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energy changed

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sun
2019-08-09 02:00:21 +08:00
parent 5aec098ef9
commit 80d1a0e600
10 changed files with 181 additions and 29 deletions
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3
energy/include/energy/energy.h
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@@ -65,6 +65,7 @@ private:
double radius;//大风车半径
int curr_fps;//帧率
int send_cnt;//向主控板发送的数据总次数
int camera_cnt;//摄像头数量
int fans_cnt;//扇叶个数
@@ -131,6 +132,7 @@ private:
int findArmors(const cv::Mat src);//寻找图中所有装甲板
bool findCenterR(const cv::Mat src);//寻找图中可能的风车中心字母R
bool findFlowStrip(const cv::Mat src);//寻找图中的流动条
bool findFlowStripSub(const cv::Mat src);//寻找图中的流动条
bool findCenterROI(const cv::Mat src);//框取中心R候选区
bool findFlowStripFan(const cv::Mat src);//寻找图中的流动条所在扇叶
bool findFlowStripWeak(const cv::Mat src);//弱识别寻找图中的流动条
@@ -191,6 +193,7 @@ private:
void ArmorStruct(cv::Mat &src);//腐蚀和膨胀
void FlowStripFanStruct(cv::Mat &src);//腐蚀和膨胀
void FlowStripStruct(cv::Mat &src);//腐蚀和膨胀
void FlowStripStructSub(cv::Mat &src);//腐蚀和膨胀
void CenterRStruct(cv::Mat &src);//腐蚀和膨胀
};

2
energy/include/energy/param_struct_define.h
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@@ -20,8 +20,6 @@ struct EnergyPartParam {
int RED_GRAY_THRESH;//红方二值化阈值
int BLUE_GRAY_THRESH;//蓝方二值化阈值
int SPLIT_GRAY_THRESH;//通道分离二值化阈值
int FAN_GRAY_THRESH;//扇叶识别二值化阈值
int ARMOR_GRAY_THRESH;//装甲板识别二值化阈值
long FAN_CONTOUR_AREA_MAX;//扇叶面积最大值
long FAN_CONTOUR_AREA_MIN;//扇叶面积最小值

46
energy/src/energy/calibrate/structing.cpp
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@@ -99,26 +99,51 @@ void Energy::FlowStripFanStruct(cv::Mat &src) {
// ---------------------------------------------------------------------------------------------------------------------
void Energy::FlowStripStruct(cv::Mat &src) {
Mat element_dilate_1 = getStructuringElement(MORPH_RECT, Size(5, 5));
Mat element_erode_1 = getStructuringElement(MORPH_RECT, Size(5, 5));
Mat element_dilate_2 = getStructuringElement(MORPH_RECT, Size(2, 2));
Mat element_erode_1 = getStructuringElement(MORPH_RECT, Size(2, 2));
Mat element_dilate_2 = getStructuringElement(MORPH_RECT, Size(3, 3));
Mat element_erode_2 = getStructuringElement(MORPH_RECT, Size(2 , 2));
Mat element_dilate_3 = getStructuringElement(MORPH_RECT, Size(3, 3));
Mat element_erode_3 = getStructuringElement(MORPH_RECT, Size(1 , 1));
dilate(src, src, element_dilate_1);
// imshow("dilate_1", src);
erode(src,src, element_erode_1);
// imshow("erode_1", src);
erode(src,src, element_erode_2);
// imshow("erode_2", src);
erode(src,src, element_erode_3);
// imshow("erode_3", src);
// dilate(src, src, element_dilate_2);
// imshow("dilate_2", src);
// dilate(src, src, element_dilate_3);
// imshow("dilate_3", src);
}
//----------------------------------------------------------------------------------------------------------------------
// 此函数对图像进行腐蚀与膨胀操作
// ---------------------------------------------------------------------------------------------------------------------
void Energy::FlowStripStructSub(cv::Mat &src) {
Mat element_dilate_1 = getStructuringElement(MORPH_RECT, Size(5, 5));
Mat element_erode_1 = getStructuringElement(MORPH_RECT, Size(4, 4));
Mat element_dilate_2 = getStructuringElement(MORPH_RECT, Size(3, 3));
Mat element_erode_2 = getStructuringElement(MORPH_RECT, Size(3 , 3));
Mat element_dilate_3 = getStructuringElement(MORPH_RECT, Size(2, 2));
Mat element_erode_3 = getStructuringElement(MORPH_RECT, Size(2 , 2));
Mat element_dilate_4 = getStructuringElement(MORPH_RECT, Size(2, 2));
Mat element_erode_4 = getStructuringElement(MORPH_RECT, Size(1 , 1));
// dilate(src, src, element_dilate_1);
// imshow("dilate_1", src);
erode(src,src, element_erode_1);
imshow("erode_1", src);
// imshow("sub_erode_1", src);
// erode(src,src, element_erode_2);
// imshow("erode_2", src);
// erode(src,src, element_erode_3);
// imshow("erode_3", src);
erode(src,src, element_erode_3);
// imshow("sub_erode_3", src);
// erode(src,src, element_erode_4);
// imshow("erode_4", src);
dilate(src, src, element_dilate_1);
// imshow("dilate_1", src);
// imshow("sub_dilate_1", src);
dilate(src, src, element_dilate_2);
imshow("dilate_2", src);
// imshow("sub_dilate_2", src);
// dilate(src, src, element_dilate_3);
// imshow("dilate_3", src);
// dilate(src, src, element_dilate_4);
@@ -126,7 +151,6 @@ void Energy::FlowStripStruct(cv::Mat &src) {
}
//----------------------------------------------------------------------------------------------------------------------
// 此函数对图像进行腐蚀与膨胀操作
// ---------------------------------------------------------------------------------------------------------------------

8
energy/src/energy/clear/clear.cpp
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@@ -28,12 +28,16 @@ void Energy::clearAll() {
void Energy::initImage(cv::Mat &src) {
// imagePreprocess(src);
// if(show_process)imshow("img_preprocess", src);
if (src.type() == CV_8UC3)cvtColor(src, src, COLOR_BGR2GRAY);
if (src.type() == CV_8UC3){
cvtColor(src, src, COLOR_BGR2GRAY);
}
if (mcu_data.enemy_color == ENEMY_BLUE){
threshold(src, src, energy_part_param_.RED_GRAY_THRESH, 255, THRESH_BINARY);
} else if(mcu_data.enemy_color == ENEMY_RED){
threshold(src, src, energy_part_param_.BLUE_GRAY_THRESH, 255, THRESH_BINARY);
}
if (show_process)imshow("bin", src);
if (show_process){
imshow("bin", src);
}
if (show_energy || show_process)waitKey(1);
}

13
energy/src/energy/clear/energy_init.cpp
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@@ -29,6 +29,7 @@ void Energy::initEnergy() {
radius = 0;
curr_fps = 0;
send_cnt = 0;
camera_cnt = 1;
fans_cnt = 0;
@@ -83,11 +84,9 @@ void Energy::initEnergy() {
void Energy::initEnergyPartParam() {
// gimbal_energy_part_param_.GRAY_THRESH = 120;//home
// gimbal_energy_part_param_.GRAY_THRESH = 200;//official
gimbal_energy_part_param_.RED_GRAY_THRESH = 150;//game
gimbal_energy_part_param_.RED_GRAY_THRESH = 180;//game
gimbal_energy_part_param_.BLUE_GRAY_THRESH = 100;//game
gimbal_energy_part_param_.SPLIT_GRAY_THRESH = 180;
gimbal_energy_part_param_.FAN_GRAY_THRESH = 75;
gimbal_energy_part_param_.ARMOR_GRAY_THRESH = 80;
gimbal_energy_part_param_.FAN_CONTOUR_AREA_MAX = 5000;
gimbal_energy_part_param_.FAN_CONTOUR_AREA_MIN = 1500;
@@ -143,11 +142,9 @@ void Energy::initEnergyPartParam() {
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_LENGTH_MIN = 32;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_LENGTH_MAX = 55;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_WIDTH_MIN = 4;
// gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_WIDTH_MAX = 20;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_WIDTH_MAX = 40;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_WIDTH_MAX = 20;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_HW_RATIO_MAX = 7;
// gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_HW_RATIO_MIN = 3;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_HW_RATIO_MIN = 1;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_HW_RATIO_MIN = 3;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_AREA_RATIO_MIN = 0.6;
gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_INTERSETION_AREA_MIN = 100;
@@ -165,8 +162,6 @@ void Energy::initEnergyPartParam() {
// chassis_energy_part_param_.GRAY_THRESH = 200;//official
// chassis_energy_part_param_.GRAY_THRESH = 225;
chassis_energy_part_param_.SPLIT_GRAY_THRESH = 230;
chassis_energy_part_param_.FAN_GRAY_THRESH = 75;
chassis_energy_part_param_.ARMOR_GRAY_THRESH = 80;
chassis_energy_part_param_.FAN_CONTOUR_AREA_MAX = 17000;
chassis_energy_part_param_.FAN_CONTOUR_AREA_MIN = 0;

99
energy/src/energy/find/energy_finder.cpp
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@@ -315,6 +315,105 @@ bool Energy::findFlowStrip(const cv::Mat src) {
}
//----------------------------------------------------------------------------------------------------------------------
// 此函数用于寻找流动条
// ---------------------------------------------------------------------------------------------------------------------
bool Energy::findFlowStripSub(const cv::Mat src) {
if (src.empty()) {
if (show_info) cout << "empty!" << endl;
return false;
}
cv::Mat src_bin;
src_bin = src.clone();
if (src_bin.type() == CV_8UC1) // 黑白图像
{
cvtColor(src_bin, src_bin, COLOR_GRAY2RGB);
}
std::vector<cv::RotatedRect> candidate_target_armors = target_armors;
for (auto &candidate_target_armor: candidate_target_armors) {
Point2f vertices[4];
candidate_target_armor.size.height *= 1.3;
candidate_target_armor.size.width *= 1.3;
candidate_target_armor.points(vertices); //计算矩形的4个顶点
for (int i = 0; i < 4; i++) {
line(src_bin, vertices[i], vertices[(i + 1) % 4], Scalar(0, 0, 0), 20);
}
}
cvtColor(src_bin, src_bin, CV_BGR2GRAY);//若读取三通道视频文件，需转换为单通道
FlowStripStructSub(src_bin);//图像膨胀，防止图像断开并更方便寻找
if (show_process)imshow("flow strip struct", src_bin);
std::vector<vector<Point> > flow_strip_contours;
findContours(src_bin, flow_strip_contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE);
for (auto candidate_flow_strip_fan: flow_strip_fans) {
for (auto &flow_strip_contour : flow_strip_contours) {
if (!isValidFlowStripContour(flow_strip_contour)) {
continue;
}
std::vector<cv::Point2f> intersection;
RotatedRect cur_rect = minAreaRect(flow_strip_contour);
if (rotatedRectangleIntersection(cur_rect, candidate_flow_strip_fan, intersection) == 0) {
continue;
} else if (contourArea(intersection) > energy_part_param_.FLOW_STRIP_CONTOUR_INTERSETION_AREA_MIN) {
flow_strips.emplace_back(cv::minAreaRect(flow_strip_contour));
// cout << "intersection: " << contourArea(intersection) << '\t' << cur_rect.center << endl;
} else {
continue;
}
// Size2f cur_size = cur_rect.size;
// float length = cur_size.height > cur_size.width ? cur_size.height : cur_size.width;
// float width = cur_size.height < cur_size.width ? cur_size.height : cur_size.width;
// double cur_contour_area = contourArea(flow_strip_contour);
// float length_width_ratio = length / width;
// cout << "area: " << cur_contour_area << '\t' << endl;
// cout << "length: " << length << '\t' << "width: " << width << '\t' << cur_rect.center << endl;
// cout << "HW: " << length_width_ratio << '\t' << cur_rect.center << endl;
// cout << "area ratio: " << cur_contour_area / cur_size.area() << '\t' << cur_rect.center << endl;
// cout<<endl;
}
}
if (flow_strips.empty()) {
if (show_info)cout << "flow strip false!" << endl;
// waitKey(0);
return false;
} else if (flow_strips.size() > 1) {
if (show_info)cout << "Too many flow strips!" << endl;
// waitKey(0);
return false;
} else {
flow_strip = flow_strips.at(0);
for (auto &candidate_flow_strip_fan: flow_strip_fans) {
std::vector<cv::Point2f> intersection;
if (rotatedRectangleIntersection(flow_strip, candidate_flow_strip_fan, intersection) == 0) {
continue;
} else if (contourArea(intersection) > energy_part_param_.FLOW_STRIP_CONTOUR_INTERSETION_AREA_MIN) {
flow_strip_fan = candidate_flow_strip_fan;
}
}
int i = 0;
for (i = 0; i < target_armors.size(); ++i) {
std::vector<cv::Point2f> intersection;
if (rotatedRectangleIntersection(target_armors.at(i), flow_strip_fan, intersection) == 0)
continue;//返回0表示没有重合面积
double cur_contour_area = contourArea(intersection);
if (cur_contour_area > energy_part_param_.TARGET_INTERSETION_CONTOUR_AREA_MIN) {
target_armor = target_armors.at(i);
target_point = target_armor.center;
}
}
}
return true;
}
//----------------------------------------------------------------------------------------------------------------------
// 此函数用于弱识别寻找流动条
// ---------------------------------------------------------------------------------------------------------------------

25
energy/src/energy/mark/mark.cpp
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@@ -7,12 +7,14 @@
using namespace std;
using namespace cv;
extern McuData mcu_data;
//----------------------------------------------------------------------------------------------------------------------
// 此函数用于记录操作手的微调dx和dy
// ---------------------------------------------------------------------------------------------------------------------
void Energy::writeDownSlightChange(cv::Mat &src) {
if (fans_cnt >= 4) {
if (fans_cnt >= 2) {
FILE *fp_delta = fopen(PROJECT_DIR"/Mark/delta.txt", "w");
if (fp_delta) {
fprintf(fp_delta, "delta_x: %d, delta_y: %d\n", mcu_data.delta_x + manual_delta_x,
@@ -20,6 +22,27 @@ void Energy::writeDownSlightChange(cv::Mat &src) {
fclose(fp_delta);
}
}
if(fans_cnt>=1){
FILE *fp_data = fopen(PROJECT_DIR"/Mark/data.txt", "a");
if (fp_data) {
if(mcu_data.mark == 1){
fprintf(fp_data, "PID: %s\t", "new");
} else {
fprintf(fp_data, "PID: %s\t", "default");
}
if(is_big){
fprintf(fp_data, "state: %s\t", "big");
} else if(is_small){
fprintf(fp_data, "state: %s\t", "small");
}
fprintf(fp_data, "fps: %d\t", curr_fps);
fprintf(fp_data, "fans_cnt: %d\t", fans_cnt);
fprintf(fp_data, "yaw: %lf , pitch: %lf\t", yaw_rotation, pitch_rotation);
fprintf(fp_data, "delta_x: %d, delta_y: %d\n", mcu_data.delta_x + manual_delta_x,
mcu_data.delta_y + manual_delta_y);
fclose(fp_data);
}
}
}

6
energy/src/energy/run.cpp
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@@ -83,7 +83,11 @@ void Energy::runBig(cv::Mat &gimbal_src) {
} else {
if (show_energy)showFlowStripFan("strip fan", gimbal_src);
if (!findTargetInFlowStripFan()) return;
if (!findFlowStrip(gimbal_src))return;
if(!findFlowStrip(gimbal_src)){
if(!findFlowStripSub(gimbal_src)) {
return;
}
}
}
if (!findCenterROI(gimbal_src))return;
if (show_energy)showFlowStrip("strip", gimbal_src);

2
energy/src/energy/send/send.cpp
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@@ -112,6 +112,7 @@ void Energy::sendTarget(Serial &serial, float x, float y, float z) {
if (last_time != t) {
last_time = t;
cout << "Energy: fps:" << fps << ", (" << x << "," << y << "," << z << ")" << endl;
curr_fps = fps;
fps = 0;
}
fps += 1;
@@ -148,6 +149,7 @@ void Energy::sendTarget(Serial &serial, float x, float y, float z, uint16_t u) {
if (last_time != t) {
last_time = t;
cout << "Energy: fps:" << fps << ", (" << x << "," << y << "," << z << "," << u << ")" << endl;
curr_fps = fps;
fps = 0;
}
fps += 1;

6
main.cpp
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@@ -32,7 +32,7 @@ McuData mcu_data = { // 单片机端回传结构体
0, // 当前云台pitch角
ARMOR_STATE, // 当前状态，自瞄-大符-小符
0, // 云台角度标记位
0, // 是否为反陀螺模式
1, // 是否启用数字识别
ENEMY_RED, // 敌方颜色
0, // 能量机关x轴补偿量
0, // 能量机关y轴补偿量
@@ -66,8 +66,8 @@ int main(int argc, char *argv[]) {
video_gimbal = new CameraWrapper(ARMOR_CAMERA_EXPOSURE, ARMOR_CAMERA_GAIN, 2/*, "armor"*/);
video_chassis = new CameraWrapper(ENERGY_CAMERA_EXPOSURE, ENERGY_CAMERA_GAIN, 2/*, "energy"*/);
} else {
video_gimbal = new VideoWrapper(PROJECT_DIR"/8-7-NO7.avi");
video_chassis = new VideoWrapper(PROJECT_DIR"/8-7-NO7.avi");
video_gimbal = new VideoWrapper(PROJECT_DIR"/test_video/blue_big.avi");
video_chassis = new VideoWrapper(PROJECT_DIR"/test_video/blue_big.avi");
}
if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully.");