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反陀螺v1.2,以及识别优化。

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This commit is contained in:
xinyang
2019-07-21 17:25:09 +08:00
parent 7a5a9c4c3c
commit 8684662536
8 changed files with 83 additions and 112 deletions
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10
armor/src/armor_finder/find/find_armor_box.cpp
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@@ -23,7 +23,7 @@ static bool angelJudge(const LightBlob &light_blob_i, const LightBlob &light_blo
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;
return abs(angle_i - angle_j) < 20;
}
static bool heightJudge(const LightBlob &light_blob_i, const LightBlob &light_blob_j) {
@@ -35,12 +35,12 @@ static bool lengthJudge(const LightBlob &light_blob_i, const LightBlob &light_bl
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);
return (side_length / light_blob_i.length < 8 && 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);
return (light_blob_i.length / light_blob_j.length < 2.5
&& light_blob_i.length / light_blob_j.length > 0.4);
}
/* 判断两个灯条的错位度，不知道英文是什么！！！ */
@@ -56,7 +56,7 @@ static bool CuoWeiDuJudge(const LightBlob &light_blob_i, const LightBlob &light_
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;
return abs(orientation.dot(p2p)) < 25;
}
static bool boxAngleJudge(const LightBlob &light_blob_i, const LightBlob &light_blob_j) {

41
armor/src/armor_finder/find/find_light_blobs.cpp
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@@ -20,8 +20,8 @@ static double areaRatio(const std::vector<cv::Point> &contour, const cv::Rotated
static bool isValidLightBlob(const std::vector<cv::Point> &contour, const cv::RotatedRect &rect) {
return (1.5 < lw_rate(rect) && lw_rate(rect) < 10) &&
// (rect.size.area() < 3000) &&
((rect.size.area() < 50 && areaRatio(contour, rect) > 0.5) ||
(rect.size.area() >= 50 && areaRatio(contour, rect) > 0.7));
((rect.size.area() < 50 && areaRatio(contour, rect) > 0.4) ||
(rect.size.area() >= 50 && areaRatio(contour, rect) > 0.6));
}
// 此函数可以有性能优化.
@@ -114,23 +114,40 @@ static void imagePreProcess(cv::Mat &src) {
}
bool ArmorFinder::findLightBlobs(const cv::Mat &src, LightBlobs &light_blobs) {
cv::Mat src_bin, color_channel;
cv::Mat color_channel;
cv::Mat src_bin_light, src_bin_dim;
std::vector<cv::Mat> channels; // 通道拆分
cv::split(src, channels); /************************/
if (enemy_color == ENEMY_BLUE) /* */
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) /* */
}else if (enemy_color == ENEMY_RED){ /* */
color_channel = channels[2]; /************************/
cv::threshold(color_channel, src_bin, 140, 255, CV_THRESH_BINARY); // 二值化对应通道
imagePreProcess(src_bin); // 开闭运算
}
if(src_bin.size() == cv::Size(640, 480) && show_light_blobs)
imshow("bin", src_bin);
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::threshold(color_channel, src_bin_light, 200, 255, CV_THRESH_BINARY); // 二值化对应通道
imagePreProcess(src_bin_light); // 开闭运算
cv::threshold(color_channel, src_bin_dim, 160, 255, CV_THRESH_BINARY); // 二值化对应通道
imagePreProcess(src_bin_dim); // 开闭运算
if(src_bin_light.size() == cv::Size(640, 480) && show_light_blobs) {
imshow("bin_light", src_bin_light);
imshow("bin_dim", src_bin_dim);
}
std::vector<std::vector<cv::Point> > light_contours_light, light_contours_dim;
cv::findContours(src_bin_light, light_contours_light, CV_RETR_LIST, CV_CHAIN_APPROX_NONE);
cv::findContours(src_bin_dim, light_contours_dim, CV_RETR_LIST, CV_CHAIN_APPROX_NONE);
for (auto &light_contour : light_contours_light) {
cv::RotatedRect rect = cv::minAreaRect(light_contour);
if (isValidLightBlob(light_contour, rect)) {
light_blobs.emplace_back(rect, get_blob_color(src, rect));
}
}
for (auto &light_contour : light_contours_dim) {
cv::RotatedRect rect = cv::minAreaRect(light_contour);
if (isValidLightBlob(light_contour, rect)) {
light_blobs.emplace_back(rect, get_blob_color(src, rect));