陀螺识别方式改变,参数更新。

armor/include/armor_finder/armor_finder.h

@@ -107,6 +107,11 @@ private:
         NORMAL, ANTI_TOP
     } AntiTopState;
 
+    typedef enum{
+        INCREASE, DECREASE, NOCHANGE
+    } BoxRatioChangeType;
+
+    timeval 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
@@ -116,8 +121,10 @@ private:
     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
-    ArmorBox::BoxOrientation last_orient;               // 上一帧目标装甲板方向，用于反陀螺
-    timeval last_front_time;                           // 上一次发生装甲板方向切换的时间
+    RoundQueue<double, 4> top_periodms;
+    RoundQueue<double, 5> box_ratioes;
+    timeval last_front_time;                            // 上一次发生装甲板方向切换的时间
+    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
 
@@ -129,6 +136,7 @@ private:
     bool stateStandBy();                                // stand by state主函数（已弃用）
 
     void antiTop();                                    // 反小陀螺
+    BoxRatioChangeType getRatioChangeType(RoundQueue<double, 5> &vec);
 
 public:
     void run(cv::Mat &src);                             // 自瞄主函数

armor/src/armor_finder/anti_top/anti_top.cpp

@@ -6,66 +6,74 @@
 #include <additions/additions.h>
 #include <log.h>
 
-static double boxDistance(const cv::Rect2d &a, const cv::Rect2d &b){
-    cv::Point2d centerA(a.x+a.width/2, a.y+a.height/2);
-    cv::Point2d centerB(b.x+b.width/2, b.y+b.height/2);
-    auto dist = centerA-centerB;
-    return sqrt(dist.x*dist.x + dist.y*dist.y);
+static double boxDistance(const cv::Rect2d &a, const cv::Rect2d &b) {
+    cv::Point2d centerA(a.x + a.width / 2, a.y + a.height / 2);
+    cv::Point2d centerB(b.x + b.width / 2, b.y + b.height / 2);
+    auto dist = centerA - centerB;
+    return sqrt(dist.x * dist.x + dist.y * dist.y);
+}
+
+template <int length>
+static double mean(RoundQueue<double, length> &vec) {
+    double sum = 0;
+    for (int i = 0; i < vec.size(); i++) {
+        sum += vec[i];
+    }
+    return sum / length;
+}
+
+ArmorFinder::BoxRatioChangeType ArmorFinder::getRatioChangeType(RoundQueue<double, 5> &vec) {
+    auto d = (vec[0] - vec[1] + vec[3] + vec[4]) / 3.0;
+    if (d > 0.1) {
+        return INCREASE;
+    } else if (d < -0.1) {
+        return DECREASE;
+    } else {
+        return NOCHANGE;
+    }
 }
 
 void ArmorFinder::antiTop() {
-    static double top_periodms = 0;
-    static double last_top_periodms = 0;
-    static cv::Rect2d last_pos;
+    if (armor_box.rect == cv::Rect2d()) return;
     uint16_t shoot_delay = 0;
-    timeval curr_time;
-//    if(anti_top_state == ANTI_TOP){
-//        cout << "anti top" << endl;
-//    }else if(anti_top_state == NORMAL){
-//        cout << "Normal" << endl;
-//    }
-    gettimeofday(&curr_time, nullptr);
-    auto interval = getTimeIntervalms(curr_time, last_front_time);
-    if(interval > 700){
-        anti_top_state = NORMAL;
+    auto interval = getTimeIntervalms(frame_time, last_front_time);
+    box_ratioes.push(armor_box.rect.width / armor_box.rect.height);
+    auto change_type = getRatioChangeType(box_ratioes);
+    auto orientation = armor_box.getOrientation();
+    if (interval > 700) {
         anti_top_cnt = 0;
-    }
-    
-    ArmorBox::BoxOrientation orientation = armor_box.getOrientation();
-    if(orientation == ArmorBox::UNKNOWN){
-        if(anti_top_state == NORMAL){
-            sendBoxPosition(shoot_delay);
+        if (anti_top_state == ANTI_TOP) {
+            anti_top_state = NORMAL;
+            LOGM(STR_CTR(WORD_YELLOW, "switch to normal"));
         }
-        return;
     }
-
-    auto dist = boxDistance(last_pos, armor_box.rect);
-    if(orientation!=last_orient && orientation==ArmorBox::FRONT && dist>=6){
-        last_front_time = curr_time;
-        if(150<interval && interval<700){
-            if(anti_top_state == ANTI_TOP){
-                last_top_periodms = top_periodms;
-                top_periodms = interval;
-                LOGM(STR_CTR(WORD_LIGHT_GREEN, "top period: %.1lf ms"), top_periodms);
-                shoot_delay = (last_top_periodms+top_periodms)/2.0-110;
-                last_orient = orientation;
-            }else if(anti_top_state == NORMAL){
-//                LOGM("interval:%.1lf", interval);
-                if(++anti_top_cnt > 4){
+    if (change_type == INCREASE && last_ratio_type != change_type) {
+        last_front_time = frame_time;
+        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);
+                timeval curr_time;
+                gettimeofday(&curr_time, nullptr);
+                auto calculate_time = getTimeIntervalms(curr_time, frame_time);
+                shoot_delay = mean(top_periodms) - calculate_time;
+            } else if (anti_top_state == NORMAL) {
+                if (++anti_top_cnt > 4) {
                     anti_top_state = ANTI_TOP;
+                    LOGM(STR_CTR(WORD_CYAN, "switch to anti-top"));
                 }
             }
         }
     }
-
-    if(anti_top_state == ANTI_TOP){
-        if(orientation == ArmorBox::FRONT){
+    if (change_type != NOCHANGE) {
+        last_ratio_type = change_type;
+    }
+    if (anti_top_state == ANTI_TOP) {
+        if (orientation == ArmorBox::FRONT) {
             sendBoxPosition(shoot_delay);
         }
-    }else if(anti_top_state == NORMAL){
+    } else if (anti_top_state == NORMAL) {
         sendBoxPosition(shoot_delay);
     }
-
-    last_orient = orientation;
 }
 

armor/src/armor_finder/armor_finder.cpp

@@ -58,12 +58,12 @@ ArmorFinder::ArmorFinder(uint8_t &color, Serial &u, const string &paras_folder,
 }
 
 void ArmorFinder::run(cv::Mat &src) {
+    gettimeofday(&frame_time, nullptr);
 //    stateSearchingTarget(src);                    // for debug
 //    goto end;
     switch (state) {
         case SEARCHING_STATE:
             if (stateSearchingTarget(src)) {
-//                cout << armor_box.rect << endl;
                 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 (!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 */

armor/src/armor_finder/send_target/send_target.cpp

@@ -52,6 +52,5 @@ bool ArmorFinder::sendBoxPosition(uint16_t shoot_delay) {
     double yaw = atan(dx / FOCUS_PIXAL) * 180 / PI;
     double pitch = atan(dy / FOCUS_PIXAL) * 180 / PI;
     double dist = DISTANCE_HEIGHT / rect.height;
-//    cout << yaw << endl;
     return sendTarget(serial, yaw, -pitch, dist, shoot_delay);
 }

armor/src/armor_finder/tracking_state/tracking_state.cpp

@@ -39,6 +39,8 @@ bool ArmorFinder::stateTrackingTarget(cv::Mat &src) {
             blob.rect.center.x += bigger_rect.x;
             blob.rect.center.y += bigger_rect.y;
         }
+        tracker = TrackerToUse::create();
+        tracker->init(src, armor_box.rect);
     }else{
         roi = src(pos).clone();
         if(classifier){
@@ -60,18 +62,5 @@ bool ArmorFinder::stateTrackingTarget(cv::Mat &src) {
         armor_box.rect = pos;
         armor_box.light_blobs.clear();
     }
-
-
-//    armor_box.x -= armor_box.width / 4.0;
-//    armor_box.y -= armor_box.height / 4.0;
-//    armor_box.height *= 1.5;
-//    armor_box.width *= 1.5;
-
-//    roi = src(armor_box);
-//    if(findSearchingTarget(roi)){
-//
-//    }
-
-//    sendBoxPosition();
     return true;
 }

others/include/additions/additions.h

@@ -8,8 +8,9 @@
 #include <stdint.h>
 #include <sys/time.h>
 #include <serial/serial.h>
+#include <opencv2/core.hpp>
 
-struct mcu_data{
+struct mcu_data {
     float curr_yaw;
     float curr_pitch;
     uint8_t state;
@@ -23,14 +24,61 @@ struct mcu_data{
 extern mcu_data mcuData;
 
 void uartReceive(Serial *pSerial);
+
 bool checkReconnect(bool is_camera_0_connect, bool is_camera_1_connect);
+
 bool checkReconnect(bool is_camera_connect);
+
 void saveVideos(const cv::Mat &gimbal_src, const cv::Mat &chassis_src);
+
 void saveVideos(const cv::Mat &gimbal_src);
+
 void showOrigin(const cv::Mat &gimbal_src, const cv::Mat &chassis_src);
+
 void showOrigin(const cv::Mat &gimbal_src);
+
 void extract(cv::Mat &gimbal_src, cv::Mat &chassis_src);
+
 void extract(cv::Mat &gimbal_src);
-double getTimeIntervalms(const timeval& now, const timeval &last);
+
+double getTimeIntervalms(const timeval &now, const timeval &last);
+
+template<class type, int length>
+class RoundQueue {
+private:
+    type data[length];
+    int head;
+    int tail;
+public:
+    RoundQueue<type, length>() : head(0), tail(0) {};
+
+    constexpr int size() const {
+        return length;
+    };
+
+    bool empty() const {
+        return head == tail;
+    };
+
+    void push(const type &obj) {
+        data[head] = obj;
+        head = (head + 1) % length;
+        if (head == tail) {
+            tail = (tail + 1) % length;
+        }
+    };
+
+    bool pop(type &obj) {
+        if (empty()) return false;
+        obj = data[tail];
+        tail = (tail + 1) % length;
+        return true;
+    };
+
+    type &operator[](int idx) {
+        while (tail + idx < 0) idx += length;
+        return data[(tail + idx) % length];
+    };
+};
 
 #endif /* _ADDITIONS_H_ */

others/include/camera/camera_wrapper.h

@@ -7,18 +7,14 @@
 #ifndef VIDEO_TEST1_CAMERA_WRAPPER_H
 #define VIDEO_TEST1_CAMERA_WRAPPER_H
 
-#include <stdio.h>
-#include <iostream>
-#include <thread>
-#include "opencv2/core/core.hpp"
-#include "opencv2/highgui/highgui.hpp"
-#include <opencv2/imgproc/imgproc.hpp>
-#include "camera/wrapper_head.h"
+#include <additions/additions.h>
+#include <opencv2/core/core.hpp>
+#include <camera/wrapper_head.h>
 
 #ifdef Windows
     #include "camera/CameraApi.h"
 #elif defined(Linux) || defined(Darwin)
-    #include "camera/camera_api.h"
+    #include <camera/camera_api.h>
 #endif
 
 class CameraWrapper: public WrapperHead {
@@ -42,11 +38,7 @@ private:
     IplImage* iplImage;
     int channel;
 
-    cv::Mat src_queue[2];
-    volatile int qhead;
-    volatile int qtail;
-
-    std::thread *readThread;
+    RoundQueue<cv::Mat, 2> src_queue;
 public:
     int gain;
 
@@ -58,9 +50,6 @@ public:
     bool readRaw(cv::Mat& src);
     bool readProcessed(cv::Mat& src);
     bool readCallback(cv::Mat& src);
-    bool readWithThread(cv::Mat &src);
-    bool changeBrightness(int brightness);
-//    bool once
 };
 
 

others/src/camera/camera_wrapper.cpp

@@ -1,7 +1,7 @@
 //
 // Created by zhikun on 18-11-7.
 //
-
+#include <iostream>
 #include <camera/camera_wrapper.h>
 #include <log.h>
 #include <additions/additions.h>
@@ -9,9 +9,6 @@
 #include <config/setconfig.h>
 
 using namespace std;
-
-using std::cout;
-using std::endl;
 using namespace cv;
 
 CameraWrapper::CameraWrapper(int gain, int camera_mode, const std::string &n) :
@@ -23,10 +20,7 @@ CameraWrapper::CameraWrapper(int gain, int camera_mode, const std::string &n) :
         iplImage(nullptr),
         rgb_buffer(nullptr),
         channel(3),
-        gain(gain),
-        qhead(0),
-        qtail(0),
-        readThread(nullptr){
+        gain(gain){
 }
 
 void cameraCallback(CameraHandle hCamera, BYTE *pFrameBuffer, tSdkFrameHead* pFrameHead,PVOID pContext){
@@ -34,14 +28,7 @@ void cameraCallback(CameraHandle hCamera, BYTE *pFrameBuffer, tSdkFrameHead* pFr
     CameraImageProcess(hCamera, pFrameBuffer, c->rgb_buffer, pFrameHead);
     auto iplImage = cvCreateImageHeader(cvSize(pFrameHead->iWidth, pFrameHead->iHeight), IPL_DEPTH_8U, c->channel);
     cvSetData(iplImage, c->rgb_buffer, pFrameHead->iWidth * c->channel);  //此处只是设置指针，无图像块数据拷贝，不需担心转换效率
-    c->src_queue[c->qhead] = cv::cvarrToMat(iplImage).clone();
-    if((c->qhead+1)%2 == c->qtail){
-        c->qhead = (c->qhead+1)%2;
-        c->qtail = (c->qtail+1)%2;
-    } else {
-        c->qhead = (c->qhead+1)%2;
-    }
-//    LOGM("Get image, [%d %d]", c->qhead, c->qtail);
+    c->src_queue.push(cv::cvarrToMat(iplImage).clone());
 }
 
 bool CameraWrapper::init() {
@@ -162,17 +149,11 @@ bool CameraWrapper::init() {
     return true;
 }
 
-bool CameraWrapper::changeBrightness(int brightness) {
-    CameraUnInit(h_camera);
-    CameraSetAnalogGain(h_camera, brightness);
-}
-
 bool CameraWrapper::read(cv::Mat &src) {
     if(init_done) {
         if (mode == 0)return readProcessed(src);
         if (mode == 1)return readRaw(src);
         if (mode == 2)return readCallback(src);
-        if (mode == 3)return readWithThread(src);
     } else {
         return false;
     }
@@ -225,44 +206,13 @@ bool CameraWrapper::readProcessed(cv::Mat &src) {
 bool CameraWrapper::readCallback(cv::Mat &src) {
     timeval ts, te;
     gettimeofday(&ts, NULL);
-    while(qtail==qhead){
+    while(src_queue.empty()){
         gettimeofday(&te, NULL);
         if(getTimeIntervalms(te, ts) > 500){
             return false;
         }
     }
-
-    src = src_queue[qtail];
-//    cout << src.size << endl;
-    qtail = (qtail+1)%2;
-    return true;
-}
-
-bool CameraWrapper::readWithThread(cv::Mat &src){
-    if(readThread != nullptr){
-        readThread->join();
-        src = src_queue[qtail];
-        qtail = (qtail+1)%2;
-        delete readThread;
-        readThread = new std::thread([&](){
-            readProcessed(src_queue[qhead]);
-            qhead = (qhead+1)%2;
-        });
-    }else{
-        readThread = new std::thread([&](){
-            readProcessed(src_queue[qhead]);
-            qhead = (qhead+1)%2;
-        });
-        readThread->join();
-        src = src_queue[qtail];
-        qtail = (qtail+1)%2;
-        delete readThread;
-        readThread = new std::thread([&](){
-            readProcessed(src_queue[qhead]);
-            qhead = (qhead+1)%2;
-        });
-    }
-    return true;
+    return src_queue.pop(src);
 }
 
 CameraWrapper::~CameraWrapper() {
@@ -270,8 +220,4 @@ CameraWrapper::~CameraWrapper() {
     //注意，先反初始化后再free
     if (rgb_buffer != nullptr)
         free(rgb_buffer);
-    if(readThread != nullptr){
-        readThread->detach();
-        delete readThread;
-    }
 }

tools/para/conv1_b

@@ -1,5 +1,5 @@
 4
-0.30789205
--0.043525748
-0.2050164
-0.74044687
+-0.012226976
+0.20247674
+0.58870643
+0.5527098

tools/para/conv1_w

@@ -2,303 +2,303 @@
 4
 5
 5
--0.10729549
-0.09332296
-0.16133511
--0.030649675
-0.06557881
--0.053242918
-0.19213735
-0.15569621
-0.3419906
-0.1786888
-0.19507813
-0.24212381
-0.4231631
-0.08838954
-0.14048508
-0.15044038
-0.28268903
-0.13327996
-0.15814759
--0.112561114
-0.056091413
-0.16789797
--0.11966196
-0.038136892
--0.14447927
-0.5679466
-0.48397887
-0.70058227
-0.5070652
-0.62130994
-0.5227163
-0.6784681
-0.5526853
-0.5210595
-0.396152
-0.31640542
-0.459686
-0.5702434
-0.5931808
-0.36256674
-0.3457865
-0.37771964
-0.4625998
-0.47415066
-0.3938988
-0.49735737
-0.26142278
-0.32298478
-0.3374469
-0.47159982
--0.18274228
--0.28124171
--0.20628488
--0.10543057
--0.05156752
--0.091269255
--0.0054441793
-0.11289734
--0.03441205
--0.13315572
-0.20559654
-0.10798551
--0.07475637
--0.0047787298
--0.22890174
-0.09388285
-0.059628867
-0.019401075
-0.05334341
--0.1582362
-0.017811468
--0.04889371
--0.065829955
--0.04788549
--0.33305293
--0.19116391
--0.28003454
--0.0820173
--0.26577657
--0.11826798
--0.39622292
--0.36510658
--0.11750732
--0.24734864
--0.2803419
--0.1519
--0.23317525
--0.007902931
--0.16537969
--0.19139121
--0.023329364
--0.30243063
--0.24868572
--0.029912082
--0.23020941
--0.31355116
--0.11182503
--0.0692445
--0.35592338
--0.09419684
-0.14571323
-0.5725029
-1.193062
-1.2903835
-0.9622877
-0.525414
-1.0394033
-1.4996175
-1.8389359
-1.3628953
-0.80069596
-1.4277213
-1.6703882
-1.7443689
-1.4166398
-0.6203115
-1.1946497
-1.7266799
-1.6697397
-1.3126082
-0.47843987
-0.89622074
-1.0277275
-1.0125589
-0.8202855
-0.5230944
-0.6464553
-0.5895753
-0.54708016
-0.26677945
-0.4320181
-0.59073323
-0.50776094
-0.50096244
-0.4625974
-0.49336708
-0.34545958
-0.56925744
-0.34867597
-0.16094568
-0.3861315
-0.5891766
-0.2174486
-0.20948303
-0.1000691
-0.21441981
-0.22367561
-0.19896027
-0.13936864
-0.03653052
-0.084119834
-0.3999692
-0.5730208
-0.6282694
-0.37436715
-0.46807006
-0.78820395
-0.96178275
-0.90761256
-0.87396187
-0.53964555
-0.9532658
-0.9813636
-1.0613359
-0.7933851
-0.5819338
-0.9753471
-1.2284292
-0.94796246
-0.82767236
-0.499911
-0.75207883
-0.68719465
-0.8145963
-0.6596423
-0.011669106
-0.18070999
-0.36343256
-0.3169534
-0.20783305
-0.03404153
-0.43459386
-0.36061177
-0.43950805
-0.38309076
-0.25803936
-0.4289157
-0.58764404
-0.58137804
-0.46296367
-0.1991764
-0.33899468
-0.64967453
-0.74104553
-0.57953227
-0.1818072
-0.32919815
-0.6142047
-0.47143123
-0.3723565
--0.29113623
-0.08584255
-0.49546224
-0.80879575
-0.72197473
--0.01818511
-0.4448289
-0.86975175
-1.0318508
-0.70635146
-0.2590701
-0.55703586
-1.2021183
-1.1355498
-0.929514
--0.0021778075
-0.49526876
-0.8620847
-0.97750324
-0.80483395
-0.066819414
-0.0533782
-0.2378203
-0.48883578
-0.46825472
--0.08690677
--0.098846406
--0.11066464
--0.33117262
--0.13379335
--0.10680438
--0.092536114
--0.06396752
--0.2411913
--0.4162492
--0.27065766
--0.0127258655
--0.22221713
--0.10054428
--0.25341535
--0.36750633
--0.0970442
--0.28783646
--0.3083135
--0.37662375
--0.24937427
--0.36285818
--0.32178807
--0.41167092
--0.64311564
-0.15358478
-0.45863125
-0.680853
-0.69516915
-0.73355865
-0.36617115
-0.8283799
-0.94936144
-0.96523696
-0.7651339
-0.4159632
-0.9592908
-1.038713
-1.1703031
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