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Merge remote-tracking branch 'origin/master'

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sun
2019-07-23 16:03:16 +08:00
parent e62c53d343 ece612c968
commit 0b7f6e6fd9
20 changed files with 26924 additions and 26919 deletions
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14
armor/include/armor_finder/armor_finder.h
View File

@@ -20,6 +20,9 @@
#define BOX_RED ENEMY_RED
#define BOX_BLUE ENEMY_BLUE
#define IMAGE_CENTER_X (320)
#define IMAGE_CENTER_Y (240-20)
#define DISTANCE_HEIGHT_5MM (107.0) // 单位: m*pixel
#define DISTANCE_HEIGHT DISTANCE_HEIGHT_5MM
@@ -40,6 +43,9 @@
extern std::map<int, string> id2name; //装甲板id到名称的map
extern std::map<string, int> name2id; //装甲板名称到id的map
extern std::map<string, int> prior_blue;
extern std::map<string, int> prior_red;
/******************* 灯条类定义 ***********************/
class LightBlob {
@@ -72,11 +78,13 @@ public:
explicit ArmorBox(const cv::Rect &pos=cv::Rect2d(), const LightBlobs &blobs=LightBlobs(), uint8_t color=0, int i=0);
double blobsDistance() const;
double lengthRatio() const;
double getBlobsDistance() const;
double lengthDistanceRatio() const;
double getDistance() const;
double getBoxDistance() const;
BoxOrientation getOrientation() const;
// double
bool operator<(const ArmorBox &box) const;
};
typedef std::vector<ArmorBox> ArmorBoxes;

2
armor/include/show_images/show_images.h
View File

@@ -12,7 +12,7 @@
void showArmorBoxes(std::string windows_name, const cv::Mat &src, const ArmorBoxes &armor_boxes);
void showArmorBox(std::string windows_name, const cv::Mat &src, const ArmorBox &armor_box);
void showLightBlobs(std::string windows_name, const cv::Mat &src, const LightBlobs &light_blobs);
void showArmorBoxesClass(std::string window_names, const cv::Mat &src, const ArmorBoxes boxes[15]);
void showArmorBoxesClass(std::string window_names, const cv::Mat &src, const ArmorBoxes &boxes);
void showTrackSearchingPos(std::string window_names, const cv::Mat &src, const cv::Rect2d pos);
#endif /* _SHOW_IMAGES_H_ */

33
armor/src/armor_finder/armor_box/armor_box.cpp
View File

@@ -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) {};
double ArmorBox::blobsDistance() const{
double ArmorBox::getBlobsDistance() const {
if (light_blobs.size() == 2) {
auto &x = light_blobs[0].rect.center;
auto &y = light_blobs[1].rect.center;
@@ -18,26 +18,16 @@ double ArmorBox::blobsDistance() const{
}
}
double ArmorBox::lengthRatio() const{
if(light_blobs.size() == 2){
return light_blobs[0].length / light_blobs[1].length < 1 ?
(light_blobs[0].length / light_blobs[1].length) :
(light_blobs[1].length / light_blobs[0].length);
}else{
return 0;
}
}
double ArmorBox::lengthDistanceRatio() const {
if (light_blobs.size() == 2) {
return max(light_blobs[0].length, light_blobs[1].length)
/ blobsDistance();
/ getBlobsDistance();
} else {
return 100;
}
}
double ArmorBox::getDistance() const{
double ArmorBox::getBoxDistance() const {
if (light_blobs.size() == 2) {
return DISTANCE_HEIGHT / 2 / max(light_blobs[0].length, light_blobs[1].length);
} else {
@@ -79,3 +69,20 @@ ArmorBox::BoxOrientation ArmorBox::getOrientation() const{
return UNKNOWN;
}
}
bool ArmorBox::operator<(const ArmorBox &box) const {
if (id != box.id) {
if (box_color == BOX_BLUE) {
return prior_blue[id2name[id]] < prior_blue[id2name[box.id]];
} else {
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);
return d1 < d2;
}
}

12
armor/src/armor_finder/armor_finder.cpp
View File

@@ -35,6 +35,18 @@ std::map<string, int> name2id = { //装甲板名
{"R1", 8},{"R2", 9},{"R3", 10},{"R4", 11},{"R5", 12},{"R7", 13},{"R8", 14},
};
std::map<string, int> prior_blue = {
{"B8", 0}, {"B1", 1}, {"B3", 2}, {"B4", 2}, {"B5", 2}, {"B7", 3}, {"B2", 4},
{"R8", 5}, {"R1", 6}, {"R3", 7}, {"R4", 7}, {"R5", 7}, {"R7", 8}, {"R2", 9},
{"NO", 10},
};
std::map<string, int> prior_red = {
{"R8", 0}, {"R1", 1}, {"R3", 2}, {"R4", 2}, {"R5", 2}, {"R7", 3}, {"R2", 4},
{"B8", 5}, {"B1", 6}, {"B3", 7}, {"B4", 7}, {"B5", 7}, {"B7", 8}, {"B2", 9},
{"NO", 10},
};
ArmorFinder::ArmorFinder(uint8_t &color, Serial &u, const string &paras_folder, const uint8_t &use) :
serial(u),
enemy_color(color),

4
armor/src/armor_finder/classifier/classifier.cpp
View File

@@ -303,5 +303,9 @@ int Classifier::operator()(const cv::Mat &image) {
// cout << result << "==============" <<endl;
MatrixXd::Index minRow, minCol;
result.maxCoeff(&minRow, &minCol);
if(result(minRow, minCol) > 0.9){
return minRow;
}else{
return 0;
}
}

49
armor/src/armor_finder/find/find_armor_box.cpp
View File

@@ -8,15 +8,7 @@
#include <opencv2/highgui.hpp>
#include <log.h>
static string prior_blue[] = {
"B8", "B1", "B3", "B4", "B5", "B7", "B2",
"R8", "R1", "R3", "R4", "R5", "R7", "R2",
};
static string prior_red[] = {
"R8", "R1", "R3", "R4", "R5", "R7", "R2",
"B8", "B1", "B3", "B4", "B5", "B7", "B2",
};
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 :
@@ -94,7 +86,6 @@ bool matchArmorBoxes(const cv::Mat &src, const LightBlobs &light_blobs, ArmorBox
for (int i = 0; i < light_blobs.size() - 1; ++i) {
for (int j = i + 1; j < light_blobs.size(); ++j) {
if (!isCoupleLight(light_blobs.at(i), light_blobs.at(j), color)) {
// cout << "match fail" << endl;
continue;
}
cv::Rect2d rect_left = light_blobs.at(static_cast<unsigned long>(i)).rect.boundingRect();
@@ -106,7 +97,6 @@ bool matchArmorBoxes(const cv::Mat &src, const LightBlobs &light_blobs, ArmorBox
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 > src.cols || min_y < 0 || max_y > src.rows) {
// cout << "out of range" << endl;
continue;
}
LightBlobs pair_blobs = {light_blobs.at(i), light_blobs.at(j)};
@@ -117,19 +107,12 @@ bool matchArmorBoxes(const cv::Mat &src, const LightBlobs &light_blobs, ArmorBox
);
}
}
if (armor_boxes.empty()) {
return false;
}
sort(armor_boxes.begin(), armor_boxes.end(), [](ArmorBox box1, ArmorBox box2) -> bool {
return centerDistance(box1.rect) < centerDistance(box2.rect);
});
return true;
return !armor_boxes.empty();
}
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
ArmorBoxes boxes_number[15]; // 装甲板候选区放置在对应id位置
box.rect = cv::Rect2d(0, 0, 0, 0);
box.id = -1;
@@ -157,40 +140,24 @@ bool ArmorFinder::findArmorBox(const cv::Mat &src, ArmorBox &box){
cv::resize(roi, roi, cv::Size(48, 36));
int c = classifier(roi);
armor_box.id = c;
boxes_number[c].emplace_back(armor_box);
}
if (enemy_color == ENEMY_BLUE) {
for (auto &name : prior_blue) {
if (!boxes_number[name2id[name]].empty()) {
box = boxes_number[name2id[name]][0];
break;
}
}
} else if (enemy_color == ENEMY_RED) {
for (auto &name : prior_red) {
if (!boxes_number[name2id[name]].empty()) {
box = boxes_number[name2id[name]][0];
break;
}
}
} else {
LOGE_INFO("enemy_color ERROR!");
sort(armor_boxes.begin(), armor_boxes.end());
if(armor_boxes[0].id != 0){
box = armor_boxes[0];
}
if (save_labelled_boxes) {
for (int i = 0; i < sizeof(boxes_number) / sizeof(boxes_number[0]); i++) {
for (auto &armor_box : boxes_number[i]) {
for (const auto &one_box : armor_boxes) {
char filename[100];
sprintf(filename, PROJECT_DIR"/armor_box_photo/%s_%d.jpg", id2name[i].data(),
sprintf(filename, PROJECT_DIR"/armor_box_photo/%s_%d.jpg", id2name[one_box.id].data(),
time(nullptr) + clock());
cv::imwrite(filename, src(armor_box.rect));
}
cv::imwrite(filename, src(armor_box.rect & cv::Rect2d(0, 0, src.cols, src.rows)));
}
}
if (box.rect == cv::Rect2d(0, 0, 0, 0)) {
return false;
}
if (show_armor_boxes && src.size() == cv::Size(640, 480)) {
showArmorBoxesClass("class", src, boxes_number);
showArmorBoxesClass("class", src, armor_boxes);
}
} else {
box = armor_boxes[0];

2
armor/src/armor_finder/find/find_light_blobs.cpp
View File

@@ -128,9 +128,11 @@ bool ArmorFinder::findLightBlobs(const cv::Mat &src, LightBlobs &light_blobs) {
cv::threshold(color_channel, src_bin_light, 200, 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
cv::threshold(color_channel, src_bin_dim, 160, 255, CV_THRESH_BINARY); // 二值化对应通道
if(src_bin_dim.empty()) return false;
imagePreProcess(src_bin_dim); // 开闭运算
if(src_bin_light.size() == cv::Size(640, 480) && show_light_blobs) {

4
armor/src/armor_finder/send_target/send_target.cpp
View File

@@ -47,8 +47,8 @@ bool ArmorFinder::sendBoxPosition(uint16_t shoot_delay) {
LOGM(STR_CTR(WORD_BLUE, "shoot after %dms"), shoot_delay);
}
auto rect = armor_box.rect;
double dx = rect.x + rect.width / 2 - 320;
double dy = rect.y + rect.height / 2 - 240 - 20;
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;
double pitch = atan(dy / FOCUS_PIXAL) * 180 / PI;
double dist = DISTANCE_HEIGHT / rect.height;

29
armor/src/show_images/show_images.cpp
View File

@@ -48,33 +48,32 @@ void showArmorBoxes(std::string windows_name, const cv::Mat &src, const ArmorBox
/**************************
* 显示多个装甲板区域及其类别 *
**************************/
void showArmorBoxesClass(std::string window_names, const cv::Mat &src, const ArmorBoxes boxes[15]) {
void showArmorBoxesClass(std::string window_names, const cv::Mat &src, const ArmorBoxes &boxes) {
static Mat image2show;
if (src.type() == CV_8UC1) { // 黑白图像
cvtColor(src, image2show, COLOR_GRAY2RGB);
} else if (src.type() == CV_8UC3) { //RGB 彩色
image2show = src.clone();
}
for (int i = 1; i < 15; i++) {
if (!boxes[i].empty()) {
for (auto box : boxes[i]) {
for (const auto &box : boxes) {
if(box.id != 0) {
rectangle(image2show, box.rect, Scalar(0, 255, 0), 1);
drawLightBlobs(image2show, box.light_blobs);
if (i == -1)
putText(image2show, id2name[i], Point(box.rect.x + 2, box.rect.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1,
if (box.id == -1)
putText(image2show, id2name[box.id], Point(box.rect.x + 2, box.rect.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1,
Scalar(0, 255, 0));
else if (1 <= i && i < 8)
putText(image2show, id2name[i], Point(box.rect.x + 2, box.rect.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1,
else if (1 <= box.id && box.id < 8)
putText(image2show, id2name[box.id], Point(box.rect.x + 2, box.rect.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1,
Scalar(255, 0, 0));
else if (8 <= i && i < 15)
putText(image2show, id2name[i], Point(box.rect.x + 2, box.rect.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1,
else if (8 <= box.id && box.id < 15)
putText(image2show, id2name[box.id], Point(box.rect.x + 2, box.rect.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1,
Scalar(0, 0, 255));
else if (i != 0)
LOGE_INFO("Invalid box id:%d!", i);
}
else if (box.id != 0)
LOGE_INFO("Invalid box id:%d!", box.id);
}
}
imshow(window_names, image2show);
}
/**************************
@@ -93,7 +92,7 @@ void showArmorBox(std::string windows_name, const cv::Mat &src, const ArmorBox &
drawLightBlobs(image2show, box.light_blobs);
// static FILE *fp = fopen(PROJECT_DIR"/ratio.txt", "w");
// if(box.light_blobs.size() == 2)
// fprintf(fp, "%lf %lf %lf\n", box.light_blobs[0].length, box.light_blobs[1].length, box.blobsDistance())
// fprintf(fp, "%lf %lf %lf\n", box.light_blobs[0].length, box.light_blobs[1].length, box.getBlobsDistance())
// cout << box.lengthDistanceRatio() << endl;
if(box.getOrientation() == ArmorBox::FRONT){
@@ -103,7 +102,7 @@ void showArmorBox(std::string windows_name, const cv::Mat &src, const ArmorBox &
};
char dist[5];
sprintf(dist, "%.1f", box.getDistance());
sprintf(dist, "%.1f", box.getBoxDistance());
if (box.id == -1)
putText(image2show, id2name[box.id]+" "+dist, Point(box.rect.x + 2, box.rect.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1,
Scalar(0, 255, 0));

2
main.cpp
View File

@@ -30,7 +30,7 @@ using namespace std;
mcu_data mcuData = { // 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

9
others/include/config/setconfig.h
View File

@@ -12,18 +12,19 @@
#define CAMERA_EXPOSURE (10)
#endif
#ifndef CAMERA_BLUE_GAIN
#define CAMERA_BLUE_GAIN (100)
#ifndef CAMERA_RED_GAIN
#define CAMERA_RED_GAIN (100)
#endif
#ifndef CAMERA_GREEN_GAIN
#define CAMERA_GREEN_GAIN (100)
#endif
#ifndef CAMERA_RED_GAIN
#define CAMERA_RED_GAIN (100)
#ifndef CAMERA_BLUE_GAIN
#define CAMERA_BLUE_GAIN (100)
#endif
#ifndef ARMOR_CAMERA_GAIN
#define ARMOR_CAMERA_GAIN (30)
#endif

7
others/src/camera/camera_wrapper.cpp
View File

@@ -90,19 +90,24 @@ bool CameraWrapper::init() {
float hour = (tv.tv_sec % (3600 * 24)) / 3600.0;
if (6 <= hour && hour < 10) {
gain = 20;
LOGM("Set gain to morning 20");
} else if (10 <= hour && hour < 16) {
gain = 10;
LOGM("Set gain to day 10");
} else if (16 <= hour && hour < 17) {
gain = 20;
LOGM("Set gain to early evening 20");
} else if (17 <= hour && hour < 18) {
gain = 40;
LOGM("Set gain to evening 40");
} else {
gain = 50;
LOGM("Set gain to early night 50");
}
CameraSetAnalogGain(h_camera, gain);
#endif
if (mode == 0) {
CameraSetGain(h_camera, CAMERA_BLUE_GAIN, CAMERA_GREEN_GAIN, CAMERA_RED_GAIN);
CameraSetGain(h_camera, CAMERA_RED_GAIN, CAMERA_GREEN_GAIN, CAMERA_BLUE_GAIN);
CameraSetLutMode(h_camera, LUTMODE_PRESET);
}
#endif

12
tools/para/conv1_b
View File

@@ -1,7 +1,7 @@
6
-0.20627302
1.6024942
1.7967451
1.4466392
-0.098023266
-0.006771178
1.3345714
0.01236759
-0.18127699
0.7574205
-0.05089203
2.4012232

900
tools/para/conv1_w
View File

@@ -2,453 +2,453 @@
6
5
5
-0.10642219
0.54904705
1.0220182
1.2654289
1.0080621
0.63893425
1.0596974
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1.2255592
0.7572802
1.1565144
1.2662624
1.3252954
1.1559033
0.22455153
0.46842065
0.6101949
0.6682584
0.1469474
-0.19053003
-0.30085373
-0.505979
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