反小陀螺前置代码已完成。

armor/include/armor_finder/armor_finder.h

@@ -13,8 +13,11 @@
 #include <armor_finder/classifier/classifier.h>
 #include <additions/additions.h>
 
-#define BLOB_RED ENEMY_RED
+#define BLOB_RED    ENEMY_RED
-#define BLOB_BLUE ENEMY_BLUE
+#define BLOB_BLUE   ENEMY_BLUE
+
+#define BOX_RED     ENEMY_RED
+#define BOX_BLUE    ENEMY_BLUE
 
 #define DISTANCE_HEIGHT_5MM (113.0)     // 单位: m*pixel
 #define DISTANCE_HEIGHT     DISTANCE_HEIGHT_5MM
@@ -22,21 +25,53 @@
 extern std::map<int, string> id2name;   //装甲板id到名称的map
 extern std::map<string, int> name2id;   //装甲板名称到id的map
 
-
 /******************* 灯条类定义 ***********************/
 class LightBlob {
 public:
     cv::RotatedRect rect;   //灯条位置
     double length;          //灯条长度
-    uint8_t BlobColor;      //灯条颜色
+    uint8_t blob_color;      //灯条颜色
 
-    LightBlob(cv::RotatedRect &r) : rect(r) {
+    LightBlob(cv::RotatedRect &r, uint8_t color) : rect(r), blob_color(color) {
         length = max(rect.size.height, rect.size.width);
     };
+    LightBlob() = default;
 };
 
 typedef std::vector<LightBlob> LightBlobs;
 
+
+
+/******************* 装甲板类定义　**********************/
+class ArmorBox{
+public:
+    cv::Rect2d rect;
+    LightBlobs light_blobs;
+    uint8_t box_color;
+    int id;
+
+    explicit ArmorBox(const cv::Rect &pos=cv::Rect2d(), const LightBlobs &blobs=LightBlobs(), uint8_t color=0, int i=0);
+
+    double blobsDistance() const{
+        if(light_blobs.size() == 2){
+            auto &x = light_blobs[0].rect.center;
+            auto &y = light_blobs[1].rect.center;
+            return sqrt((x.x-y.x)*(x.x-y.x) + (x.y-y.y)*(x.y-y.y));
+        }
+    }
+
+    double lengthDistanceRatio() const {
+        if(light_blobs.size() == 2){
+            return (light_blobs[0].length+light_blobs[1].length)/2.0
+                   / blobsDistance();
+        }else{
+            return 100;
+        }
+    }
+};
+
+typedef std::vector<ArmorBox> ArmorBoxes;
+
 /********************* 自瞄类定义 **********************/
 class ArmorFinder{
 public:
@@ -50,11 +85,9 @@ private:
         SEARCHING_STATE, TRACKING_STATE, STANDBY_STATE
     } State;                                            // 自瞄状态枚举定义
 
-    cv::Mat src_raw;                                    // 当前原图
     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
-    cv::Rect2d armor_box;                               // 当前目标位置
+    ArmorBox armor_box;                                 // 当前目标装甲板
-    int boxid;                                          // 当前目标id
     cv::Ptr<cv::Tracker> tracker;                       // tracker对象实例
     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）
@@ -62,15 +95,15 @@ private:
     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
 
+    bool findLightBlobs(const cv::Mat &src, LightBlobs &light_blobs);
+    bool findArmorBox(const cv::Mat &src, ArmorBox &box);
 
     bool stateSearchingTarget(cv::Mat &src);            // searching state主函数
     bool stateTrackingTarget(cv::Mat &src);             // tracking state主函数
     bool stateStandBy();                                // stand by state主函数（已弃用）
 
-    bool findLightBlobs(const cv::Mat &src_bin,         // 在二值图上寻找灯条
+    void anti_top();                                    // 反小陀螺
-            LightBlobs &light_blobs);
+
-    bool findArmorBoxes(const LightBlobs &light_blobs,  // 根据灯条匹配装甲板候选区
-            std::vector<cv::Rect2d> &armor_boxes);
 public:
     void run(cv::Mat &src);                             // 自瞄主函数
     bool sendBoxPosition();                             // 和主控板通讯

armor/include/show_images/show_images.h

@@ -9,9 +9,10 @@
 #include <armor_finder/armor_finder.h>
 
 //
-void showArmorBoxVector(std::string windows_name, const cv::Mat &src, const std::vector<cv::Rect2d> &armor_box);
+void showArmorBoxes(std::string windows_name, const cv::Mat &src, const ArmorBoxes &armor_boxes);
-void showArmorBox(std::string windows_name, const cv::Mat &src, cv::Rect2d armor_box, int boxid);
+void showArmorBox(std::string windows_name, const cv::Mat &src, const ArmorBox &armor_box);
-void showContours(std::string windows_name, const cv::Mat &src, const std::vector<LightBlob> &light_blobs);
+void showLightBlobs(std::string windows_name, const cv::Mat &src, const LightBlobs &light_blobs);
-void showArmorBoxClass(std::string window_names, const cv::Mat &src, vector<cv::Rect2d> boxes[10]);
+void showArmorBoxesClass(std::string window_names, const cv::Mat &src, const ArmorBoxes boxes[15]);
+void showTrackSearchingPos(std::string window_names, const cv::Mat &src, const cv::Rect2d pos);
 
 #endif /* _SHOW_IMAGES_H_ */

armor/src/armor_finder/anti_top/anti_top.cpp

@@ -0,0 +1,52 @@
+//
+// Created by xinyang on 19-7-15.
+//
+
+#include <armor_finder/armor_finder.h>
+
+#define         B1 1
+#define         B2 2
+#define         B3 3
+#define         B4 4
+#define         B5 5
+#define         B7 6
+#define         B8 7
+#define         R1 8
+#define         R2 9
+#define         R3 10
+#define         R4 11
+#define         R5 12
+#define         R7 13
+#define         R8 14
+
+
+void ArmorFinder::anti_top() {
+//    switch (armor_box.id) {
+//        case R1:
+//        case R7:
+//        case B1:
+//        case B7:
+//            if (armor_box.rect != cv::Rect2d()) {
+//                sendBoxPosition();
+//            }
+//        case R2:
+//        case R3:
+//        case R4:
+//        case R5:
+//        case B2:
+//        case B3:
+//        case B4:
+//        case B5:
+//            if (armor_box.rect != cv::Rect2d()) {
+//                sendBoxPosition();
+//            }
+//        default:
+//            if (armor_box.rect != cv::Rect2d()) {
+//                sendBoxPosition();
+//            }
+//    }
+    if (armor_box.rect != cv::Rect2d()) {
+        sendBoxPosition();
+    }
+}
+

armor/src/armor_finder/armor_box/armor_box.cpp

@@ -0,0 +1,212 @@
+//
+// Created by xinyang on 19-7-13.
+//
+
+#include <armor_finder/armor_finder.h>
+#include <show_images/show_images.h>
+#include <options/options.h>
+#include <opencv2/highgui.hpp>
+#include <log.h>
+
+
+static string prior_blue[] = {
+        "B8", "B1", "B3", "B4", "B5", "B7", "B2",
+        "R8", "R1", "R3", "R4", "R5", "R7", "R2",
+};
+
+static string prior_red[] = {
+        "R8", "R1", "R3", "R4", "R5", "R7", "R2",
+        "B8", "B1", "B3", "B4", "B5", "B7", "B2",
+};
+
+ArmorBox::ArmorBox(const cv::Rect &pos, const LightBlobs &blobs, uint8_t color, int i) :
+rect(pos), light_blobs(blobs), box_color(color), id(i){};
+
+static bool angelJudge(const LightBlob &light_blob_i, const LightBlob &light_blob_j) {
+    float angle_i = light_blob_i.rect.size.width > light_blob_i.rect.size.height ? light_blob_i.rect.angle :
+                    light_blob_i.rect.angle - 90;
+    float angle_j = light_blob_j.rect.size.width > light_blob_j.rect.size.height ? light_blob_j.rect.angle :
+                    light_blob_j.rect.angle - 90;
+    return abs(angle_i - angle_j) < 10;
+}
+
+static bool heightJudge(const LightBlob &light_blob_i, const LightBlob &light_blob_j) {
+    cv::Point2f centers = light_blob_i.rect.center - light_blob_j.rect.center;
+    return abs(centers.y) < 30;
+}
+
+static bool lengthJudge(const LightBlob &light_blob_i, const LightBlob &light_blob_j) {
+    double side_length;
+    cv::Point2f centers = light_blob_i.rect.center - light_blob_j.rect.center;
+    side_length = sqrt(centers.ddot(centers));
+    return (side_length / light_blob_i.length < 6 && side_length / light_blob_i.length > 0.5);
+}
+
+static bool lengthRatioJudge(const LightBlob &light_blob_i, const LightBlob &light_blob_j) {
+    return (light_blob_i.length / light_blob_j.length < 2
+            && light_blob_i.length / light_blob_j.length > 0.5);
+}
+
+/* 判断两个灯条的错位度，不知道英文是什么！！！ */
+static bool CuoWeiDuJudge(const LightBlob &light_blob_i, const LightBlob &light_blob_j) {
+    float angle_i = light_blob_i.rect.size.width > light_blob_i.rect.size.height ? light_blob_i.rect.angle :
+                    light_blob_i.rect.angle - 90;
+    float angle_j = light_blob_j.rect.size.width > light_blob_j.rect.size.height ? light_blob_j.rect.angle :
+                    light_blob_j.rect.angle - 90;
+    float angle = (angle_i + angle_j) / 2.0 / 180.0 * 3.14159265459;
+    if (abs(angle_i - angle_j) > 90) {
+        angle += 3.14159265459 / 2;
+    }
+    Vector2f orientation(cos(angle), sin(angle));
+    Vector2f p2p(light_blob_j.rect.center.x - light_blob_i.rect.center.x,
+                 light_blob_j.rect.center.y - light_blob_i.rect.center.y);
+    return abs(orientation.dot(p2p)) < 20;
+}
+
+static bool boxAngleJudge(const LightBlob &light_blob_i, const LightBlob &light_blob_j) {
+    float angle_i = light_blob_i.rect.size.width > light_blob_i.rect.size.height ? light_blob_i.rect.angle :
+                    light_blob_i.rect.angle - 90;
+    float angle_j = light_blob_j.rect.size.width > light_blob_j.rect.size.height ? light_blob_j.rect.angle :
+                    light_blob_j.rect.angle - 90;
+    float angle = (angle_i + angle_j) / 2.0;
+    if (abs(angle_i - angle_j) > 90) {
+        angle += 90.0;
+    }
+    return (-120.0 < angle && angle < -60.0) || (60.0 < angle && angle < 120.0);
+}
+
+static bool isCoupleLight(const LightBlob &light_blob_i, const LightBlob &light_blob_j, uint8_t enemy_color) {
+//    cout << (light_blob_i.blob_color==BLOB_RED) << endl;
+//    cout << (light_blob_j.blob_color==BLOB_RED) << endl;
+//    cout << lengthRatioJudge(light_blob_i, light_blob_j) << endl;
+//    cout << lengthJudge(light_blob_i, light_blob_j) << endl;
+////    cout << heightJudge(light_blob_i, light_blob_j) << endl;
+//    cout << angelJudge(light_blob_i, light_blob_j) << endl;
+//    cout << boxAngleJudge(light_blob_i, light_blob_j) << endl;
+//    cout << CuoWeiDuJudge(light_blob_i, light_blob_j) << endl;
+//    cout << "=============" << endl;
+    return light_blob_i.blob_color == enemy_color &&
+           light_blob_j.blob_color == enemy_color &&
+           lengthRatioJudge(light_blob_i, light_blob_j) &&
+           lengthJudge(light_blob_i, light_blob_j) &&
+//           heightJudge(light_blob_i, light_blob_j) &&
+           angelJudge(light_blob_i, light_blob_j) &&
+           boxAngleJudge(light_blob_i, light_blob_j) &&
+           CuoWeiDuJudge(light_blob_i, light_blob_j);
+
+}
+
+static double centerDistance(const cv::Rect2d &box) {
+    double dx = box.x - box.width / 2 - 320;
+    double dy = box.y - box.height / 2 - 240;
+    return dx * dx + dy * dy;
+}
+
+bool matchArmorBoxes(const cv::Mat &src, const LightBlobs &light_blobs, ArmorBoxes &armor_boxes, uint8_t color) {
+    armor_boxes.clear();
+    for (int i = 0; i < light_blobs.size() - 1; ++i) {
+        for (int j = i + 1; j < light_blobs.size(); ++j) {
+            if (!isCoupleLight(light_blobs.at(i), light_blobs.at(j), color)) {
+//                cout << "match fail" << endl;
+                continue;
+            }
+            cv::Rect2d rect_left = light_blobs.at(static_cast<unsigned long>(i)).rect.boundingRect();
+            cv::Rect2d rect_right = light_blobs.at(static_cast<unsigned long>(j)).rect.boundingRect();
+            double min_x, min_y, max_x, max_y;
+            min_x = fmin(rect_left.x, rect_right.x) - 4;
+            max_x = fmax(rect_left.x + rect_left.width, rect_right.x + rect_right.width) + 4;
+            min_y = fmin(rect_left.y, rect_right.y) - 0.5 * (rect_left.height + rect_right.height) / 2.0;
+            max_y = fmax(rect_left.y + rect_left.height, rect_right.y + rect_right.height) +
+                    0.5 * (rect_left.height + rect_right.height) / 2.0;
+            if (min_x < 0 || max_x > src.cols || min_y < 0 || max_y > src.rows) {
+//                cout << "out of range" << endl;
+                continue;
+            }
+            LightBlobs pair_blobs = {light_blobs.at(i), light_blobs.at(j)};
+            armor_boxes.emplace_back(
+                cv::Rect2d(min_x, min_y, max_x - min_x, max_y - min_y),
+                pair_blobs,
+                color
+            );
+        }
+    }
+    if (armor_boxes.empty()) {
+        return false;
+    }
+    sort(armor_boxes.begin(), armor_boxes.end(), [](ArmorBox box1, ArmorBox box2) -> bool {
+        return centerDistance(box1.rect) < centerDistance(box2.rect);
+    });
+    return true;
+}
+
+bool ArmorFinder::findArmorBox(const cv::Mat &src, ArmorBox &box){
+    LightBlobs light_blobs; // 存储所有可能的灯条
+    ArmorBoxes armor_boxes; // 装甲板候选区
+    ArmorBoxes boxes_number[15]; // 装甲板候选区放置在对应id位置
+
+    box.rect = cv::Rect2d(0,0,0,0);
+    box.id   = -1;
+
+    if (!findLightBlobs(src, light_blobs)) {
+        return false;
+    }
+    if (show_light_blobs && src.size()==cv::Size(640, 480)) {
+        showLightBlobs("light_blobs", src, light_blobs);
+        cv::waitKey(1);
+    }
+
+    if (!matchArmorBoxes(src, light_blobs, armor_boxes, enemy_color)) {
+//        cout << "Box fail!" << endl;
+        return false;
+    }
+    if (show_armor_boxes && src.size()==cv::Size(640, 480)) {
+        showArmorBoxes("boxes", src, armor_boxes);
+        cv::waitKey(1);
+    }
+
+    if (classifier && use_classifier) {
+        for (auto &armor_box : armor_boxes) {
+            cv::Mat roi = src(armor_box.rect).clone();
+            cv::resize(roi, roi, cv::Size(48, 36));
+            int c = classifier(roi);
+            armor_box.id = c;
+            boxes_number[c].emplace_back(armor_box);
+        }
+        if (enemy_color == ENEMY_BLUE) {
+            for (auto &name : prior_blue) {
+                if (!boxes_number[name2id[name]].empty()) {
+                    box = boxes_number[name2id[name]][0];
+                    break;
+                }
+            }
+        } else if (enemy_color == ENEMY_RED) {
+            for (auto &name : prior_red) {
+                if (!boxes_number[name2id[name]].empty()) {
+                    box = boxes_number[name2id[name]][0];
+                    break;
+                }
+            }
+        } else {
+            LOGE_INFO("enemy_color ERROR!");
+        }
+        if (save_labelled_boxes) {
+            for (int i = 0; i < sizeof(boxes_number) / sizeof(boxes_number[0]); i++) {
+                for (auto &armor_box : boxes_number[i]) {
+                    char filename[100];
+                    sprintf(filename, PROJECT_DIR"/armor_box_photo/%s_%d.jpg", id2name[i].data(),
+                            time(nullptr) + clock());
+                    cv::imwrite(filename, src(armor_box.rect));
+                }
+            }
+        }
+        if (box.rect == cv::Rect2d(0, 0, 0, 0)) {
+            return false;
+        }
+        if (show_armor_boxes && src.size()==cv::Size(640, 480)) {
+            showArmorBoxesClass("class", src, boxes_number);
+        }
+    } else {
+        box = armor_boxes[0];
+    }
+    return true;
+}

armor/src/armor_finder/armor_box/find_light_blobs.cpp

@@ -0,0 +1,136 @@
+//
+// Created by xinyang on 19-7-10.
+//
+
+#include <armor_finder/armor_finder.h>
+#include <opencv2/highgui.hpp>
+
+static double lw_rate(const cv::RotatedRect &rect) {
+    return rect.size.height > rect.size.width ?
+           rect.size.height / rect.size.width :
+           rect.size.width / rect.size.height;
+}
+
+
+static double areaRatio(const std::vector<cv::Point> &contour, const cv::RotatedRect &rect){
+    return cv::contourArea(contour) / rect.size.area();
+}
+
+static bool isValidLightBlob(const std::vector<cv::Point> &contour, const cv::RotatedRect &rect) {
+    return (lw_rate(rect) > 1.5) &&
+//           (rect.size.area() < 3000) &&
+           (rect.size.area() > 5) &&
+           (areaRatio(contour, rect) > 0.7);
+}
+
+// 此函数可以有性能优化.
+static uint8_t get_blob_color(const cv::Mat &src, const cv::RotatedRect &blobPos) {
+    auto region = blobPos.boundingRect();
+    region.x -= fmax(2, region.width * 0.1);
+    region.y -= fmax(2, region.height * 0.05);
+    region.width += 2 * fmax(2, region.width * 0.1);
+    region.height += 2 * fmax(2, region.height * 0.05);
+    region &= cv::Rect(0, 0, src.cols, src.rows);
+    cv::Mat roi = src(region);
+    int red_cnt = 0, blue_cnt = 0;
+    for (int row = 0; row < roi.rows; row++) {
+        for (int col = 0; col < roi.cols; col++) {
+            red_cnt += roi.at<cv::Vec3b>(row, col)[2];
+            blue_cnt += roi.at<cv::Vec3b>(row, col)[0];
+        }
+    }
+    if (red_cnt > blue_cnt) {
+        return BLOB_RED;
+    } else {
+        return BLOB_BLUE;
+    }
+}
+
+static float linePointX(const cv::Point2f &p1, const cv::Point2f &p2, int y) {
+    return (p2.x - p1.x) / (p2.y - p1.y) * (y - p1.y) + p1.x;
+}
+
+// 性能优化后的函数
+static double get_blob_color_opt(const cv::Mat &src, cv::RotatedRect blobPos) {
+    int blue_cnt=0, red_cnt=0;
+    blobPos.size.height *= 1.05;
+    blobPos.size.width *= 1.1;
+    cv::Point2f corners[4];
+    blobPos.points(corners);
+    sort(corners, &corners[4], [](cv::Point2f p1, cv::Point2f p2) {
+        return p1.y < p2.y;
+    });
+    for (int r = corners[0].y; r < corners[1].y; r++) {
+        auto start = min(linePointX(corners[0], corners[1], r), linePointX(corners[0], corners[2], r)) - 1;
+        auto end = max(linePointX(corners[0], corners[1], r), linePointX(corners[0], corners[2], r)) + 1;
+        if (start < 0 || end > 640) return 0;
+        for (int c = start; c < end; c++) {
+            red_cnt += src.at<cv::Vec3b>(r, c)[2];
+            blue_cnt += src.at<cv::Vec3b>(r, c)[0];
+        }
+    }
+    for (int r = corners[1].y; r < corners[2].y; r++) {
+        auto start = min(linePointX(corners[0], corners[2], r), linePointX(corners[1], corners[3], r)) - 1;
+        auto end = max(linePointX(corners[0], corners[2], r), linePointX(corners[1], corners[3], r)) + 1;
+        if (start < 0 || end > 640) return 0;
+        for (int c = start; c < end; c++) {
+            red_cnt += src.at<cv::Vec3b>(r, c)[2];
+            blue_cnt += src.at<cv::Vec3b>(r, c)[0];
+        }
+    }
+    for (int r = corners[2].y; r < corners[3].y; r++) {
+        auto start = min(linePointX(corners[1], corners[3], r), linePointX(corners[2], corners[3], r)) - 1;
+        auto end = max(linePointX(corners[1], corners[3], r), linePointX(corners[2], corners[3], r)) + 1;
+        if (start < 0 || end > 640) return 0;
+        for (int c = start; c < end; c++) {
+            red_cnt += src.at<cv::Vec3b>(r, c)[2];
+            blue_cnt += src.at<cv::Vec3b>(r, c)[0];
+        }
+    }
+    if (red_cnt > blue_cnt) {
+        return BLOB_RED;
+    } else {
+        return BLOB_BLUE;
+    }
+}
+
+static void imagePreProcess(cv::Mat &src) {
+    static cv::Mat kernel_erode = getStructuringElement(cv::MORPH_RECT, cv::Size(3, 5));
+    erode(src, src, kernel_erode);
+
+    static cv::Mat kernel_dilate = getStructuringElement(cv::MORPH_RECT, cv::Size(3, 5));
+    dilate(src, src, kernel_dilate);
+
+    static cv::Mat kernel_dilate2 = getStructuringElement(cv::MORPH_RECT, cv::Size(3, 5));
+    dilate(src, src, kernel_dilate2);
+
+    static cv::Mat kernel_erode2 = getStructuringElement(cv::MORPH_RECT, cv::Size(3, 5));
+    erode(src, src, kernel_erode2);
+
+//    float alpha = 1.5;
+//    int beta = 0;
+//    src.convertTo(src, -1, alpha, beta);
+}
+
+bool ArmorFinder::findLightBlobs(const cv::Mat &src, LightBlobs &light_blobs) {
+    cv::Mat src_bin, color_channel;
+    std::vector<cv::Mat> channels;       // 通道拆分
+
+    cv::split(src, channels);               /************************/
+    if (enemy_color == ENEMY_BLUE)          /*                      */
+        color_channel = channels[0];        /* 根据目标颜色进行通道提取 */
+    else if (enemy_color == ENEMY_RED)      /*                      */
+        color_channel = channels[2];        /************************/
+    cv::threshold(color_channel, src_bin, 160, 255, CV_THRESH_BINARY); // 二值化对应通道
+    imagePreProcess(src_bin);                                  // 开闭运算
+
+    std::vector<std::vector<cv::Point> > light_contours;
+    cv::findContours(src_bin, light_contours, CV_RETR_LIST, CV_CHAIN_APPROX_NONE);
+    for (auto &light_contour : light_contours) {
+        cv::RotatedRect rect = cv::minAreaRect(light_contour);
+        if (isValidLightBlob(light_contour, rect)) {
+            light_blobs.emplace_back(rect, get_blob_color(src, rect));
+        }
+    }
+    return light_blobs.size() >= 2;
+}

armor/src/armor_finder/armor_finder.cpp

@@ -42,32 +42,25 @@ ArmorFinder::ArmorFinder(uint8_t &color, Serial &u, const string &paras_folder,
         classifier(paras_folder),
         contour_area(0),
         use_classifier(use),
-        boxid(-1),
         tracking_cnt(0) {
 }
 
 void ArmorFinder::run(cv::Mat &src) {
-    src_raw = src;
-    cv::Mat src_use = src.clone();      // 实际参与计算的图像对象
-
-    if (show_armor_box) {                 // 根据条件显示当前目标装甲板
-        showArmorBox("box", src, armor_box, boxid);
-        cv::waitKey(1);
-    }
 //    stateSearchingTarget(src_use);                    // for debug
 //    return;
     switch (state) {
         case SEARCHING_STATE:
-            if (stateSearchingTarget(src_use)) {
+            if (stateSearchingTarget(src)) {
-                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
+//                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_use.clone()(armor_box), roi_gray;  /* 就使用装甲区域亮点数判断是否跟丢 */
+                        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 */
                         cv::cvtColor(roi, roi_gray, CV_RGB2GRAY);
                         cv::threshold(roi_gray, roi_gray, 180, 255, cv::THRESH_BINARY);
                         contour_area = cv::countNonZero(roi_gray);
                     }
                     tracker = TrackerToUse::create();                       // 成功搜寻到装甲板，创建tracker对象
-                    tracker->init(src_use, armor_box);
+                    tracker->init(src, armor_box.rect);
                     state = TRACKING_STATE;
                     tracking_cnt = 0;
                     LOGM(STR_CTR(WORD_LIGHT_CYAN, "into track"));
@@ -75,7 +68,7 @@ void ArmorFinder::run(cv::Mat &src) {
             }
             break;
         case TRACKING_STATE:
-            if (!stateTrackingTarget(src_use) || ++tracking_cnt > 100) {    // 最多追踪100帧图像
+            if (!stateTrackingTarget(src) || ++tracking_cnt > 100) {    // 最多追踪100帧图像
                 state = SEARCHING_STATE;
                 LOGM(STR_CTR(WORD_LIGHT_YELLOW, "into search!"));
             }
@@ -84,5 +77,12 @@ void ArmorFinder::run(cv::Mat &src) {
         default:
             stateStandBy();
     }
+
+    anti_top();
+
+    if (show_armor_box) {                 // 根据条件显示当前目标装甲板
+        showArmorBox("box", src, armor_box);
+        cv::waitKey(1);
+    }
 }
 

armor/src/armor_finder/searching_state/find_armor_boxes.cpp

@@ -1,105 +0,0 @@
-//
-// Created by xinyang on 19-7-10.
-//
-
-#include <armor_finder/armor_finder.h>
-
-static bool angelJudge(const LightBlob &light_blob_i, const LightBlob &light_blob_j) {
-    float angle_i = light_blob_i.rect.size.width > light_blob_i.rect.size.height ? light_blob_i.rect.angle :
-                    light_blob_i.rect.angle - 90;
-    float angle_j = light_blob_j.rect.size.width > light_blob_j.rect.size.height ? light_blob_j.rect.angle :
-                    light_blob_j.rect.angle - 90;
-    return abs(angle_i - angle_j) < 10;
-}
-
-static bool heightJudge(const LightBlob &light_blob_i, const LightBlob &light_blob_j) {
-    cv::Point2f centers = light_blob_i.rect.center - light_blob_j.rect.center;
-    return abs(centers.y) < 30;
-}
-
-static bool lengthJudge(const LightBlob &light_blob_i, const LightBlob &light_blob_j) {
-    double side_length;
-    cv::Point2f centers = light_blob_i.rect.center - light_blob_j.rect.center;
-    side_length = sqrt(centers.ddot(centers));
-    return (side_length / light_blob_i.length < 6 && side_length / light_blob_i.length > 0.5);
-}
-
-static bool lengthRatioJudge(const LightBlob &light_blob_i, const LightBlob &light_blob_j) {
-    return (light_blob_i.length / light_blob_j.length < 2
-            && light_blob_i.length / light_blob_j.length > 0.5);
-}
-
-/* 判断两个灯条的错位度，不知道英文是什么！！！ */
-static bool CuoWeiDuJudge(const LightBlob &light_blob_i, const LightBlob &light_blob_j) {
-    float angle_i = light_blob_i.rect.size.width > light_blob_i.rect.size.height ? light_blob_i.rect.angle :
-                    light_blob_i.rect.angle - 90;
-    float angle_j = light_blob_j.rect.size.width > light_blob_j.rect.size.height ? light_blob_j.rect.angle :
-                    light_blob_j.rect.angle - 90;
-    float angle = (angle_i + angle_j) / 2.0 / 180.0 * 3.14159265459;
-    if (abs(angle_i - angle_j) > 90) {
-        angle += 3.14159265459 / 2;
-    }
-    Vector2f orientation(cos(angle), sin(angle));
-    Vector2f p2p(light_blob_j.rect.center.x - light_blob_i.rect.center.x,
-                 light_blob_j.rect.center.y - light_blob_i.rect.center.y);
-    return abs(orientation.dot(p2p)) < 20;
-}
-
-static bool boxAngleJudge(const LightBlob &light_blob_i, const LightBlob &light_blob_j) {
-    float angle_i = light_blob_i.rect.size.width > light_blob_i.rect.size.height ? light_blob_i.rect.angle :
-                    light_blob_i.rect.angle - 90;
-    float angle_j = light_blob_j.rect.size.width > light_blob_j.rect.size.height ? light_blob_j.rect.angle :
-                    light_blob_j.rect.angle - 90;
-    float angle = (angle_i + angle_j) / 2.0;
-    if (abs(angle_i - angle_j) > 90) {
-        angle += 90.0;
-    }
-    return (-120.0 < angle && angle < -60.0) || (60.0 < angle && angle < 120.0);
-}
-
-static bool isCoupleLight(const LightBlob &light_blob_i, const LightBlob &light_blob_j, uint8_t enemy_color) {
-    return light_blob_i.BlobColor == enemy_color &&
-           light_blob_j.BlobColor == enemy_color &&
-           lengthRatioJudge(light_blob_i, light_blob_j) &&
-           lengthJudge(light_blob_i, light_blob_j) &&
-           //           heightJudge(light_blob_i, light_blob_j) &&
-           angelJudge(light_blob_i, light_blob_j) &&
-           boxAngleJudge(light_blob_i, light_blob_j) &&
-           CuoWeiDuJudge(light_blob_i, light_blob_j);
-
-}
-
-static double centerDistance(const cv::Rect2d &box) {
-    double dx = box.x - box.width / 2 - 320;
-    double dy = box.y - box.height / 2 - 240;
-    return dx * dx + dy * dy;
-}
-
-bool ArmorFinder::findArmorBoxes(const LightBlobs &light_blobs, std::vector<cv::Rect2d> &armor_boxes) {
-    for (int i = 0; i < light_blobs.size() - 1; ++i) {
-        for (int j = i + 1; j < light_blobs.size(); ++j) {
-            if (!isCoupleLight(light_blobs.at(i), light_blobs.at(j), enemy_color)) {
-                continue;
-            }
-            cv::Rect2d rect_left = light_blobs.at(static_cast<unsigned long>(i)).rect.boundingRect();
-            cv::Rect2d rect_right = light_blobs.at(static_cast<unsigned long>(j)).rect.boundingRect();
-            double min_x, min_y, max_x, max_y;
-            min_x = fmin(rect_left.x, rect_right.x) - 4;
-            max_x = fmax(rect_left.x + rect_left.width, rect_right.x + rect_right.width) + 4;
-            min_y = fmin(rect_left.y, rect_right.y) - 0.5 * (rect_left.height + rect_right.height) / 2.0;
-            max_y = fmax(rect_left.y + rect_left.height, rect_right.y + rect_right.height) +
-                    0.5 * (rect_left.height + rect_right.height) / 2.0;
-            if (min_x < 0 || max_x > 640 || min_y < 0 || max_y > 480) {
-                continue;
-            }
-            armor_boxes.emplace_back(cv::Rect2d(min_x, min_y, max_x - min_x, max_y - min_y));
-        }
-    }
-    if (armor_boxes.empty()) {
-        return false;
-    }
-    sort(armor_boxes.begin(), armor_boxes.end(), [](cv::Rect2d box1, cv::Rect2d box2) -> bool {
-        return centerDistance(box1) < centerDistance(box2);
-    });
-    return true;
-}

armor/src/armor_finder/searching_state/find_light_blobs.cpp

@@ -1,133 +0,0 @@
-//
-// Created by xinyang on 19-7-10.
-//
-
-#include <armor_finder/armor_finder.h>
-
-static double lw_rate(const cv::RotatedRect &rect) {
-    return rect.size.height > rect.size.width ?
-           rect.size.height / rect.size.width :
-           rect.size.width / rect.size.height;
-}
-
-bool rectangleContainPoint(cv::RotatedRect rectangle, cv::Point2f point) {
-    //转化为轮廓
-    cv::Point2f corners[4];
-    rectangle.points(corners);
-    cv::Point2f *lastItemPointer = (corners + sizeof corners / sizeof corners[0]);
-    vector<cv::Point2f> contour(corners, lastItemPointer);
-    //判断
-    double indicator = pointPolygonTest(contour, point, true);
-    return indicator >= 0;
-}
-
-// 下面的函数可以有性能优化，暂时未做。
-static double nonZeroRateOfRotateRect(const cv::Mat &bin, const cv::RotatedRect &rotrect) {
-    auto rect = rotrect.boundingRect();
-    if (rect.x < 0 || rect.y < 0 || rect.x + rect.width > bin.cols || rect.y + rect.height > bin.rows) {
-        return 0;
-    }
-    auto roi = bin(rect);
-    int cnt = 0;
-    for (int r = 0; r < roi.rows; r++) {
-        for (int c = 0; c < roi.cols; c++) {
-            if (rectangleContainPoint(rotrect, cv::Point(c + rect.x, r + rect.y))) {
-                if (roi.at<uint8_t>(r, c)) {
-                    cnt++;
-                }
-            }
-        }
-    }
-    return double(cnt) / rotrect.size.area();
-}
-
-int linePointX(const cv::Point2f &p1, const cv::Point2f &p2, int y) {
-    return (p2.x - p1.x) / (p2.y - p1.y) * (y - p1.y) + p1.x;
-}
-
-// 性能优化后的函数
-static double nonZeroRateOfRotateRect_opt(const cv::Mat &bin, const cv::RotatedRect &rotrect) {
-    int cnt = 0;
-    cv::Point2f corners[4];
-    rotrect.points(corners);
-    sort(corners, &corners[4], [](cv::Point2f p1, cv::Point2f p2) {
-        return p1.y < p2.y;
-    });
-    for (int r = corners[0].y; r < corners[1].y; r++) {
-        auto start = min(linePointX(corners[0], corners[1], r), linePointX(corners[0], corners[2], r)) - 1;
-        auto end = max(linePointX(corners[0], corners[1], r), linePointX(corners[0], corners[2], r)) + 1;
-        if (start < 0 || end > 640) return 0;
-        for (int c = start; c < end; c++) {
-            if (bin.at<uint8_t>(r, c)) {
-                cnt++;
-            }
-        }
-    }
-    for (int r = corners[1].y; r < corners[2].y; r++) {
-        auto start = min(linePointX(corners[0], corners[2], r), linePointX(corners[1], corners[3], r)) - 1;
-        auto end = max(linePointX(corners[0], corners[2], r), linePointX(corners[1], corners[3], r)) + 1;
-        if (start < 0 || end > 640) return 0;
-        for (int c = start; c < end; c++) {
-            if (bin.at<uint8_t>(r, c)) {
-                cnt++;
-            }
-        }
-    }
-    for (int r = corners[2].y; r < corners[3].y; r++) {
-        auto start = min(linePointX(corners[1], corners[3], r), linePointX(corners[2], corners[3], r)) - 1;
-        auto end = max(linePointX(corners[1], corners[3], r), linePointX(corners[2], corners[3], r)) + 1;
-        if (start < 0 || end > 640) return 0;
-        for (int c = start; c < end; c++) {
-            if (bin.at<uint8_t>(r, c)) {
-                cnt++;
-            }
-        }
-    }
-    return double(cnt) / rotrect.size.area();
-}
-
-static bool isValidLightBlob(const cv::Mat &bin, const cv::RotatedRect &rect) {
-    return (lw_rate(rect) > 1.5) &&
-           //           (rect.size.width*rect.size.height < 3000) &&
-           (rect.size.width * rect.size.height > 1) &&
-           (nonZeroRateOfRotateRect_opt(bin, rect) > 0.8);
-//           (nonZeroRateOfRotateRect(bin, rect) > 0.8);
-}
-
-void get_blob_color(const cv::Mat &src, std::vector<LightBlob> &blobs) {
-    for (auto &blob : blobs) {
-        auto region = blob.rect.boundingRect();
-        region.x -= fmax(2, region.width * 0.1);
-        region.y -= fmax(2, region.height * 0.05);
-        region.width += 2 * fmax(2, region.width * 0.1);
-        region.height += 2 * fmax(2, region.height * 0.05);
-        region &= cv::Rect(0, 0, 640, 480);
-        cv::Mat roi = src(region);
-        long long int red_cnt = 0, blue_cnt = 0;
-        for (int row = 0; row < roi.rows; row++) {
-            for (int col = 0; col < roi.cols; col++) {
-                red_cnt += roi.at<cv::Vec3b>(row, col)[2];
-                blue_cnt += roi.at<cv::Vec3b>(row, col)[0];
-            }
-        }
-        if (red_cnt > blue_cnt) {
-            blob.BlobColor = BLOB_RED;
-        } else {
-            blob.BlobColor = BLOB_BLUE;
-        }
-    }
-}
-
-bool ArmorFinder::findLightBlobs(const cv::Mat &src_bin, LightBlobs &light_blobs) {
-    std::vector<std::vector<cv::Point> > light_contours;
-    cv::findContours(src_bin, light_contours, CV_RETR_LIST, CV_CHAIN_APPROX_NONE);
-
-    for (auto &light_contour : light_contours) {
-        cv::RotatedRect rect = cv::minAreaRect(light_contour);
-        if (isValidLightBlob(src_bin, rect)) {
-            light_blobs.emplace_back(rect);
-        }
-    }
-    get_blob_color(src_raw, light_blobs);
-    return light_blobs.size() >= 2;
-}

armor/src/armor_finder/searching_state/searching_state.cpp

@@ -3,118 +3,15 @@
 //
 
 #include <armor_finder/armor_finder.h>
-#include <opencv2/highgui.hpp>
 #include <show_images/show_images.h>
 #include <options/options.h>
 #include <log.h>
 
-
-static string prior_blue[] = {
-        "B8", "B1", "B3", "B4", "B5", "B7", "B2",
-        "R8", "R1", "R3", "R4", "R5", "R7", "R2",
-};
-
-static string prior_red[] = {
-        "R8", "R1", "R3", "R4", "R5", "R7", "R2",
-        "B8", "B1", "B3", "B4", "B5", "B7", "B2",
-};
-
-void imagePreProcess(cv::Mat &src) {
-    static cv::Mat kernel_erode = getStructuringElement(cv::MORPH_RECT, cv::Size(3, 5));
-    erode(src, src, kernel_erode);
-
-    static cv::Mat kernel_dilate = getStructuringElement(cv::MORPH_RECT, cv::Size(3, 5));
-    dilate(src, src, kernel_dilate);
-
-    static cv::Mat kernel_dilate2 = getStructuringElement(cv::MORPH_RECT, cv::Size(3, 5));
-    dilate(src, src, kernel_dilate2);
-
-    static cv::Mat kernel_erode2 = getStructuringElement(cv::MORPH_RECT, cv::Size(3, 5));
-    erode(src, src, kernel_erode2);
-
-    float alpha = 1.5;
-    int beta = 0;
-    src.convertTo(src, -1, alpha, beta);
-}
-
 bool ArmorFinder::stateSearchingTarget(cv::Mat &src) {
-    std::vector<cv::Mat> channels;      // 通道拆分
+    if(findArmorBox(src, armor_box)){
-    cv::Mat src_bin, color;             // 二值图和颜色通道图
+        return true;
-    LightBlobs light_blobs;             // 存储所有可能的灯条
+    }else{
-    std::vector<cv::Rect2d> armor_boxes; // 装甲板候选区
+        armor_box = ArmorBox();
-    std::vector<cv::Rect2d> boxes_number[15]; // 装甲板候选区放置在对应id位置
-
-    armor_box = cv::Rect2d(0, 0, 0, 0);      // 重置目标装甲板位置
-    boxid = -1;                              // 重置目标装甲板id
-
-    cv::split(src, channels);               /************************/
-    if (enemy_color == ENEMY_BLUE)          /*                      */
-        color = channels[0];                /* 根据目标颜色进行通道提取 */
-    else if (enemy_color == ENEMY_RED)      /*                      */
-        color = channels[2];                /************************/
-    cv::threshold(color, src_bin, 170, 255, CV_THRESH_BINARY); // 二值化对应通道
-    imagePreProcess(src_bin);                                  // 开闭运算
-    if (!findLightBlobs(src_bin, light_blobs)) {
         return false;
     }
-    if (show_light_blobs) {
-        showContours("light_blobs", src, light_blobs);
-        cv::waitKey(1);
-    }
-
-    if (!findArmorBoxes(light_blobs, armor_boxes)) {
-        return false;
-    }
-    if (show_armor_boxes) {
-        showArmorBoxVector("boxes", src, armor_boxes);
-        cv::waitKey(1);
-    }
-
-    if (classifier && use_classifier) {
-        for (auto box : armor_boxes) {
-            cv::Mat roi = src(box).clone();
-            cv::resize(roi, roi, cv::Size(48, 36));
-            int c = classifier(roi);
-            boxes_number[c].emplace_back(box);
-        }
-        if (enemy_color == ENEMY_BLUE) {
-            for (auto name : prior_blue) {
-                if (!boxes_number[name2id[name]].empty()) {
-                    armor_box = boxes_number[name2id[name]][0];
-                    boxid = name2id[name];
-                    break;
-                }
-            }
-        } else if (enemy_color == ENEMY_RED) {
-            for (auto name : prior_red) {
-                if (!boxes_number[name2id[name]].empty()) {
-                    armor_box = boxes_number[name2id[name]][0];
-                    boxid = name2id[name];
-                    break;
-                }
-            }
-        } else {
-            LOGE_INFO("enemy_color ERROR!");
-        }
-        if (armor_box == cv::Rect2d(0, 0, 0, 0)) {
-            return false;
-        }
-        if (show_armor_boxes) {
-            showArmorBoxClass("class", src, boxes_number);
-        }
-        if (save_labelled_boxes) {
-            for (int i = 0; i < sizeof(boxes_number) / sizeof(boxes_number[0]); i++) {
-                for (auto &box : boxes_number[i]) {
-                    char filename[100];
-                    sprintf(filename, PROJECT_DIR"/armor_box_photo/%s_%d.jpg", id2name[i].data(),
-                            time(nullptr) + clock());
-                    cv::imwrite(filename, src(box));
-                }
-            }
-        }
-    } else {
-        armor_box = armor_boxes[0];
-        boxid = -1;
-    }
-    return sendBoxPosition();
 }

armor/src/armor_finder/send_target/send_target.cpp

@@ -35,7 +35,7 @@ static bool sendTarget(Serial &serial, double x, double y, double z) {
 }
 
 bool ArmorFinder::sendBoxPosition() {
-    auto rect = armor_box;
+    auto rect = armor_box.rect;
     double dx = rect.x + rect.width / 2 - 320;
     double dy = rect.y + rect.height / 2 - 240 - 20;
     double yaw = atan(dx / FOCUS_PIXAL) * 180 / PI;

armor/src/armor_finder/tracking_state/tracking_state.cpp

@@ -2,30 +2,76 @@
 // Created by xinyang on 19-3-27.
 //
 #include <log.h>
+#include <options/options.h>
 #include <armor_finder/armor_finder.h>
+#include <show_images/show_images.h>
 
 bool ArmorFinder::stateTrackingTarget(cv::Mat &src) {
-    if(!tracker->update(src, armor_box)){
+    auto pos = armor_box.rect;
+    if(!tracker->update(src, pos)){
+        armor_box = ArmorBox();
         return false;
     }
-    if((armor_box & cv::Rect2d(0, 0, 640, 480)) != armor_box){
+    if((pos & cv::Rect2d(0, 0, 640, 480)) != pos){
+        armor_box = ArmorBox();
         return false;
     }
 
-    cv::Mat roi = src.clone()(armor_box);
+    cv::Rect2d bigger_rect;
-    if(classifier){
+
-        cv::resize(roi, roi, cv::Size(48, 36));
+    bigger_rect.x = pos.x - pos.width / 2.0;
-        if(classifier(roi) == 0){
+    bigger_rect.y = pos.y - pos.height / 2.0;
-            return false;
+    bigger_rect.height = pos.height * 2;
+    bigger_rect.width  = pos.width * 2;
+    bigger_rect &= cv::Rect2d(0, 0, 640, 480);
+
+    if(show_armor_box)
+        showTrackSearchingPos("track", src, bigger_rect);
+
+    cv::Mat roi = src(bigger_rect).clone();
+
+    ArmorBox box;
+    if(findArmorBox(roi, box)) {
+        armor_box = box;
+        armor_box.rect.x += bigger_rect.x;
+        armor_box.rect.y += bigger_rect.y;
+        for(auto &blob : armor_box.light_blobs){
+            blob.rect.center.x += bigger_rect.x;
+            blob.rect.center.y += bigger_rect.y;
         }
     }else{
-        cv::Mat roi_gray;
+        roi = src(pos).clone();
-        cv::cvtColor(roi, roi_gray, CV_RGB2GRAY);
+        if(classifier){
-        cv::threshold(roi_gray, roi_gray, 180, 255, cv::THRESH_BINARY);
+            cv::resize(roi, roi, cv::Size(48, 36));
-        contour_area = cv::countNonZero(roi_gray);
+            if(classifier(roi) == 0){
-        if(abs(cv::countNonZero(roi_gray) - contour_area) > contour_area * 0.3){
+                armor_box = ArmorBox();
-            return false;
+                return false;
+            }
+        }else{
+            cv::Mat roi_gray;
+            cv::cvtColor(roi, roi_gray, CV_RGB2GRAY);
+            cv::threshold(roi_gray, roi_gray, 180, 255, cv::THRESH_BINARY);
+            contour_area = cv::countNonZero(roi_gray);
+            if(abs(cv::countNonZero(roi_gray) - contour_area) > contour_area * 0.3){
+                armor_box = ArmorBox();
+                return false;
+            }
         }
+        armor_box.rect = pos;
+        armor_box.light_blobs.clear();
     }
-    return sendBoxPosition();
+
+
+//    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;
 }

armor/src/show_images/show_images.cpp

@@ -1,13 +1,30 @@
 #include <show_images/show_images.h>
 #include <opencv2/highgui.hpp>
+#include <options/options.h>
 #include <log.h>
 
 using namespace cv;
 
+
+void drawLightBlobs(cv::Mat &src, const LightBlobs &blobs){
+    for (const auto &blob:blobs) {
+        Scalar color(0,255,0);
+        if (blob.blob_color == BLOB_RED)
+            color = Scalar(0, 0, 255);
+        else if (blob.blob_color == BLOB_BLUE)
+            color = Scalar(255, 0, 0);
+        cv::Point2f vertices[4];
+        blob.rect.points(vertices);
+        for (int j = 0; j < 4; j++) {
+            cv::line(src, vertices[j], vertices[(j + 1) % 4], color, 2);
+        }
+    }
+}
+
 /**************************
  *     显示多个装甲板区域    *
  **************************/
-void showArmorBoxVector(std::string windows_name, const cv::Mat &src, const std::vector<cv::Rect2d> &armor_box) {
+void showArmorBoxes(std::string windows_name, const cv::Mat &src, const ArmorBoxes &armor_boxes) {
     static Mat image2show;
     if (src.type() == CV_8UC1) {// 黑白图像
         cvtColor(src, image2show, COLOR_GRAY2RGB);
@@ -15,8 +32,15 @@ void showArmorBoxVector(std::string windows_name, const cv::Mat &src, const std:
         image2show = src.clone();
     }
 
-    for (auto &box:armor_box) {
+    for (auto &box:armor_boxes) {
-        rectangle(image2show, box, Scalar(0, 255, 0), 1);
+        if(box.box_color == BOX_BLUE) {
+            rectangle(image2show, box.rect, Scalar(0, 255, 0), 1);
+            drawLightBlobs(image2show, box.light_blobs);
+        }else if(box.box_color == BOX_RED){
+            rectangle(image2show, box.rect, Scalar(0, 255, 0), 1);
+            drawLightBlobs(image2show, box.light_blobs);
+        }
+
     }
     imshow(windows_name, image2show);
 }
@@ -24,25 +48,26 @@ void showArmorBoxVector(std::string windows_name, const cv::Mat &src, const std:
 /**************************
  * 显示多个装甲板区域及其类别 *
  **************************/
-void showArmorBoxClass(std::string window_names, const cv::Mat &src, vector<cv::Rect2d> boxes[10]) {
+void showArmorBoxesClass(std::string window_names, const cv::Mat &src, const ArmorBoxes boxes[15]) {
     static Mat image2show;
     if (src.type() == CV_8UC1) { // 黑白图像
         cvtColor(src, image2show, COLOR_GRAY2RGB);
     } else if (src.type() == CV_8UC3) { //RGB 彩色
         image2show = src.clone();
     }
-    for (int i = 0; i < 14; i++) {
+    for (int i = 1; i < 15; i++) {
         if (!boxes[i].empty()) {
             for (auto box : boxes[i]) {
-                rectangle(image2show, box, Scalar(0, 255, 0), 1);
+                rectangle(image2show, box.rect, Scalar(0, 255, 0), 1);
+                drawLightBlobs(image2show, box.light_blobs);
                 if (i == -1)
-                    putText(image2show, id2name[i], Point(box.x + 2, box.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1,
+                    putText(image2show, id2name[i], Point(box.rect.x + 2, box.rect.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1,
                             Scalar(0, 255, 0));
                 else if (1 <= i && i < 8)
-                    putText(image2show, id2name[i], Point(box.x + 2, box.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1,
+                    putText(image2show, id2name[i], Point(box.rect.x + 2, box.rect.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1,
                             Scalar(255, 0, 0));
                 else if (8 <= i && i < 15)
-                    putText(image2show, id2name[i], Point(box.x + 2, box.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1,
+                    putText(image2show, id2name[i], Point(box.rect.x + 2, box.rect.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1,
                             Scalar(0, 0, 255));
                 else if (i != 0)
                     LOGE_INFO("Invalid box id:%d!", i);
@@ -55,34 +80,47 @@ void showArmorBoxClass(std::string window_names, const cv::Mat &src, vector<cv::
 /**************************
  * 显示单个装甲板区域及其类别 *
  **************************/
-void showArmorBox(std::string windows_name, const cv::Mat &src, cv::Rect2d armor_box, int boxid) {
+void showArmorBox(std::string windows_name, const cv::Mat &src, const ArmorBox &box) {
     static Mat image2show;
+    if(box.rect == cv::Rect2d()){
+        imshow(windows_name, src);
+    }
     if (src.type() == CV_8UC1) { // 黑白图像
         cvtColor(src, image2show, COLOR_GRAY2RGB);
     } else if (src.type() == CV_8UC3) { //RGB 彩色
         image2show = src.clone();
     }
-    rectangle(image2show, armor_box, Scalar(0, 255, 0), 1);
+    drawLightBlobs(image2show, box.light_blobs);
+//    static FILE *fp = fopen(PROJECT_DIR"/ratio.txt", "w");
+//    if(box.light_blobs.size() == 2)
+//        fprintf(fp, "%lf %lf %lf\n", box.light_blobs[0].length, box.light_blobs[1].length, box.blobsDistance())
+    cout << box.rect.width/box.rect.height << endl;
+    if(box.rect.width/box.rect.height > 1.6){
+        rectangle(image2show, box.rect, Scalar(0, 255, 0), 3);
+    }else{
+        rectangle(image2show, box.rect, Scalar(0, 255, 0), 1);
+    };
+
     char dist[5];
 //    sprintf(dist, "%.1f", distance);
-    if (boxid == -1)
+    if (box.id == -1)
-        putText(image2show, id2name[boxid]+" "+dist, Point(armor_box.x + 2, armor_box.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1,
+        putText(image2show, id2name[box.id]+" "+dist, Point(box.rect.x + 2, box.rect.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1,
                 Scalar(0, 255, 0));
-    else if (1 <= boxid && boxid < 8)
+    else if (1 <= box.id && box.id < 8)
-        putText(image2show, id2name[boxid]+" "+dist, Point(armor_box.x + 2, armor_box.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1,
+        putText(image2show, id2name[box.id]+" "+dist, Point(box.rect.x + 2, box.rect.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1,
                 Scalar(255, 0, 0));
-    else if (8 <= boxid && boxid < 15)
+    else if (8 <= box.id && box.id < 15)
-        putText(image2show, id2name[boxid]+" "+dist, Point(armor_box.x + 2, armor_box.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1,
+        putText(image2show, id2name[box.id]+" "+dist, Point(box.rect.x + 2, box.rect.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1,
                 Scalar(0, 0, 255));
-    else if (boxid != 0)
+    else if (box.id != 0)
-        LOGE_INFO("Invalid box id:%d!", boxid);
+        LOGE_INFO("Invalid box id:%d!", box.id);
     imshow(windows_name, image2show);
 }
 
 /**************************
  *      显示多个灯条区域     *
  **************************/
-void showContours(std::string windows_name, const cv::Mat &src, const std::vector<LightBlob> &light_blobs) {
+void showLightBlobs(std::string windows_name, const cv::Mat &src, const LightBlobs &light_blobs) {
     static Mat image2show;
 
     if (src.type() == CV_8UC1) { // 黑白图像
@@ -92,13 +130,11 @@ void showContours(std::string windows_name, const cv::Mat &src, const std::vecto
     }
 
     for (const auto &light_blob:light_blobs) {
-        Scalar color;
+        Scalar color(0, 255, 0);
-        if (light_blob.BlobColor == BLOB_RED)
+        if (light_blob.blob_color == BLOB_RED)
             color = Scalar(0, 0, 255);
-        else if (light_blob.BlobColor == BLOB_BLUE)
+        else if (light_blob.blob_color == BLOB_BLUE)
             color = Scalar(255, 0, 0);
-        else
-            color = Scalar(0, 255, 0);
         cv::Point2f vertices[4];
         light_blob.rect.points(vertices);
         for (int j = 0; j < 4; j++) {
@@ -107,3 +143,15 @@ void showContours(std::string windows_name, const cv::Mat &src, const std::vecto
     }
     imshow(windows_name, image2show);
 }
+
+
+void showTrackSearchingPos(std::string window_names, const cv::Mat &src, const cv::Rect2d pos){
+    static Mat image2show;
+    if (src.type() == CV_8UC1) { // 黑白图像
+        cvtColor(src, image2show, COLOR_GRAY2RGB);
+    } else if (src.type() == CV_8UC3) { //RGB 彩色
+        image2show = src.clone();
+    }
+    rectangle(image2show, pos, Scalar(0, 255, 0), 1);
+    imshow(window_names, image2show);
+}

main.cpp

@@ -30,7 +30,7 @@ using namespace std;
 mcu_data mcuData = {    // 单片机端回传结构体
         0,              // 当前云台yaw角
         0,              // 当前云台pitch角
-        BIG_ENERGY_STATE,    // 当前状态，自瞄-大符-小符
+        ARMOR_STATE,    // 当前状态，自瞄-大符-小符
         0,              // 云台角度标记位
         1,              // 是否启用数字识别
         ENEMY_RED,      // 敌方颜色

tools/TrainCNN/backward.py

@@ -54,16 +54,14 @@ def save_para(folder, paras):
         save_bias(fp, paras[7])
 
 
-STEPS = 10000
+STEPS = 20000
-BATCH = 30
+BATCH = 50
 LEARNING_RATE_BASE  = 0.005
 LEARNING_RATE_DECAY = 0.99
 MOVING_AVERAGE_DECAY = 0.99
 
 
 def train(dataset, show_bar=False):
-    test_images, test_labels = dataset.all_test_sets()
-
     x = tf.placeholder(tf.float32, [None, generate.SRC_ROWS, generate.SRC_COLS, generate.SRC_CHANNELS])
     y_= tf.placeholder(tf.float32, [None, forward.OUTPUT_NODES])
     keep_rate = tf.placeholder(tf.float32)
@@ -107,7 +105,8 @@ def train(dataset, show_bar=False):
             )
 
             if i % 100 == 0:
-                if i % 1000 == 0:
+                if i % 500 == 0:
+                    test_images, test_labels = dataset.sample_test_sets(10000)
                     acc = sess.run(accuracy, feed_dict={x: test_images, y_: test_labels, keep_rate:1.0})
                 bar.set_postfix({"loss": loss_value, "acc": acc})
 
@@ -116,6 +115,9 @@ def train(dataset, show_bar=False):
         vars_val = sess.run(vars)
         save_para("/home/xinyang/Workspace/RM_auto-aim/tools/para", vars_val)
         print("save done!")
+
+        # pred = sess.run(y, feed_dict={x: test_images, keep_rate:1.0})
+
 #        nodes_val = sess.run(nodes, feed_dict={x:test_images})
 #        return vars_val, nodes_val
         DevList = mvsdk.CameraEnumerateDevice()
@@ -204,9 +206,9 @@ def train(dataset, show_bar=False):
 
 
 if __name__ == "__main__":
-    import os
+    # import os
-    os.environ["CUDA_DEVICE_ORDER"] = "PCI_BUS_ID"
+    # os.environ["CUDA_DEVICE_ORDER"] = "PCI_BUS_ID"
-    os.environ["CUDA_VISIBLE_DEVICES"] = "-1"
+    # os.environ["CUDA_VISIBLE_DEVICES"] = "-1"
     dataset = generate.DataSet("/home/xinyang/Workspace/box_cut")
     train(dataset, show_bar=True)
     input("press enter to continue...")

tools/TrainCNN/forward.py

@@ -35,10 +35,10 @@ CONV1_OUTPUT_CHANNELS = 6
 CONV2_KERNAL_SIZE = 3
 
 # 第二层卷积输出通道数
-CONV2_OUTPUT_CHANNELS = 10
+CONV2_OUTPUT_CHANNELS = 12
 
 # 第一层全连接宽度
-FC1_OUTPUT_NODES = 16
+FC1_OUTPUT_NODES = 20
 
 # 第二层全连接宽度（输出标签类型数）
 FC2_OUTPUT_NODES = 15

tools/TrainCNN/generate.py

@@ -40,7 +40,7 @@ class DataSet:
             files = os.listdir(dir)
             for file in tqdm(files, postfix={"loading id": i}, dynamic_ncols=True):
                 if file[-3:] == "jpg":
-                    if random.random() > 0.2:
+                    if random.random() > 0.7:
                         self.train_samples.append(self.file2nparray("%s/%s" % (dir, file)))
                         self.train_labels.append(self.id2label(i))
                     else:
@@ -61,6 +61,15 @@ class DataSet:
             labels.append(self.train_labels[id])
         return np.array(samples), np.array(labels)
 
+    def sample_test_sets(self, length):
+        samples = []
+        labels = []
+        for i in range(length):
+            id = random.randint(0, len(self.test_samples)-1)
+            samples.append(self.test_samples[id])
+            labels.append(self.test_labels[id])
+        return np.array(samples), np.array(labels)
+
     def all_train_sets(self):
         return self.train_samples[:], self.train_labels[:]
 

tools/para/conv1_b

@@ -1,7 +1,7 @@
 6
--0.012731806
+0.71588296
--0.68924344
+0.11027224
-1.0428871
+0.5223108
-0.09240551
+2.472485
-0.87806237
+0.27160552
--0.51778877
+2.29277

tools/para/conv1_w

@@ -2,453 +2,453 @@
 6
 5
 5
--0.0705555
+-0.88012725
-0.086937346
+-1.0834439
-0.297247
+-1.3267924
-0.51908225
+-1.1549424
-0.41566578
+-1.0650164
-0.22415005
+-0.556848
-0.21470949
+-0.96584696
-0.42054617
+-0.92094207
-0.57512695
+-0.8122867
-0.50255156
+-0.6862978
-0.2663179
+-0.45814085
-0.10764991
+-0.72940165
-0.32504323
+-0.5661026
-0.27210033
+-0.3622125
-0.32694185
+-0.22462772
-0.18968254
+-0.38875562
--0.03312495
+-0.4397983
--0.28554282
+-0.36654872
--0.27717206
+-0.20731705
-0.010500877
+-0.03394899
--0.16386741
+-0.45235923
--0.58856106
+-0.6464031
--1.0167654
+-0.41129747
--0.59654444
+-0.05619224
--0.07342564
+-0.10460437
-0.6650266
+-0.19211882
-0.6682501
+-0.7301527
-0.61575854
+-0.33149132
-0.20123789
+0.198266
-0.13246079
+0.7046016
-0.9794644
+0.37492985
-0.9181109
+-0.20615123
-0.75080305
+0.031133946
-0.5678118
+0.51563126
-0.17880438
+0.5250833
-0.8291312
+0.53731644
-0.9157011
+-0.098048255
-0.8058578
+0.08348564
-0.6174977
+-0.021599947
-0.3349475
+-0.24505879
-0.93871576
+0.22221932
-1.0840453
+-0.24253948
-0.9012157
+-0.32930574
-0.6562343
+-0.7114027
-0.28151926
+-1.2710199
-0.8399793
+0.045749612
-0.9920022
+-0.807872
-0.64904636
+-1.0033796
-0.6055482
+-1.6865261
-0.15666491
+-2.0497494
--0.8087083
+-1.9287797
--0.5565874
+-2.1446464
--0.8960519
+-1.7040968
--0.80074924
+-1.4303613
--0.74640626
+-1.2351265
--0.2773623
+-0.6758041
--0.20795147
+-0.71685314
--0.1870408
+-0.21431081
--0.15045224
+0.07991056
--0.13983378
+-0.3487312
--0.10816965
+0.17201507
-0.031628396
+0.6606464
--0.116946414
+0.79005384
--0.013991349
+0.5726958
-0.21591163
+-0.20626955
--0.18964738
+0.67691
-0.0040286863
+1.0496907
--0.30242768
+1.0913255
--0.24229145
+0.48710188
-0.23588136
+-0.4968
--0.331128
+0.9180211
--0.5470479
+0.7865262
--0.7203085
+0.6951502
--0.6601643
+-0.2679864
--0.05225026
+-1.0100036
-0.45265025
+-0.6549106
-0.75259274
+-0.7277044
-0.74857485
+-0.6865319
-0.7100708
+-0.6717992
-0.34476462
+-0.50691587
-0.46986035
+-0.3242441
-0.5765347
+-0.2603625
-0.6258838
+-0.20068945
-0.3804861
+-0.28516608
-0.3160558
+-0.4555812
-0.6183596
+-0.11707577
-0.59951615
+-0.39915577
-0.60037804
+-0.4174412
-0.6340707
+-0.40552583
-0.34009996
+-0.32087803
-0.7194144
+-0.078136295
-0.8571618
+-0.35391638
-0.94336456
+-0.520493
-0.90685135
+-0.52106434
-0.41317853
+-0.42825955
-1.0044444
+-0.03405384
-1.0062212
+-0.45503956
-1.0895951
+-0.54937404
-0.92497915
+-0.39296526
-0.7468299
+-0.27851546
--1.2501324
+0.4076081
--0.74794984
+0.48703498
--0.047555014
+0.24596901
-0.49243745
+0.052479118
-0.8178278
+-0.11822296
--1.2034731
+0.34343225
--0.49681732
+0.73309004
-0.015281494
+0.51623255
-0.60018766
+0.30654356
-0.713024
+0.24352127
--0.84448695
+0.60910547
--0.0899703
+0.7742304
-0.09781959
+0.77255154
-0.4817282
+0.70245695
-0.51024574
+0.3654784
-0.010328657
+0.5132427
-0.2768326
+0.97475594
-0.6458937
+0.8458663
-0.65859175
+0.8264121
-0.39070535
+0.5510292
-0.60249025
+0.58496714
-1.1937758
+0.8284266
-0.9160051
+0.975897
-0.8284883
+1.17892
-0.53566974
+0.591301
--0.4362068
+1.1138518
--0.2836022
+0.20256059
--0.32180697
+-0.71471
-0.022249598
+-1.5062889
-0.29908466
+-1.8032609
--0.5530434
+1.0235786
--0.4986115
+0.007276212
--0.278484
+-0.6360013
--0.31018886
+-1.2706653
--0.24363342
+-1.7817974
--0.35979065
+1.0436956
--0.43008342
+0.20097604
--0.37437305
+-0.2987995
--0.30203703
+-0.56377083
--0.5734246
+-0.8813779
-0.02336341
+0.98090833
--0.25258422
+0.37666252
--0.3121478
+0.20098194
--0.6288646
+-0.095219366
--0.4711073
+-0.054543417
-0.12114608
+0.8959234
--0.061813425
+0.57586765
--0.12937883
+0.5812942
--0.6477893
+0.7652194
--0.6810196
+0.79247415
-1.8673725
+-1.085829
-2.8808968
+-1.8046223
-3.1819828
+-2.003757
-3.0621288
+-1.8771393
-2.5003161
+-1.3204845
-2.4616675
+-0.4507941
-3.2074707
+-0.9565954
-3.5739362
+-0.7566931
-3.1081522
+-0.6415545
-2.4229178
+-0.7355338
-2.4271266
+0.12221917
-3.280304
+0.12962714
-3.0261867
+0.21181518
-2.3990371
+0.12851173
-1.8921077
+0.16504385
-2.005818
+0.54737926
-2.4233122
+0.6203841
-2.1124473
+0.60023224
-1.5049059
+0.6481109
-1.0315852
+0.65906626
-1.0267158
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