Merge remote-tracking branch 'origin/master'

2019-07-23 16:03:16 +08:00
parent e62c53d343 ece612c968
commit 0b7f6e6fd9
20 changed files with 26924 additions and 26919 deletions
--- a/armor/include/armor_finder/armor_finder.h
+++ b/armor/include/armor_finder/armor_finder.h
@@ -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;
--- a/armor/include/show_images/show_images.h
+++ b/armor/include/show_images/show_images.h
@@ -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_ */
--- a/armor/src/armor_finder/armor_box/armor_box.cpp
+++ b/armor/src/armor_finder/armor_box/armor_box.cpp
@@ -6,48 +6,38 @@
 #include <log.h>

 ArmorBox::ArmorBox(const cv::Rect &pos, const LightBlobs &blobs, uint8_t color, int i) :
-rect(pos), light_blobs(blobs), box_color(color), id(i){};
+        rect(pos), light_blobs(blobs), box_color(color), id(i) {};

-double ArmorBox::blobsDistance() const{
-    if(light_blobs.size() == 2){
+double ArmorBox::getBlobsDistance() const {
+    if (light_blobs.size() == 2) {
        auto &x = light_blobs[0].rect.center;
        auto &y = light_blobs[1].rect.center;
-        return sqrt((x.x-y.x)*(x.x-y.x) + (x.y-y.y)*(x.y-y.y));
-    }else{
-        return 0;
-    }
-}
-
-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 sqrt((x.x - y.x) * (x.x - y.x) + (x.y - y.y) * (x.y - y.y));
+    } else {
        return 0;
    }
 }

 double ArmorBox::lengthDistanceRatio() const {
-    if(light_blobs.size() == 2){
+    if (light_blobs.size() == 2) {
        return max(light_blobs[0].length, light_blobs[1].length)
-               / blobsDistance();
-    }else{
+               / getBlobsDistance();
+    } else {
        return 100;
    }
 }

-double ArmorBox::getDistance() const{
-    if(light_blobs.size() == 2 ){
+double ArmorBox::getBoxDistance() const {
+    if (light_blobs.size() == 2) {
        return DISTANCE_HEIGHT / 2 / max(light_blobs[0].length, light_blobs[1].length);
    } else {
        return DISTANCE_HEIGHT / rect.height;
    }
 }

-ArmorBox::BoxOrientation ArmorBox::getOrientation() const{
+ArmorBox::BoxOrientation ArmorBox::getOrientation() const {
 //    cout << lengthDistanceRatio() << endl;
-    if(light_blobs.size() != 2){
+    if (light_blobs.size() != 2) {
        return UNKNOWN;
    }
    switch (id) {
@@ -57,9 +47,9 @@ ArmorBox::BoxOrientation ArmorBox::getOrientation() const{
        case B1:
        case B7:
        case B8:
-            if(lengthDistanceRatio() < 0.24){
+            if (lengthDistanceRatio() < 0.24) {
                return FRONT;
-            }else{
+            } else {
                return SIDE;
            }
        case R2:
@@ -72,10 +62,27 @@ ArmorBox::BoxOrientation ArmorBox::getOrientation() const{
        case B5:
            if (lengthDistanceRatio() < 0.48) {
                return FRONT;
-            }else{
+            } else {
                return SIDE;
            }
        default:
            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;
+    }
+}
+
--- a/armor/src/armor_finder/armor_finder.cpp
+++ b/armor/src/armor_finder/armor_finder.cpp
@@ -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),
--- a/armor/src/armor_finder/classifier/classifier.cpp
+++ b/armor/src/armor_finder/classifier/classifier.cpp
@@ -303,5 +303,9 @@ int Classifier::operator()(const cv::Mat &image) {
 //    cout << result << "==============" <<endl;
    MatrixXd::Index minRow, minCol;
    result.maxCoeff(&minRow, &minCol);
-    return minRow;
+    if(result(minRow, minCol) > 0.9){
+        return minRow;
+    }else{
+        return 0;
+    }
 }
--- a/armor/src/armor_finder/find/find_armor_box.cpp
+++ b/armor/src/armor_finder/find/find_armor_box.cpp
@@ -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 :
@@ -76,7 +68,7 @@ static bool isCoupleLight(const LightBlob &light_blob_i, const LightBlob &light_
           light_blob_j.blob_color == enemy_color &&
           lengthRatioJudge(light_blob_i, light_blob_j) &&
           lengthJudge(light_blob_i, light_blob_j) &&
-//           heightJudge(light_blob_i, light_blob_j) &&
+           //           heightJudge(light_blob_i, light_blob_j) &&
           angelJudge(light_blob_i, light_blob_j) &&
           boxAngleJudge(light_blob_i, light_blob_j) &&
           CuoWeiDuJudge(light_blob_i, light_blob_j);
@@ -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)};
@@ -117,27 +107,20 @@ 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){
+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;
+    box.rect = cv::Rect2d(0, 0, 0, 0);
+    box.id = -1;

    if (!findLightBlobs(src, light_blobs)) {
        return false;
    }
-    if (show_light_blobs && src.size()==cv::Size(640, 480)) {
+    if (show_light_blobs && src.size() == cv::Size(640, 480)) {
        showLightBlobs("light_blobs", src, light_blobs);
        cv::waitKey(1);
    }
@@ -146,7 +129,7 @@ bool ArmorFinder::findArmorBox(const cv::Mat &src, ArmorBox &box){
 //        cout << "Box fail!" << endl;
        return false;
    }
-    if (show_armor_boxes && src.size()==cv::Size(640, 480)) {
+    if (show_armor_boxes && src.size() == cv::Size(640, 480)) {
        showArmorBoxes("boxes", src, armor_boxes);
        cv::waitKey(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]) {
-                    char filename[100];
-                    sprintf(filename, PROJECT_DIR"/armor_box_photo/%s_%d.jpg", id2name[i].data(),
-                            time(nullptr) + clock());
-                    cv::imwrite(filename, src(armor_box.rect));
-                }
+            for (const auto &one_box : armor_boxes) {
+                char filename[100];
+                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::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);
+        if (show_armor_boxes && src.size() == cv::Size(640, 480)) {
+            showArmorBoxesClass("class", src, armor_boxes);
        }
    } else {
        box = armor_boxes[0];
--- a/armor/src/armor_finder/find/find_light_blobs.cpp
+++ b/armor/src/armor_finder/find/find_light_blobs.cpp
@@ -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) {
--- a/armor/src/armor_finder/send_target/send_target.cpp
+++ b/armor/src/armor_finder/send_target/send_target.cpp
@@ -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;
--- a/armor/src/show_images/show_images.cpp
+++ b/armor/src/show_images/show_images.cpp
@@ -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]) {
-                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,
-                            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,
-                            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,
-                            Scalar(0, 0, 255));
-                else if (i != 0)
-                    LOGE_INFO("Invalid box id:%d!", 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 (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 <= 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 <= 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 (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));
--- a/main.cpp
+++ b/main.cpp
@@ -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
--- a/others/include/config/setconfig.h
+++ b/others/include/config/setconfig.h
@@ -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)
+    #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
--- a/others/src/camera/camera_wrapper.cpp
+++ b/others/src/camera/camera_wrapper.cpp
@@ -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
--- a/tools/para/conv1_b
+++ b/tools/para/conv1_b
@@ -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
--- a/tools/para/conv1_w
+++ b/tools/para/conv1_w
@@ -2,453 +2,453 @@
 6
 5
 5
-0.10642219
-0.54904705
-1.0220182
-1.2654289
-1.0080621
-0.63893425
-1.0596974
-1.5017769
-1.7486153
-1.2255592
-0.7572802
-1.1565144
-1.2662624
-1.3252954
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--- a/tools/para/conv2_b
+++ b/tools/para/conv2_b
@@ -1,13 +1,13 @@
 12
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--- a/tools/para/conv2_w
+++ b/tools/para/conv2_w
--- a/tools/para/fc1_b
+++ b/tools/para/fc1_b
@@ -1,31 +1,31 @@
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--- a/tools/para/fc1_w
+++ b/tools/para/fc1_w
--- a/tools/para/fc2_b
+++ b/tools/para/fc2_b
@@ -1,16 +1,16 @@
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--- a/tools/para/fc2_w
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