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现可使用CNN分类器判断装甲板及其数字。

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This commit is contained in:
xinyang
2019-04-20 14:30:57 +08:00
parent f891f1da34
commit 83e9a0daf9
5 changed files with 152 additions and 135 deletions
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246
main.cpp
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@@ -1,123 +1,123 @@
//
// Created by xixiliadorabarry on 1/24/19.
//
#include <iostream>
#include <opencv2/core/core.hpp>
#include "energy/energy.h"
#include "uart/uart.h"
#include "energy/param_struct_define.h"
#include "energy/constant.h"
#include "camera/camera_wrapper.h"
#include "camera/video_wrapper.h"
#include "camera/wrapper_head.h"
#include "armor_finder/armor_finder.h"
#include <options/options.h>
#include <log.h>
#include <thread>
using namespace cv;
using namespace std;
#define ENERGY_STATE 1
#define ARMOR_STATE 0
int state = ARMOR_STATE;
float curr_yaw=0, curr_pitch=0;
float mark_yaw=0, mark_pitch=0;
void uartReceive(Uart* uart);
int main(int argc, char *argv[])
{
process_options(argc, argv);
Uart uart;
thread receive(uartReceive, &uart);
bool flag = true;
while (flag)
{
int ally_color = ALLY_RED;
int energy_part_rotation = CLOCKWISE;
int from_camera = 1;
if(!run_with_camera) {
cout << "Input 1 for camera, 0 for video files" << endl;
cin >> from_camera;
}
WrapperHead *video;
if(from_camera)
video = new CameraWrapper;
else
video = new VideoWrapper("r_l_640.avi", "fan_640.avi");
if (video->init()) {
cout << "Video source initialization successfully." << endl;
}
Mat energy_src, armor_src;
ArmorFinder armorFinder(ENEMY_BLUE, uart);
Energy energy(uart);
energy.setAllyColor(ally_color);
energy.setRotation(energy_part_rotation);
while (video->read(energy_src, armor_src))
{
if(show_origin) {
imshow("enery src", energy_src);
imshow("armor src", armor_src);
}
if(state == ENERGY_STATE){
energy.run(energy_src);
}else{
armorFinder.run(armor_src);
}
if (waitKey(1) == 'q') {
flag = false;
break;
}
}
delete video;
cout << "Program fails. Restarting" << endl;
}
return 0;
}
void uartReceive(Uart* uart){
char buffer[100];
int cnt=0;
while(true){
char data;
while((data=uart->receive()) != '\n'){
buffer[cnt++] = data;
if(cnt >= 100){
LOGE("data receive over flow!");
}
}
if(cnt == 10){
if(buffer[8] == 'e'){
state = ENERGY_STATE;
LOGM("Energy state");
}else if(buffer[8] == 'a'){
state = ARMOR_STATE;
LOGM("Armor state");
}
memcpy(&curr_yaw, buffer, 4);
memcpy(&curr_pitch, buffer+4, 4);
LOGM("Get yaw:%f pitch:%f", curr_yaw, curr_pitch);
if(buffer[9] == 1){
mark_yaw = curr_yaw;
mark_pitch = curr_pitch;
LOGM("Marked");
}
}
cnt = 0;
}
}
//
// Created by xixiliadorabarry on 1/24/19.
//
#include <iostream>
#include <opencv2/core/core.hpp>
#include "energy/energy.h"
#include "uart/uart.h"
#include "energy/param_struct_define.h"
#include "energy/constant.h"
#include "camera/camera_wrapper.h"
#include "camera/video_wrapper.h"
#include "camera/wrapper_head.h"
#include "armor_finder/armor_finder.h"
#include <options/options.h>
#include <log.h>
#include <thread>
using namespace cv;
using namespace std;
#define ENERGY_STATE 1
#define ARMOR_STATE 0
int state = ARMOR_STATE;
float curr_yaw=0, curr_pitch=0;
float mark_yaw=0, mark_pitch=0;
void uartReceive(Uart* uart);
int main(int argc, char *argv[])
{
process_options(argc, argv);
Uart uart;
thread receive(uartReceive, &uart);
bool flag = true;
while (flag)
{
int ally_color = ALLY_RED;
int energy_part_rotation = CLOCKWISE;
int from_camera = 1;
if(!run_with_camera) {
cout << "Input 1 for camera, 0 for video files" << endl;
cin >> from_camera;
}
WrapperHead *video;
if(from_camera)
video = new CameraWrapper;
else
video = new VideoWrapper("r_l_640.avi", "fan_640.avi");
if (video->init()) {
cout << "Video source initialization successfully." << endl;
}
Mat energy_src, armor_src;
ArmorFinder armorFinder(ENEMY_BLUE, uart, "../paras/");
Energy energy(uart);
energy.setAllyColor(ally_color);
energy.setRotation(energy_part_rotation);
while (video->read(energy_src, armor_src))
{
if(show_origin) {
imshow("enery src", energy_src);
imshow("armor src", armor_src);
}
if(state == ENERGY_STATE){
energy.run(energy_src);
}else{
armorFinder.run(armor_src);
}
if (waitKey(1) == 'q') {
flag = false;
break;
}
}
delete video;
cout << "Program fails. Restarting" << endl;
}
return 0;
}
void uartReceive(Uart* uart){
char buffer[100];
int cnt=0;
while(true){
char data;
while((data=uart->receive()) != '\n'){
buffer[cnt++] = data;
if(cnt >= 100){
LOGE("data receive over flow!");
}
}
if(cnt == 10){
if(buffer[8] == 'e'){
state = ENERGY_STATE;
LOGM("Energy state");
}else if(buffer[8] == 'a'){
state = ARMOR_STATE;
LOGM("Armor state");
}
memcpy(&curr_yaw, buffer, 4);
memcpy(&curr_pitch, buffer+4, 4);
LOGM("Get yaw:%f pitch:%f", curr_yaw, curr_pitch);
if(buffer[9] == 1){
mark_yaw = curr_yaw;
mark_pitch = curr_pitch;
LOGM("Marked");
}
}
cnt = 0;
}
}