mcu_data, buffer, sizeof(mcu_data)); +// LOGM("Get, state:%c, mark:%d!", mcu_data.state, (int) mcu_data.mark); +// LOGM("Get yaw: %f, pitch: %f!", mcu_data.curr_yaw, mcu_data.curr_pitch); +// LOGM("Get delta x: %d, delta y: %d!", mcu_data.delta_x, mcu_data.delta_y); // static int t = time(nullptr); // static int cnt = 0; // if(time(nullptr) > t){ @@ -173,3 +173,7 @@ void extract(cv::Mat &gimbal_src) {//图像预处理，将视频切成640×480 float getTimeIntervalms(const systime &now, const systime &last){ return (now.second-last.second)*1000.0 + (now.millisecond-last.millisecond); } + +double getPointLength(const cv::Point2f &p) { + return sqrt(p.x * p.x + p.y * p.y); +} diff --git a/tools/TrainCNN/backward.py b/tools/TrainCNN/backward.py index 8100c01..fc88244 100755 --- a/tools/TrainCNN/backward.py +++ b/tools/TrainCNN/backward.py @@ -96,7 +96,7 @@ def train(dataset, show_bar=False): _, loss_value, step = sess.run( [train_op, loss, global_step], - feed_dict={x: images_samples, y_: labels_samples, keep_rate:0.4} + feed_dict={x: images_samples, y_: labels_samples, keep_rate:0.3} ) if step % 500 == 0: