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Merge remote-tracking branch 'origin/master'

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This commit is contained in:
xinyang
2019-08-07 02:23:55 +08:00
parent 3bd4b30182 05b7991d57
commit 6b0edffa3b
6 changed files with 16 additions and 17 deletions
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3
armor/include/armor_finder/armor_finder.h
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@@ -93,7 +93,7 @@ typedef std::vector<ArmorBox> ArmorBoxes;
/********************* 自瞄类定义 **********************/ /********************* 自瞄类定义 **********************/
class ArmorFinder{ class ArmorFinder{
public: public:
ArmorFinder(uint8_t &color, Serial &u, const string &paras_folder, const uint8_t &use); ArmorFinder(uint8_t &color, Serial &u, const string &paras_folder);
~ArmorFinder() = default; ~ArmorFinder() = default;
private: private:
@@ -117,7 +117,6 @@ private:
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 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 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 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
RoundQueue<double, 4> top_periodms; // 陀螺周期循环队列 RoundQueue<double, 4> top_periodms; // 陀螺周期循环队列
systime last_front_time; // 上一次发生装甲板方向切换的时间 systime last_front_time; // 上一次发生装甲板方向切换的时间
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 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

5
armor/src/armor_finder/armor_finder.cpp
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@@ -46,7 +46,7 @@ std::map<string, int> prior_red = {
{"NO", 10}, {"NO", 10},
}; };
ArmorFinder::ArmorFinder(uint8_t &color, Serial &u, const string &paras_folder, const uint8_t &use) : ArmorFinder::ArmorFinder(uint8_t &color, Serial &u, const string &paras_folder) :
serial(u), serial(u),
enemy_color(color), enemy_color(color),
state(STANDBY_STATE), state(STANDBY_STATE),
@@ -55,7 +55,6 @@ ArmorFinder::ArmorFinder(uint8_t &color, Serial &u, const string &paras_folder,
anti_top_state(NORMAL), anti_top_state(NORMAL),
classifier(paras_folder), classifier(paras_folder),
contour_area(0), contour_area(0),
use_classifier(use),
tracking_cnt(0) { tracking_cnt(0) {
} }
@@ -67,7 +66,7 @@ void ArmorFinder::run(cv::Mat &src) {
case SEARCHING_STATE: case SEARCHING_STATE:
if (stateSearchingTarget(src)) { if (stateSearchingTarget(src)) {
if ((target_box.rect & cv::Rect2d(0, 0, 640, 480)) == target_box.rect) { // 判断装甲板区域是否脱离图像区域 if ((target_box.rect & cv::Rect2d(0, 0, 640, 480)) == target_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 */ if (!classifier) { /* 如果分类器不可用 */
cv::Mat roi = src(target_box.rect).clone(), roi_gray; /* 就使用装甲区域亮点数判断是否跟丢 */ cv::Mat roi = src(target_box.rect).clone(), roi_gray; /* 就使用装甲区域亮点数判断是否跟丢 */
cv::cvtColor(roi, roi_gray, CV_RGB2GRAY); cv::cvtColor(roi, roi_gray, CV_RGB2GRAY);
cv::threshold(roi_gray, roi_gray, 180, 255, cv::THRESH_BINARY); cv::threshold(roi_gray, roi_gray, 180, 255, cv::THRESH_BINARY);

2
armor/src/armor_finder/find/find_armor_box.cpp
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@@ -140,7 +140,7 @@ bool ArmorFinder::findArmorBox(const cv::Mat &src, ArmorBox &box) {
cv::waitKey(1); cv::waitKey(1);
} }
if (classifier && use_classifier) { if (classifier) {
CNT_TIME("classify: %d", { CNT_TIME("classify: %d", {
for (auto &armor_box : armor_boxes) { for (auto &armor_box : armor_boxes) {
cv::Mat roi = src(armor_box.rect).clone(); cv::Mat roi = src(armor_box.rect).clone();

4
armor/src/armor_finder/tracking_state/tracking_state.cpp
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@@ -25,8 +25,8 @@ bool ArmorFinder::stateTrackingTarget(cv::Mat &src) {
bigger_rect.width = pos.width * 2; bigger_rect.width = pos.width * 2;
bigger_rect &= cv::Rect2d(0, 0, 640, 480); bigger_rect &= cv::Rect2d(0, 0, 640, 480);
if(show_armor_box) // if(show_armor_box)
showTrackSearchingPos("track", src, bigger_rect); // showTrackSearchingPos("track", src, bigger_rect);
cv::Mat roi = src(bigger_rect).clone(); cv::Mat roi = src(bigger_rect).clone();

17
main.cpp
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@@ -44,7 +44,7 @@ WrapperHead *video_chassis = nullptr; // 底盘摄像头视频源
Serial serial(115200); // 串口对象 Serial serial(115200); // 串口对象
uint8_t last_state = INIT_STATE; // 上次状态，用于初始化 uint8_t last_state = INIT_STATE; // 上次状态，用于初始化
// 自瞄主程序对象 // 自瞄主程序对象
ArmorFinder armor_finder(mcu_data.enemy_color, serial, PROJECT_DIR"/tools/para/", mcu_data.use_classifier); ArmorFinder armor_finder(mcu_data.enemy_color, serial, PROJECT_DIR"/tools/para/");
// 能量机关主程序对象 // 能量机关主程序对象
Energy energy(serial, mcu_data.enemy_color); Energy energy(serial, mcu_data.enemy_color);
@@ -66,8 +66,8 @@ int main(int argc, char *argv[]) {
video_gimbal = new CameraWrapper(ARMOR_CAMERA_EXPOSURE, ARMOR_CAMERA_GAIN, 2/*, "armor"*/); video_gimbal = new CameraWrapper(ARMOR_CAMERA_EXPOSURE, ARMOR_CAMERA_GAIN, 2/*, "armor"*/);
video_chassis = new CameraWrapper(ENERGY_CAMERA_EXPOSURE, ENERGY_CAMERA_GAIN, 2/*, "energy"*/); video_chassis = new CameraWrapper(ENERGY_CAMERA_EXPOSURE, ENERGY_CAMERA_GAIN, 2/*, "energy"*/);
} else { } else {
video_gimbal = new VideoWrapper(PROJECT_DIR"/26.avi"); video_gimbal = new VideoWrapper(PROJECT_DIR"/5.avi");
video_chassis = new VideoWrapper(PROJECT_DIR"/26.avi"); video_chassis = new VideoWrapper(PROJECT_DIR"/5.avi");
} }
if (video_gimbal->init()) { if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully."); LOGM("video_gimbal source initialization successfully.");
@@ -93,8 +93,9 @@ int main(int argc, char *argv[]) {
bool ok = true; bool ok = true;
cout << "start running" << endl; cout << "start running" << endl;
do { do {
char curr_state = mcu_data.state;
CNT_TIME("Total", { CNT_TIME("Total", {
if (mcu_data.state == BIG_ENERGY_STATE) {//大能量机关模式 if (curr_state == BIG_ENERGY_STATE) {//大能量机关模式
if (last_state != BIG_ENERGY_STATE) {//若上一帧不是大能量机关模式，即刚往完成切换，则需要初始化 if (last_state != BIG_ENERGY_STATE) {//若上一帧不是大能量机关模式，即刚往完成切换，则需要初始化
LOGM(STR_CTR(WORD_BLUE, "Start Big Energy!")); LOGM(STR_CTR(WORD_BLUE, "Start Big Energy!"));
destroyAllWindows(); destroyAllWindows();
@@ -110,7 +111,7 @@ int main(int argc, char *argv[]) {
checkReconnect(video_chassis->read(chassis_src)); checkReconnect(video_chassis->read(chassis_src));
energy.setBigEnergyInit(); energy.setBigEnergyInit();
} }
last_state = mcu_data.state;//更新上一帧状态 last_state = curr_state;//更新上一帧状态
ok = checkReconnect(video_gimbal->read(gimbal_src)); ok = checkReconnect(video_gimbal->read(gimbal_src));
video_chassis->read(chassis_src); video_chassis->read(chassis_src);
#ifdef GIMBAL_FLIP_MODE #ifdef GIMBAL_FLIP_MODE
@@ -124,7 +125,7 @@ int main(int argc, char *argv[]) {
if (show_origin) showOrigin(gimbal_src, chassis_src);//显示原始图像 if (show_origin) showOrigin(gimbal_src, chassis_src);//显示原始图像
energy.runBig(gimbal_src, chassis_src); energy.runBig(gimbal_src, chassis_src);
// energy.runBig(gimbal_src); // energy.runBig(gimbal_src);
} else if (mcu_data.state == SMALL_ENERGY_STATE) { } else if (curr_state == SMALL_ENERGY_STATE) {
if (last_state != SMALL_ENERGY_STATE) { if (last_state != SMALL_ENERGY_STATE) {
LOGM(STR_CTR(WORD_GREEN, "Start Small Energy!")); LOGM(STR_CTR(WORD_GREEN, "Start Small Energy!"));
destroyAllWindows(); destroyAllWindows();
@@ -139,7 +140,7 @@ int main(int argc, char *argv[]) {
} }
energy.setSmallEnergyInit(); energy.setSmallEnergyInit();
} }
last_state = mcu_data.state;//更新上一帧状态 last_state = curr_state;//更新上一帧状态
ok = checkReconnect(video_gimbal->read(gimbal_src)); ok = checkReconnect(video_gimbal->read(gimbal_src));
#ifdef GIMBAL_FLIP_MODE #ifdef GIMBAL_FLIP_MODE
flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE); flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
@@ -162,7 +163,7 @@ int main(int argc, char *argv[]) {
} }
} }
} }
last_state = mcu_data.state; last_state = curr_state;
CNT_TIME(STR_CTR(WORD_GREEN, "read img"), { CNT_TIME(STR_CTR(WORD_GREEN, "read img"), {
if(!checkReconnect(video_gimbal->read(gimbal_src))) continue; if(!checkReconnect(video_gimbal->read(gimbal_src))) continue;
}); });

2
tools/create-startup.sh
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@@ -5,5 +5,5 @@ echo "echo sjturm | sudo -S cpufreq-set -g performance" >> $2/startup-run
echo "mkdir $1/Mark" >> $2/startup-run echo "mkdir $1/Mark" >> $2/startup-run
echo "mkdir $1/gimbal_video" >> $2/startup-run echo "mkdir $1/gimbal_video" >> $2/startup-run
echo "mkdir $1/armor_box_photo" >> $2/startup-run echo "mkdir $1/armor_box_photo" >> $2/startup-run
echo "gnome-terminal -- bash -c \"echo sjturm | sudo -S $1/tools/monitor.sh \\\"$2/run --run-with-camera --save-video --wait-uart --save-labelled-boxes\\\"\"" >> $2/startup-run echo "gnome-terminal -- bash -c \"echo sjturm | sudo -S $1/tools/monitor.sh \\\"$2/run --run-with-camera --save-video --wait-uart --save-labelled-boxes --show-armor-box\\\"\"" >> $2/startup-run
chmod +x $2/startup-run chmod +x $2/startup-run