xMerge branch 'master' of https://github.com/lloi7/RM_auto-aim

armor/include/armor_finder/armor_finder.h

@@ -30,7 +30,7 @@ private:
     typedef cv::TrackerKCF TrackerToUse;                // Tracker类型定义
 
     typedef enum{
-        WEAKSEARCHING_STATE, SEARCHING_STATE, TRACKING_STATE, STANDBY_STATE
+        SEARCHING_STATE, TRACKING_STATE, STANDBY_STATE
     } State;                                            // 自瞄状态枚举定义
 
     const uint8_t &enemy_color;                         // 敌方颜色，引用外部变量，自动变化
@@ -41,8 +41,6 @@ private:
     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
-    int miss_cnt;                                       //
-    int weak_cnt;                                       //
 	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
 

armor/src/armor_finder/armor_finder.cpp

@@ -1,6 +1,20 @@
 //
 // Created by xinyang on 19-3-27.
 //
+
+/*===========================================================================*/
+/*                               使用本代码的兵种                               */
+/*===========================================================================*/
+/*   _______________   _______________   _______________   _______________   */
+/*  |     _____     | |     _  _      | |     ____      | |     _____     |  */
+/*  ||   |___ /    || ||   | || |    || ||   | ___|    || ||   |___  |   ||  */
+/*  ||     |_ \    || ||   | || |_   || ||   |___ \    || ||      / /    ||  */
+/*  ||    ___) |   || ||   |__   _|  || ||    ___) |   || ||     / /     ||  */
+/*  ||   |____/    || ||      |_|    || ||   |____/    || ||    /_/      ||  */
+/*  |_______________| |_______________| |_______________| |_______________|  */
+/*                                                                           */
+/*===========================================================================*/
+
 #define LOG_LEVEL LOG_NONE
 #include <log.h>
 #include <options/options.h>
@@ -28,9 +42,7 @@ ArmorFinder::ArmorFinder(uint8_t &color, Serial &u, const string &paras_folder,
             contour_area(0),
             use_classifier(use),
             boxid(-1),
-            tracking_cnt(0),
+            tracking_cnt(0)
-            miss_cnt(0),
-            weak_cnt(0)
             {
 }
 
@@ -44,16 +56,8 @@ void ArmorFinder::run(cv::Mat &src) {
 //    stateSearchingTarget(src_use);                    // for debug
 //    return;
     switch (state){
-        case WEAKSEARCHING_STATE:
-            if(stateSearchingTarget(src_use) && ++weak_cnt>5){
-                miss_cnt = 0;
-                state = SEARCHING_STATE;
-            }else{
-                weak_cnt = 0;
-            }
         case SEARCHING_STATE:
             if(stateSearchingTarget(src_use)){
-                miss_cnt = 0;
                 if((armor_box & cv::Rect2d(0, 0, 640, 480)) == armor_box) { // 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_use.clone()(armor_box), roi_gray; /* 就使用装甲区域亮点数判断是否跟丢 */
@@ -67,14 +71,10 @@ void ArmorFinder::run(cv::Mat &src) {
                     tracking_cnt = 0;
                     LOGM(STR_CTR(WORD_LIGHT_CYAN, "into track"));
                 }
-            }else if(++miss_cnt>100){
-                weak_cnt = 0;
-                state = WEAKSEARCHING_STATE;
             }
             break;
         case TRACKING_STATE:
             if(!stateTrackingTarget(src_use) || ++tracking_cnt>100){    // 最多追踪100帧图像
-                miss_cnt = 0;
                 state = SEARCHING_STATE;
                 LOGM(STR_CTR(WORD_LIGHT_YELLOW ,"into search!"));
             }

armor/src/armor_finder/searching_state/searching_state.cpp

@@ -291,7 +291,7 @@ bool ArmorFinder::stateSearchingTarget(cv::Mat &src) {
         showArmorBoxVector("boxes", src, armor_boxes);
         cv::waitKey(1);
     }
-    if (classifier && use_classifier && state!=WEAKSEARCHING_STATE) {
+    if (classifier && use_classifier) {
         for (auto box : armor_boxes) {
             cv::Mat roi = src(box).clone();
             cv::resize(roi, roi, cv::Size(48, 36));

main.cpp

@@ -1,6 +1,12 @@
-//
+/*******************************************************************/
-// Created by xixiliadorabarry on 1/24/19.
+/* ____      _ _____ _   _       ____  __  __        ______     __ */
-//
+/*/ ___|    | |_   _| | | |     |  _ \|  \/  |      / ___\ \   / / */
+/*\___ \ _  | | | | | | | |_____| |_) | |\/| |_____| |    \ \ / /  */
+/* ___) | |_| | | | | |_| |_____|  _ <| |  | |_____| |___  \ V /   */
+/*|____/ \___/  |_|  \___/      |_| \_\_|  |_|      \____|  \_/    */
+/*                                                                 */
+/*******************************************************************/
+
 #include <iostream>
 #include <thread>
 #include <opencv2/core/core.hpp>