更新CNN参数和图像显示方式。

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

@@ -154,7 +154,7 @@ bool judge_light_color(std::vector<LightBlob> &light, std::vector<LightBlob> &co
 bool ArmorFinder::stateSearchingTarget(cv::Mat &src) {
     cv::Mat split, src_bin;
     LightBlobs light_blobs, light_blobs_, light_blobs_real;
-    std::vector<cv::Rect2d> armor_boxes, boxes_number[9];
+    std::vector<cv::Rect2d> armor_boxes, boxes_number[10];
     armor_box = cv::Rect2d(0,0,0,0);
 
     cv::cvtColor(src, src_gray, CV_BGR2GRAY);

armor/src/show_images/show_images.cpp

@@ -27,29 +27,14 @@ void showArmorBoxClass(std::string window_names, const cv::Mat &src, vector<cv::
     {
         image2show = src.clone();
     }
-    if(!boxes[0].empty()){
+    for(int i=0; i<10; i++){
-        for(auto box : boxes[0]){
+        if(!boxes[i].empty()){
-            cv::rectangle(image2show, box, Scalar(255, 0, 0), 1);
+            for(auto box : boxes[i]){
-        }
+                char buff[2] = {0};
-    }else if(!boxes[1].empty()){
+                buff[0] = i + '0';
-        for(auto box : boxes[1]){
+                rectangle(image2show, box, Scalar(0, 255, 0), 1);
-            cv::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));
-        }
+            }
-    }else if(!boxes[2].empty()){
-        for(auto box : boxes[2]){
-            cv::rectangle(image2show, box, Scalar(0, 0, 255), 1);
-        }
-    }else if(!boxes[3].empty()){
-        for(auto box : boxes[3]){
-            cv::rectangle(image2show, box, Scalar(0, 255, 255), 1);
-        }
-    }else if(!boxes[4].empty()){
-        for(auto box : boxes[4]){
-            cv::rectangle(image2show, box, Scalar(255, 0, 255), 1);
-        }
-    }else if(!boxes[5].empty()){
-        for(auto box : boxes[5]){
-            cv::rectangle(image2show, box, Scalar(255, 255, 0), 1);
         }
     }
     imshow(window_names, image2show);

tools/TrainCNN/forward.py

@@ -41,7 +41,7 @@ CONV2_OUTPUT_CHANNELS = 10
 FC1_OUTPUT_NODES = 16
 
 # 第二层全连接宽度（输出标签类型数）
-FC2_OUTPUT_NODES = 8
+FC2_OUTPUT_NODES = 6
 
 # 输出标签类型数
 OUTPUT_NODES = FC2_OUTPUT_NODES

tools/para/conv1_b

@@ -1,7 +1,7 @@
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--0.05971829
+-1.1748564

tools/para/conv1_w

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tools/para/conv2_b

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tools/para/fc1_b

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tools/para/fc2_b

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tools/para/fc2_w

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