Merge pull request #1 from lloi7/new

使用之前的候选区寻找方式

armor/include/show_images/show_images.h

@@ -13,8 +13,7 @@
 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 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_ */

armor/src/armor_finder/armor_finder.cpp

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

armor/src/armor_finder/classifier/classifier.cpp

@@ -92,7 +92,7 @@ MatrixXd Classifier::softmax(const MatrixXd &input){
     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;
     for(int sample=0; sample<input.size(); sample++) {
         vector<MatrixXd> sub;

armor/src/armor_finder/state_machine/searching_state/searching_state.cpp

@@ -31,10 +31,15 @@ static void pipelineLightBlobPreprocess(cv::Mat &src) {
 }
 
 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;
-    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) {
         cv::RotatedRect rect = cv::minAreaRect(light_contour);
         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;
             min_x = fmin(rect_left.x, rect_right.x);
             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) {
                 continue;
             }
@@ -147,31 +152,42 @@ bool judge_light_color(std::vector<LightBlob> &light, std::vector<LightBlob> &co
 }
 
 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)){
         return false;
     }
-//    if(!judge_light_color(light_blobs, pm_light_blobs, light_blobs_real)){
-//        return false;
-//    }
     if(show_light_blobs){
-        showContours("blobs", split, light_blobs);
+        showContours("blobs", src_bin, light_blobs);
         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;
     }
     if(show_armor_boxes){
@@ -183,29 +199,21 @@ bool ArmorFinder::stateSearchingTarget(cv::Mat &src) {
             cv::Mat roi = src(box).clone();
             cv::resize(roi, roi, cv::Size(48, 36));
             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;
         }
-        if(show_armor_box){
+        if(show_armor_boxes){
-            showArmorBoxClass("class", src, boxes_one, boxes_two, boxes_three);
+            showArmorBoxClass("class", src, boxes_number);
         }
     }else{
         armor_box = armor_boxes[0];

armor/src/show_images/show_images.cpp

@@ -18,8 +18,7 @@ void showArmorBoxVector(std::string windows_name, const cv::Mat &src, const std:
     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;
     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();
     }
-    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]){
+                char buff[2] = {0};
+                buff[0] = i + '0';
+                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_two) {
+    imshow(window_names, image2show);
-        rectangle(image2show, box, Scalar(0, 255, 0), 1);
-    }
-    for (auto &box:boxes_three) {
-        rectangle(image2show, box, Scalar(0, 0, 255), 1);
-    }
-    imshow(windows_name, image2show);
 }
 
 void showArmorBox(std::string windows_name, const cv::Mat &src, cv::Rect2d armor_box) {

main.cpp

@@ -63,7 +63,6 @@ int main(int argc, char *argv[]) {
         }
 
         Mat energy_src, armor_src;
-
         ArmorFinder armorFinder(ENEMY_BLUE, uart, PROJECT_DIR"/tools/para/");
 
         Energy energy(uart);

others/src/camera/camera_wrapper.cpp

@@ -65,11 +65,14 @@ stop:
             tCapability.sResolutionRange.iWidthMax * 3);
     if(mode == 0){
         // 不使用自动曝光
-        CameraSetAeState(h_camera, true);
+        CameraSetAeState(h_camera, false);
         // 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
-        CameraSetAnalogGain(h_camera, 64);
+        CameraSetAnalogGain(h_camera, 55);
         // 使用预设LUT表
         CameraSetLutMode(h_camera, LUTMODE_PRESET);
         // 抗频闪
@@ -90,7 +93,7 @@ stop:
     /*其他的相机参数设置
     例如 CameraSetExposureTime   CameraGetExposureTime  设置/读取曝光时间
          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）
     */
 

others/src/uart/uart.cpp

@@ -4,6 +4,7 @@
 
 #include <uart/uart.h>
 #include <energy/param_struct_define.h>
+#include <log.h>
 
 using std::cout;
 using std::cerr;
@@ -16,7 +17,6 @@ GMAngle_t aim;
 
 
 Uart::Uart(){
-
     fd = open("/dev/ttyUSB0", O_RDWR);
     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 data;
     while(read(fd, &data, 1) < 1);
     return data;
 }
-

tools/para/conv1_b

@@ -1,7 +1,7 @@
 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

tools/para/conv1_w

@@ -2,453 +2,453 @@
 6
 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
--0.044690743
+1.5477047
--0.33280057
+1.2634932
--1.180621
+0.5294498
--1.5130968
+-0.26089707
-0.32003295
+1.8120517
-0.6245109
+2.0142252
-0.3391734
+1.6433445
--0.45662346
+0.6699045
--1.2023503
+0.025381207
-0.66186905
+2.2189493
-0.6943321
+2.2740376
-0.753682
+1.7443526
--0.05385303
+1.200576
--0.69504744
+0.6334228
--0.86241025
+0.15523954
-0.05611875
+-0.01665401
-0.7984623
+-0.118368655
-1.4339544
+-0.35727102
-2.0078037
+-0.42292374
--0.6121641
+0.32598874
-0.3216552
+-0.21099696
-0.7244501
+-0.20522207
-1.4381241
+-0.25549328
-1.9696213
+-0.17338459
--0.29659018
+0.10133018
-0.13415621
+-0.13074248
-0.61756736
+-0.11154948
-1.0113128
+-0.15071136
-1.3834459
+-0.22535364
-0.12413465
+0.33406344
-0.3135587
+-0.036810637
-0.32853445
+0.099401385
-0.7981063
+-0.20969932
-0.83142936
+-0.13488947
--0.004516094
+0.16889526
-0.32636595
+0.074462764
-0.55108666
+-0.16236131
-0.6248727
+-0.046184797
-0.60938156
+0.023801776
--0.38326544
+-0.9323588
--1.2629062
+-0.58124906
--0.385575
+0.18694697
-0.11398253
+0.2679367
-0.40000448
+0.33944207
--1.0602297
+-0.79266095
--1.1948771
+-0.17053536
--0.6945023
+0.114198804
--0.4127804
+0.4833294
-0.029964926
+0.37498808
--1.4086407
+-0.90027314
--1.3599807
+-0.49293894
--1.3076004
+0.01712811
--1.1330422
+0.31062165
--0.38810351
+0.3294721
--2.1059783
+-1.3969829
--1.8239182
+-0.9609437
--1.7029382
+-0.4146537
--1.4902409
+-0.12628987
--0.91088384
+0.09289634
--3.230572
+-2.01327
--2.4590926
+-1.6878839
--1.9471443
+-1.020883
--1.860621
+-0.51367843
--1.3370123
+-0.25005263
--0.5690341
+0.3150389
--0.33530146
+-1.0783674
-0.31661218
+-2.7555757
-0.8375982
+-3.983991
-1.1338086
+-4.5347676
--1.3648574
+0.6119982
--0.8348736
+-0.41981643
-0.36666754
+-1.6696591
-1.1275568
+-2.7729795
-1.1844105
+-3.2745647
--1.8321881
+0.9486962
--0.78104144
+0.14917418
-0.59508055
+-0.67725325
-1.2501543
+-1.3731288
-1.2034286
+-1.9631144
--1.6087818
+0.853969
--0.6121007
+0.54386574
-0.693586
+0.1226466
-1.2163337
+-0.43811196
-1.1292332
+-0.99324924
--0.6255259
+1.1727126
-0.0911698
+0.92385554
-0.78314143
+0.9976169
-0.9095932
+0.50470996
-0.5689121
+-0.16251346
--3.2688649
+0.111192286
--1.2751737
+-0.0311233
-0.7530108
+-0.06703233
-1.5721122
+-0.0056416607
-2.11933
+-0.13427663
--2.9633296
+-0.0059515433
--1.3632398
+-0.10615259
-0.11986004
+-0.09087167
-1.1412225
+0.072213285
-1.8641368
+-0.09585085
--1.9467463
+-0.12161211
--0.9146176
+0.05298058
--0.10545669
+-0.04786352
-0.49356145
+-0.05641162
-1.3669914
+0.073793665
--1.7783622
+-0.05133933
--0.99905616
+0.0063234954
--0.28957212
+-0.11314615
-0.13239379
+-0.075407416
-0.9921155
+-0.16874631
--2.1976538
+0.0452455
--1.0333587
+0.047273546
--0.3801185
+0.022022702
-0.021550074
+-0.1461922
-0.5849712
+-0.07056173
--0.7216267
+-0.0926505
--0.36925313
+-0.2730682
--0.5770921
+-0.26554346
--0.89754397
+-0.34648055
--0.9315221
+-0.11837572
--0.17996566
+0.05535075
-0.5721206
+-0.15645643
-0.46629494
+-0.34763718
--0.11679081
+-0.551588
--0.8407021
+-0.3841269
-0.14923953
+0.1616999
-1.1722741
+-0.067517325
-1.0859729
+-0.44082755
--0.08064234
+-0.5951961
--1.1707838
+-0.48410118
-0.527985
+-0.017882127
-1.556374
+-0.20971838
-1.3262485
+-0.4876452
-0.052869447
+-0.5433759
--1.0933924
+-0.66698676
-0.8913072
+0.076961294
-1.8925939
+-0.16057712
-1.1744183
+-0.32178354
--0.16056827
+-0.4739331
--0.96226853
+-0.43045306
--2.0482447
+-0.7695584
--2.1394062
+0.120984636
--2.3160622
+0.562472
--1.5373954
+0.41816708
--1.0280651
+0.17464462
--1.0137186
+-0.54170316
--1.1347228
+0.21317379
--1.2650911
+0.24528086
--1.3904438
+0.26707074
--1.4724954
+0.13246953
--0.6152145
+-0.44595376
--0.38191465
+0.21264245
--0.6525277
+0.2402921
--1.2026839
+0.1721093
--1.574993
+0.008216559
--0.14897716
+-0.20339474
-0.40652698
+0.14848676
-0.22212738
+0.37409306
--0.7051095
+0.17518179
--1.6179065
+-0.11521746
-0.12883945
+0.3209798
-0.92052716
+0.60100836
-0.71651196
+0.44183603
--0.1521632
+0.33679137
--1.3601139
+0.15469958
--1.3278087
+-0.5839434
-0.091166034
+-0.4227066
-0.70035547
+-0.49117723
-0.85970676
+-0.48467872
-1.4728521
+-0.56445146
--0.4685758
+-1.1456538
-0.67533374
+-0.6834423
-1.2041222
+-0.654748
-0.91583323
+-0.22800747
-1.3638756
+-0.022758592
--0.21221842
+-1.0613276
-0.46413553
+-0.6385294
-0.6931065
+-0.05707361
-0.5078553
+0.16950387
-1.0690873
+0.20175189
--0.2822384
+-0.9398203
--0.18992352
+-0.15568656
--0.30851105
+0.3859468
--0.48985106
+0.39794713
--0.112165235
+0.36458206
--0.6343776
+-0.69859344
--0.97740346
+-0.17326379
--1.2637299
+0.20072784
--1.1870348
+0.390084
--0.65784734
+0.555071
--2.275478
+-0.04178154
--1.5841419
+0.21562038
-0.59182155
+0.37848094
-1.7027438
+0.14019106
-2.2658849
+0.14371184
--2.0428355
+0.47437635
--0.9335362
+0.90888536
-0.25750664
+1.168888
-1.0987146
+0.60219216
-1.5473177
+0.3251563
--0.8157582
+0.7930082
--0.23004234
+1.2972649
-0.3001771
+1.0530943
-0.6583938
+0.77613246
-1.0895797
+0.5001188
--0.093778014
+0.5152648
-0.08269198
+0.978894
-0.17656319
+0.94284105
-0.3352879
+0.45030168
-1.0185977
+0.2261107
--0.6558476
+-0.022718275
-0.4106111
+0.28039193
-0.3651244
+0.34578055
-0.3434926
+0.21017691
-0.78885883
+0.1464505
-0.9312759
+1.2343447
-0.45665312
+0.18821116
-0.87845147
+-0.71521515
-1.4286675
+-1.3032252
-1.9387178
+-1.9630777
-0.0055226237
+1.4947205
--0.11264928
+0.9587029
-0.69314396
+0.24647994
-1.5066721
+-0.097875305
-1.5526584
+-0.1934879
--0.15990084
+1.7100966
-0.10977341
+1.5319225
-0.7288155
+1.3799523
-1.5179793
+1.1618152
-1.5454628
+1.0889668
-0.42554915
+1.7062534
-0.6133954
+1.7905279
-1.1112447
+1.8558458
-1.4276886
+2.0603085
-1.3272578
+1.8906013
-1.5569048
+2.0001564
-1.5756388
+2.1912053
-1.9869299
+2.3792198
-1.8189707
+2.7369244
-1.3973557
+2.4438667
--4.249913
+-0.2246463
--1.9120424
+-0.00516572
--0.0061387075
+-0.14353351
-0.80639493
+0.010834271
-1.4316615
+0.035946842
--3.410931
+-0.09643716
--1.7743304
+0.07274415
--0.18588163
+-0.10339336
-0.5619047
+-0.24220358
-1.2757853
+-0.10307691
--2.25766
+-0.079659574
--1.1736825
+-0.016755452
--0.47299188
+-0.10323182
-0.38950402
+-0.008980153
-1.098909
+-0.13084923
--2.850165
+-0.1536615
--1.7250451
+0.029471084
--0.7260333
+-0.18607274
--0.055943523
+-0.10420174
-0.9642611
+0.008845984
--4.005538
+-0.15205318
--2.295592
+0.0593492
--1.041572
+-0.12890756
--0.24684854
+-0.032627933
-0.6455168
+-0.0911684
-1.1459881
+-0.008783043
-1.4573389
+-0.16778614
-1.4954526
+-0.29719573
-1.2473075
+-0.41922522
-1.0846232
+-0.18285862
-1.2540116
+0.036619943
-1.9666128
+-0.05505202
-1.9739157
+-0.21583575
-1.2105061
+-0.6781076
-0.7538055
+-0.47871277
-1.2492738
+0.12350094
-2.14189
+-0.12206157
-1.7544507
+-0.41703764
-0.96942043
+-0.58151656
-0.31504372
+-0.5163836
-1.7381212
+0.30518386
-2.490894
+-0.07088575
-1.6445026
+-0.24859065
-0.26533163
+-0.6786162
--0.3193328
+-0.5492481
-2.0120225
+0.11020481
-2.0718558
+0.15241854
-0.8759794
+-0.19148083
-0.04767526
+-0.22238904
--0.41645908
+-0.5883373
-1.2511733
+-1.9134296
-0.5724159
+-1.3091345
-0.37694663
+-1.1205245
-1.2807285
+-0.9423058
-1.8684267
+-0.9971371
-1.8152616
+-2.0924008
-1.280423
+-1.5225571
-1.101077
+-1.4351251
-1.197118
+-1.181539
-1.5331124
+-1.1995114
-1.7447906
+-1.6696789
-1.6138377
+-1.6131642
-1.4156343
+-1.4193718
-1.0536009
+-1.2528512
-0.8561865
+-1.3836057
-1.9363236
+-1.4543215
-2.2086453
+-1.1393946
-1.6627563
+-1.1318659
-1.021228
+-1.3406729
-0.60839254
+-1.4267716
-2.1018016
+-0.56939834
-2.1533952
+-0.8572612
-1.9573407
+-0.86178756
-1.29546
+-0.86870027
-0.57359654
+-1.1124083
--0.29376534
+-0.030429596
-0.9012422
+-0.015162346
-1.1789744
+-0.23064966
-0.710556
+-0.63212466
-0.8737443
+-0.8233778
-0.095544085
+-0.6971651
-1.045074
+-0.89806795
-0.9252817
+-1.1291697
-0.471885
+-1.1876353
-0.6031909
+-1.0566497
--0.2500516
+-1.141609
-0.14211257
+-1.0472245
--0.27518043
+-0.9446792
--1.0673013
+-1.2598085
--0.845284
+-1.1849722
--0.7930444
+-0.7953462
--1.1906688
+-0.4807137
--2.2155006
+-0.74657875
--2.8370302
+-1.1390802
--2.2175434
+-1.1091293
--0.9103819
+-0.30506095
--2.3526044
+-0.086611256
--3.3939815
+-0.50039047
--3.9634273
+-0.92477053
--2.9982874
+-0.7466115
--3.0668538
+0.7484353
--1.9301875
+1.099887
-0.46062958
+1.0560677
-1.1481701
+1.0539607
-1.6189759
+0.80640066
--2.693133
+1.355793
--1.3168526
+1.6745459
-0.39946663
+1.5189409
-0.777253
+1.397477
-1.2958935
+1.011761
--1.7610679
+1.5243987
--0.87182975
+1.8741314
-0.015992796
+1.7208973
-0.35228586
+1.2180593
-0.825145
+0.8020791
--2.3087604
+1.3893685
--1.4618046
+1.6558268
--0.49614725
+1.5869464
--0.12511182
+1.0812482
-0.5606166
+0.817395
--3.9921951
+1.0296667
--2.422155
+1.2454413
--0.9274944
+1.027977
--0.43651518
+0.6484715
-0.110710315
+0.5705967

tools/para/conv2_b

@@ -1,11 +1,11 @@
 10
-2.4876857
+2.339627
--0.2729608
+1.8759418
--2.472103
+-0.70012397
-1.4380744
+-0.13009475
-0.13707557
+0.17396869
--0.38399124
+2.766548
--0.10049698
+-1.4850869
--0.44721037
+-2.6339962
--0.24111606
+-0.12728444
--0.05031827
+0.14405365

tools/para/fc1_b

@@ -1,17 +1,17 @@
 16
-6.674671
+-1.0079371
--0.4621555
+-0.21348575
--0.35395312
+-0.047885668
--6.140842
+1.3191578
--0.6383096
+-0.18780966
--0.0026992396
+7.9113836
--0.105528705
+-0.07285687
--0.12171911
+-4.019421
--0.039757866
+-0.9552737
--4.064281
+-0.41599488
--0.36199543
+-0.13497822
--0.06976157
+-1.286887
--0.042993866
+1.954279
-0.0015301058
+-0.377049
--0.06826296
+-0.2319671
--0.0050806464
+-5.739259

tools/para/fc2_b

@@ -1,5 +1,7 @@
-4
+6
-6.171619
+7.672486
--1.5262855
+-2.1727772
--4.09489
+-1.6976244
--2.3815227
+-0.39480045
+-4.701963
+-4.060234

tools/para/fc2_w

@@ -1,66 +1,98 @@
 16
-4
+6
-0.70240104
+5.294904e-34
--0.058500186
+4.1071474e-34
--0.23156737
+3.5979983e-34
--0.33127818
+-4.8111744e-34
--3.6112761e-34
+3.0298388e-34
--3.3890292e-34
+4.727617e-34
-9.363116e-34
+4.2841314e-34
-4.0197816e-34
+-7.448757e-34
--0.2575022
+-1.3280983e-34
-0.69736814
+-3.4998216e-34
--0.2684227
+1.1480016e-34
--0.08991088
+2.4329347e-34
--0.3760809
+-3.8421887e-34
--0.065089576
+6.131607e-34
-0.45981047
+3.2127673e-35
-0.008204719
+4.036833e-34
--4.8556375e-34
+-4.4449285e-34
-4.816393e-34
+-1.3033124e-34
-3.872484e-34
+-0.0063951695
-5.096778e-34
+0.006757953
-1.7445673e-19
+0.026418086
-1.2270845e-33
+-0.014205176
--2.260416e-25
+0.04418388
-1.0369542e-20
+0.062677905
-4.00948e-34
+-5.2201886e-34
--5.999333e-34
+1.1684014e-33
-3.7143163e-34
+-4.5119606e-34
--4.228372e-34
+5.0112353e-34
--1.0954501e-34
+7.1335205e-34
--2.7085206e-34
+3.8090283e-34
-8.016929e-34
+0.61706346
-9.2079354e-35
+0.12671919
--3.945864e-34
+-0.05489751
-1.98814e-34
+-0.03665739
-2.3972646e-34
+-0.2387121
-3.942207e-34
+-0.19392832
--0.14058167
+4.400894e-34
--0.07198931
+3.3940071e-34
--0.38025984
+-3.2267908e-34
-0.5981627
+4.2374877e-34
-4.3956684e-34
+3.7673267e-34
-3.1032594e-34
+-4.2796806e-34
-3.4351758e-34
+0.09789613
-5.5414507e-34
+-0.37246978
--1.248324e-34
+-0.09926232
-8.8546844e-35
+0.054989994
-6.8084945e-34
+0.5217698
--1.1866068e-34
+-0.020826261
--3.865728e-34
+4.7286482e-15
-1.8786859e-34
+-1.3830426e-15
-3.3450276e-34
+5.8647296e-35
--2.8077459e-34
+1.1566057e-33
-0.0013890187
+1.2851214e-33
-0.026067872
+-4.4416296e-33
-0.0082543865
+2.4679793e-34
--0.02225164
+-8.546679e-34
-2.0089658e-34
+-6.019269e-34
--6.1273506e-34
+-4.7928078e-34
--6.228039e-34
+-2.6198876e-35
--5.0242814e-34
+-1.5769217e-36
--4.3343494e-34
+-1.0960844e-33
-3.0939117e-34
+-1.1464184e-33
-1.2827092e-34
+-4.9895474e-34
--4.305108e-34
+-1.2327797e-33
+6.3556863e-34
+3.949529e-36
+-0.44523916
+-0.048138373
+0.49848852
+0.67901206
+-0.035957992
+-0.36799058
+0.07924421
+-0.23662093
+0.409469
+-0.60837746
+-0.14665303
+0.685228
+-2.1080804e-34
+8.089918e-34
+-3.8773814e-34
+-1.2162282e-34
+3.8192135e-34
+5.806797e-34
+1.9141679e-34
+5.46885e-34
+-9.801028e-34
+8.670833e-34
+2.838885e-34
+1.2663823e-34
+-0.21810062
+0.7242532
+-0.07114903
+-0.066113256
+-0.054350372
+-0.18786566