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Merge branch 'new'

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# Conflicts:
#	main.cpp
#	tools/TrainCNN/forward.py
This commit is contained in:
xinyang
2019-05-04 14:10:45 +08:00
parent 37f6da5dd6 99a771da90
commit 0bdfbc84ce
17 changed files with 12441 additions and 12400 deletions
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3
armor/include/show_images/show_images.h
View File

@@ -13,8 +13,7 @@
void showArmorBoxVector(std::string windows_name, const cv::Mat &src, const std::vector<cv::Rect2d> &armor_box); void showArmorBoxVector(std::string windows_name, const cv::Mat &src, const std::vector<cv::Rect2d> &armor_box);
void showArmorBox(std::string windows_name, const cv::Mat &src, cv::Rect2d armor_box); void showArmorBox(std::string windows_name, const cv::Mat &src, cv::Rect2d armor_box);
void showContours(std::string windows_name, const cv::Mat &src, const std::vector<LightBlob> &light_blobs); void showContours(std::string windows_name, const cv::Mat &src, const std::vector<LightBlob> &light_blobs);
void showArmorBoxClass(std::string window_names, const cv::Mat &src, vector<cv::Rect2d> boxes_one, void showArmorBoxClass(std::string window_names, const cv::Mat &src, vector<cv::Rect2d> boxes[10]);
vector<cv::Rect2d> boxes_two, vector<cv::Rect2d> boxes_three);
#endif /* _SHOW_IMAGES_H_ */ #endif /* _SHOW_IMAGES_H_ */

14
armor/src/armor_finder/armor_finder.cpp
View File

@@ -1,6 +1,7 @@
// //
// Created by xinyang on 19-3-27. // Created by xinyang on 19-3-27.
// //
#define LOG_LEVEL LOG_NONE
#include <log.h> #include <log.h>
#include <options/options.h> #include <options/options.h>
#include <show_images/show_images.h> #include <show_images/show_images.h>
@@ -40,14 +41,14 @@ void ArmorFinder::run(cv::Mat &src) {
tracker = TrackerToUse::create(); tracker = TrackerToUse::create();
tracker->init(src_use, armor_box); tracker->init(src_use, armor_box);
state = TRACKING_STATE; state = TRACKING_STATE;
LOGW("into track"); LOGM(STR_CTR(WORD_LIGHT_CYAN, "into track"));
} }
} }
break; break;
case TRACKING_STATE: case TRACKING_STATE:
if(!stateTrackingTarget(src_use)){ if(!stateTrackingTarget(src_use)){
state = SEARCHING_STATE; state = SEARCHING_STATE;
//std::cout << "into search!" << std::endl; LOGM(STR_CTR(WORD_LIGHT_YELLOW ,"into search!"));
} }
break; break;
case STANDBY_STATE: case STANDBY_STATE:
@@ -59,11 +60,14 @@ void ArmorFinder::run(cv::Mat &src) {
#define FOCUS_PIXAL (0.36/0.48*640) #define FOCUS_PIXAL (0.36/0.48*640)
bool ArmorFinder::sendBoxPosition() { bool ArmorFinder::sendBoxPosition() {
static int dx_add = 0;
auto rect = armor_box; auto rect = armor_box;
double dx = rect.x + rect.width/2 - 320; double dx = rect.x + rect.width/2 - 320 - 8;
double dy = rect.y + rect.height/2 - 240; dx_add += dx;
dx = dx + dx_add * 0;
double dy = rect.y + rect.height/2 - 240 - 30;
double yaw = atan(dx / FOCUS_PIXAL) * 180 / 3.14159265459; double yaw = atan(dx / FOCUS_PIXAL) * 180 / 3.14159265459;
double pitch = atan(dy / FOCUS_PIXAL) * 180 / 3.14159265459; double pitch = atan(dy / FOCUS_PIXAL) * 180 / 3.14159265459;
uart.sendTarget(yaw, pitch, 0); uart.sendTarget(yaw, -pitch, 0);
return true; return true;
} }

2
armor/src/armor_finder/classifier/classifier.cpp
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@@ -92,7 +92,7 @@ MatrixXd Classifier::softmax(const MatrixXd &input){
return tmp.array().exp() / tmp.array().exp().sum(); return tmp.array().exp() / tmp.array().exp().sum();
} }
vector<vector<MatrixXd>> max_pool(const vector<vector<MatrixXd>> &input, int size){ vector<vector<MatrixXd>> Classifier::max_pool(const vector<vector<MatrixXd>> &input, int size){
vector<vector<MatrixXd>> output; vector<vector<MatrixXd>> output;
for(int sample=0; sample<input.size(); sample++) { for(int sample=0; sample<input.size(); sample++) {
vector<MatrixXd> sub; vector<MatrixXd> sub;

90
armor/src/armor_finder/state_machine/searching_state/searching_state.cpp
View File

@@ -31,10 +31,15 @@ static void pipelineLightBlobPreprocess(cv::Mat &src) {
} }
static bool findLightBlobs(const cv::Mat &src, LightBlobs &light_blobs) { static bool findLightBlobs(const cv::Mat &src, LightBlobs &light_blobs) {
// static cv::Mat src_bin; static cv::Mat src_gray, src_bin;
if(src.type() == CV_8UC3){
cvtColor(src, src_gray, CV_BGR2GRAY);
}else if(src.type() == CV_8UC1){
src_gray = src.clone();
}
std::vector<std::vector<cv::Point> > light_contours; std::vector<std::vector<cv::Point> > light_contours;
cv::findContours(src, light_contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE); cv::findContours(src_gray, light_contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE);
for (auto &light_contour : light_contours) { for (auto &light_contour : light_contours) {
cv::RotatedRect rect = cv::minAreaRect(light_contour); cv::RotatedRect rect = cv::minAreaRect(light_contour);
if(isValidLightBlob(rect)){ if(isValidLightBlob(rect)){
@@ -114,8 +119,8 @@ static bool findArmorBoxes(LightBlobs &light_blobs, std::vector<cv::Rect2d> &arm
double min_x, min_y, max_x, max_y; double min_x, min_y, max_x, max_y;
min_x = fmin(rect_left.x, rect_right.x); min_x = fmin(rect_left.x, rect_right.x);
max_x = fmax(rect_left.x + rect_left.width, rect_right.x + rect_right.width); max_x = fmax(rect_left.x + rect_left.width, rect_right.x + rect_right.width);
min_y = fmin(rect_left.y, rect_right.y) - 5; min_y = fmin(rect_left.y, rect_right.y) - 3;
max_y = fmax(rect_left.y + rect_left.height, rect_right.y + rect_right.height); max_y = fmax(rect_left.y + rect_left.height, rect_right.y + rect_right.height) + 3;
if (min_x < 0 || max_x > 640 || min_y < 0 || max_y > 480) { if (min_x < 0 || max_x > 640 || min_y < 0 || max_y > 480) {
continue; continue;
} }
@@ -147,31 +152,42 @@ bool judge_light_color(std::vector<LightBlob> &light, std::vector<LightBlob> &co
} }
bool ArmorFinder::stateSearchingTarget(cv::Mat &src) { bool ArmorFinder::stateSearchingTarget(cv::Mat &src) {
cv::Mat split, pmsrc=src.clone(), src_bin; cv::Mat split, src_bin;
LightBlobs light_blobs, pm_light_blobs, light_blobs_real; LightBlobs light_blobs, light_blobs_, light_blobs_real;
std::vector<cv::Rect2d> armor_boxes, boxes_one, boxes_two, boxes_three; std::vector<cv::Rect2d> armor_boxes, boxes_number[10];
armor_box = cv::Rect2d(0,0,0,0);
// cv::resize(src, pmsrc, cv::Size(320, 240)); cv::cvtColor(src, src_gray, CV_BGR2GRAY);
imageColorSplit(src, split, enemy_color); // pipelineLightBlobPreprocess(src_gray);
cv::threshold(split, src_bin, 130, 255, CV_THRESH_BINARY); cv::threshold(src_gray, src_bin, 120, 255, CV_THRESH_BINARY);
imagePreProcess(src_bin);
// cv::imshow("bin", src_bin);
// cv::resize(split, split, cv::Size(640, 480));
// pipelineLightBlobPreprocess(pmsrc);
// if(!findLightBlobs(pmsrc, pm_light_blobs)){
// return false;
// }
if(!findLightBlobs(src_bin, light_blobs)){ if(!findLightBlobs(src_bin, light_blobs)){
return false; return false;
} }
// if(!judge_light_color(light_blobs, pm_light_blobs, light_blobs_real)){
// return false;
// }
if(show_light_blobs){ if(show_light_blobs){
showContours("blobs", split, light_blobs); showContours("blobs", src_bin, light_blobs);
cv::waitKey(1); cv::waitKey(1);
} }
if(!findArmorBoxes(light_blobs, armor_boxes)){
imageColorSplit(src, split, enemy_color);
imagePreProcess(split);
cv::threshold(split, src_bin, 120, 255, CV_THRESH_BINARY);
if(!findLightBlobs(src_bin, light_blobs_)){
return false;
}
if(show_light_blobs){
showContours("blobs_", src_bin, light_blobs_);
cv::waitKey(1);
}
if(!judge_light_color(light_blobs, light_blobs_, light_blobs_real)){
return false;
}
if(show_light_blobs){
showContours("blobs_real", src, light_blobs_real);
cv::waitKey(1);
}
if(!findArmorBoxes(light_blobs_real, armor_boxes)){
return false; return false;
} }
if(show_armor_boxes){ if(show_armor_boxes){
@@ -183,29 +199,21 @@ bool ArmorFinder::stateSearchingTarget(cv::Mat &src) {
cv::Mat roi = src(box).clone(); cv::Mat roi = src(box).clone();
cv::resize(roi, roi, cv::Size(48, 36)); cv::resize(roi, roi, cv::Size(48, 36));
int c = classifier(roi); int c = classifier(roi);
switch(c){ if(c){
case 1: boxes_number[c-1].emplace_back(box);
boxes_one.emplace_back(box);
break;
case 2:
boxes_two.emplace_back(box);
break;
case 3:
boxes_three.emplace_back(box);
break;
} }
} }
if(!boxes_one.empty()){ for(auto box : boxes_number){
armor_box = boxes_one[0]; if(!box.empty()){
}else if(!boxes_two.empty()){ armor_box = box[0];
armor_box = boxes_two[0]; }
}else if(!boxes_three.empty()){ }
armor_box = boxes_three[0];
} else{ if(armor_box == cv::Rect2d(0,0,0,0)){
return false; return false;
} }
if(show_armor_box){ if(show_armor_boxes){
showArmorBoxClass("class", src, boxes_one, boxes_two, boxes_three); showArmorBoxClass("class", src, boxes_number);
} }
}else{ }else{
armor_box = armor_boxes[0]; armor_box = armor_boxes[0];

18
armor/src/show_images/show_images.cpp
View File

@@ -18,8 +18,7 @@ void showArmorBoxVector(std::string windows_name, const cv::Mat &src, const std:
imshow(windows_name, image2show); imshow(windows_name, image2show);
} }
void showArmorBoxClass(std::string windows_name, const cv::Mat &src, vector<cv::Rect2d> boxes_one, void showArmorBoxClass(std::string window_names, const cv::Mat &src, vector<cv::Rect2d> boxes[10]){
vector<cv::Rect2d> boxes_two, vector<cv::Rect2d> boxes_three){
static Mat image2show; static Mat image2show;
if (src.type() == CV_8UC1) // 黑白图像 if (src.type() == CV_8UC1) // 黑白图像
{ {
@@ -28,16 +27,17 @@ void showArmorBoxClass(std::string windows_name, const cv::Mat &src, vector<cv::
{ {
image2show = src.clone(); image2show = src.clone();
} }
for (auto &box:boxes_one) { for(int i=0; i<10; i++){
rectangle(image2show, box, Scalar(255, 0, 0), 1); if(!boxes[i].empty()){
} for(auto box : boxes[i]){
for (auto &box:boxes_two) { char buff[2] = {0};
buff[0] = i + '0';
rectangle(image2show, box, Scalar(0, 255, 0), 1); rectangle(image2show, box, Scalar(0, 255, 0), 1);
putText(image2show, buff, Point(box.x+2, box.y+2), cv::FONT_HERSHEY_TRIPLEX, 1, Scalar(255,0,0));
} }
for (auto &box:boxes_three) {
rectangle(image2show, box, Scalar(0, 0, 255), 1);
} }
imshow(windows_name, image2show); }
imshow(window_names, image2show);
} }
void showArmorBox(std::string windows_name, const cv::Mat &src, cv::Rect2d armor_box) { void showArmorBox(std::string windows_name, const cv::Mat &src, cv::Rect2d armor_box) {

47
main.cpp
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@@ -39,22 +39,22 @@ int main(int argc, char *argv[]) {
thread receive(uartReceive, &uart); thread receive(uartReceive, &uart);
bool flag = true; bool flag = true;
while (flag) { while (flag){
int ally_color = ALLY_RED; int ally_color = ALLY_RED;
int energy_part_rotation = CLOCKWISE; int energy_part_rotation = CLOCKWISE;
int from_camera = 1; int from_camera = 1;
if (!run_with_camera) { if(!run_with_camera) {
cout << "Input 1 for camera, 0 for video files" << endl; cout << "Input 1 for camera, 0 for video files" << endl;
cin >> from_camera; cin >> from_camera;
} }
WrapperHead *video_armor; WrapperHead *video_armor;
WrapperHead *video_energy; WrapperHead *video_energy;
if (from_camera) { if(from_camera) {
video_armor = new CameraWrapper(0); video_armor = new CameraWrapper(0);
video_energy = new CameraWrapper(1); // video_energy = new CameraWrapper(1);
} else { }else {
video_armor = new VideoWrapper("/home/xinyang/Desktop/Video.mp4"); video_armor = new VideoWrapper("/home/xinyang/Desktop/Video.mp4");
video_energy = new VideoWrapper("/home/xinyang/Desktop/Video.mp4"); video_energy = new VideoWrapper("/home/xinyang/Desktop/Video.mp4");
} }
@@ -70,24 +70,21 @@ int main(int argc, char *argv[]) {
energy.setAllyColor(ally_color); energy.setAllyColor(ally_color);
energy.setRotation(energy_part_rotation); energy.setRotation(energy_part_rotation);
bool ok = true; bool ok=true;
while (ok) { while (ok){
CNT_TIME(WORD_LIGHT_CYAN, "Total", { CNT_TIME(WORD_LIGHT_CYAN, "Total", {
if (state == ENERGY_STATE) { ok = video_armor->read(energy_src) && video_armor->read(armor_src);
ok = video_energy->read(energy_src);
if (show_origin) { if (show_origin) {
imshow("energy src", energy_src); imshow("enery src", energy_src);
imshow("armor src", armor_src);
} }
if (state == ENERGY_STATE) {
if (from_camera == 0) { if (from_camera == 0) {
energy.extract(energy_src); energy.extract(energy_src);
} }
energy.run(energy_src); energy.run(energy_src);
} else { } else {
ok = video_armor->read(armor_src);
if (show_origin) {
imshow("armor src", armor_src);
}
CNT_TIME(WORD_LIGHT_BLUE, "Armor Time", { CNT_TIME(WORD_LIGHT_BLUE, "Armor Time", {
armorFinder.run(armor_src); armorFinder.run(armor_src);
}); });
@@ -107,31 +104,31 @@ int main(int argc, char *argv[]) {
#define RECEIVE_LOG_LEVEL LOG_NOTHING #define RECEIVE_LOG_LEVEL LOG_NOTHING
void uartReceive(Uart *uart) { void uartReceive(Uart* uart){
char buffer[100]; char buffer[100];
int cnt = 0; int cnt=0;
while (true) { while(true){
char data; char data;
while ((data = uart->receive()) != '\n') { while((data=uart->receive()) != '\n'){
buffer[cnt++] = data; buffer[cnt++] = data;
if (cnt >= 100) { if(cnt >= 100){
LOG(RECEIVE_LOG_LEVEL, "data receive over flow!"); LOG(RECEIVE_LOG_LEVEL, "data receive over flow!");
cnt = 0; cnt = 0;
} }
} }
if (cnt == 10) { if(cnt == 10){
if (buffer[8] == 'e') { if(buffer[8] == 'e'){
state = ENERGY_STATE; state = ENERGY_STATE;
LOG(RECEIVE_LOG_LEVEL, "Energy state"); LOG(RECEIVE_LOG_LEVEL, "Energy state");
} else if (buffer[8] == 'a') { }else if(buffer[8] == 'a'){
state = ARMOR_STATE; state = ARMOR_STATE;
LOG(RECEIVE_LOG_LEVEL, "Armor state"); LOG(RECEIVE_LOG_LEVEL, "Armor state");
} }
memcpy(&curr_yaw, buffer, 4); memcpy(&curr_yaw, buffer, 4);
memcpy(&curr_pitch, buffer + 4, 4); memcpy(&curr_pitch, buffer+4, 4);
LOG(RECEIVE_LOG_LEVEL, "Get yaw:%f pitch:%f", curr_yaw, curr_pitch); LOG(RECEIVE_LOG_LEVEL, "Get yaw:%f pitch:%f", curr_yaw, curr_pitch);
if (buffer[9] == 1) { if(buffer[9] == 1){
if (mark == 0) { if(mark == 0){
mark = 1; mark = 1;
mark_yaw = curr_yaw; mark_yaw = curr_yaw;
mark_pitch = curr_pitch; mark_pitch = curr_pitch;

11
others/src/camera/camera_wrapper.cpp
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@@ -65,11 +65,14 @@ stop:
tCapability.sResolutionRange.iWidthMax * 3); tCapability.sResolutionRange.iWidthMax * 3);
if(mode == 0){ if(mode == 0){
// 不使用自动曝光 // 不使用自动曝光
CameraSetAeState(h_camera, true); CameraSetAeState(h_camera, false);
// 曝光时间10ms // 曝光时间10ms
// CameraSetExposureTime(h_camera, 10000); CameraSetExposureTime(h_camera, 10000);
double t;
CameraGetExposureTime(h_camera, &t);
LOGM("Exposure time: %lfms", t/1000.0);
// 模拟增益4 // 模拟增益4
CameraSetAnalogGain(h_camera, 64); CameraSetAnalogGain(h_camera, 55);
// 使用预设LUT表 // 使用预设LUT表
CameraSetLutMode(h_camera, LUTMODE_PRESET); CameraSetLutMode(h_camera, LUTMODE_PRESET);
// 抗频闪 // 抗频闪
@@ -90,7 +93,7 @@ stop:
/*其他的相机参数设置 /*其他的相机参数设置
例如 CameraSetExposureTime CameraGetExposureTime 设置/读取曝光时间 例如 CameraSetExposureTime CameraGetExposureTime 设置/读取曝光时间
CameraSetImageResolution CameraGetImageResolution 设置/读取分辨率 CameraSetImageResolution CameraGetImageResolution 设置/读取分辨率
CameraSetGamma、CameraSetConrast、CameraSetGain等设置图像伽马、对比度、RGB数字增益等等。 CameraSetGamma、CameraSetContrast、CameraSetGain等设置图像伽马、对比度、RGB数字增益等等。
CameraGetFriendlyName CameraSetFriendlyName 获取/设置相机名称（该名称可写入相机硬件） CameraGetFriendlyName CameraSetFriendlyName 获取/设置相机名称（该名称可写入相机硬件）
*/ */

6
others/src/uart/uart.cpp
View File

@@ -4,6 +4,7 @@
#include <uart/uart.h> #include <uart/uart.h>
#include <energy/param_struct_define.h> #include <energy/param_struct_define.h>
#include <log.h>
using std::cout; using std::cout;
using std::cerr; using std::cerr;
@@ -16,7 +17,6 @@ GMAngle_t aim;
Uart::Uart(){ Uart::Uart(){
fd = open("/dev/ttyUSB0", O_RDWR); fd = open("/dev/ttyUSB0", O_RDWR);
if(fd < 0) if(fd < 0)
{ {
@@ -150,12 +150,8 @@ void Uart::sendTarget(float x, float y, float z) {
} }
// 's' + (x) ( 8bit + 8bit ) + (y) ( 8bit + 8bit ) + (z) ( 8bit + 8bit ) + 'e'
uint8_t Uart::receive() { uint8_t Uart::receive() {
uint8_t data; uint8_t data;
while(read(fd, &data, 1) < 1); while(read(fd, &data, 1) < 1);
return data; return data;
} }

2
tools/TrainCNN/forward.py
View File

@@ -41,7 +41,7 @@ CONV2_OUTPUT_CHANNELS = 10
FC1_OUTPUT_NODES = 16 FC1_OUTPUT_NODES = 16
# 第二层全连接宽度（输出标签类型数） # 第二层全连接宽度（输出标签类型数）
FC2_OUTPUT_NODES = 8 FC2_OUTPUT_NODES = 6
# 输出标签类型数 # 输出标签类型数
OUTPUT_NODES = FC2_OUTPUT_NODES OUTPUT_NODES = FC2_OUTPUT_NODES

12
tools/para/conv1_b
View File

@@ -1,7 +1,7 @@
6 6
0.6241298 0.25190517
1.1128483 -0.064696774
0.92715627 -1.1652193
2.6803706 -1.3264673
-2.4037633 2.689583
1.6914424 -1.1748564

900
tools/para/conv1_w
View File

@@ -2,453 +2,453 @@
6 6
5 5
5 5
-1.8745673 0.11777049
-1.4418055 -0.5483178
-0.68810487 -1.5183663
-0.42730802 -1.955216
-0.019043377 -2.2450504
-2.2401865 0.32459745
-1.5337001 -0.12860261
-0.5666739 -0.6772694
0.1119876 -1.1496266
0.24716255 -1.407309
-2.2945662 0.3899166
-1.4734446 0.04115204
-0.298631 -0.24398778
0.19550888 -0.64736384
0.45057848 -0.6999237
-2.4559898 0.20561443
-1.097164 0.5234183
-0.035884537 0.23787054
0.23402216 -0.00951052
0.3693794 -0.17350924
-1.7285618 0.34422565
-0.8927671 0.777099
0.026205042 0.72901505
0.19274746 0.6422372
0.029146997 0.06915906
-1.3690577 -0.12754185
-1.2756748 -0.07318786
-0.32751036 -0.096245185
0.3233031 -0.08512626
0.55376107 -0.0075299093
-1.4835969 -0.0027510952
-1.3036382 -0.23676533
-0.75256515 -0.083034575
-0.13608748 0.029986175
0.2254278 -0.026513737
-1.6409502 -0.09559005
-1.4188147 -0.0024623247
-1.1627024 0.0054135886
-0.62049645 0.0006651991
-0.20085949 0.01763169
-2.2059698 -0.014942897
-1.7030506 -0.014311972
-1.5584862 -0.0002753004
-1.2325822 0.03573563
-0.6749467 0.021622038
-2.8320985 -0.1374828
-2.3289032 -0.12651409
-1.811129 -0.16061573
-1.6702974 -0.223415
-1.0760157 -0.10300647
-1.3135052 0.15447244
-0.90016854 0.07344577
-0.47004116 0.049101837
-0.17118637 0.16945939
-0.2732028 0.30799115
-1.3109291 -0.09038234
-0.36519817 0.074387975
-0.10975292 -0.14628443
-0.06533194 0.012496472
-0.559026 0.10561814
-0.8616304 -0.06538503
-0.06857806 0.24966498
0.19276045 0.07688923
-0.14059812 0.0063741454
-0.7283358 0.0680113
-0.57705516 -0.0591892
0.20748538 0.08900544
0.26281402 0.08578229
-0.112977654 -0.045412317
-0.6980696 0.17189993
-0.44812128 -0.23383571
0.40235195 0.14361341
0.26663 0.14279735
-0.10336824 0.108869225
-0.5741328 0.29616848
-0.70127535 0.88802135
-1.1506568 0.9322744
-1.3301972 0.6169363
-1.4370873 0.053218577
-0.9951577 -0.4893802
-0.3111034 1.1701009
-0.5350495 1.309293
-0.78488415 0.7900595
-1.3619742 0.13494617
-1.2252145 -0.53572536
0.10870424 1.7119668
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