From dcde93a6080c585624482f4be3e468292f9709ed Mon Sep 17 00:00:00 2001 From: xinyang <895639507@qq.com> Date: Thu, 8 Aug 2019 00:22:39 +0800 Subject: [PATCH 1/4] armor small change --- armor/src/armor_finder/find/find_light_blobs.cpp | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/armor/src/armor_finder/find/find_light_blobs.cpp b/armor/src/armor_finder/find/find_light_blobs.cpp index f456c77..6842a3a 100644 --- a/armor/src/armor_finder/find/find_light_blobs.cpp +++ b/armor/src/armor_finder/find/find_light_blobs.cpp @@ -130,8 +130,13 @@ bool ArmorFinder::findLightBlobs(const cv::Mat &src, LightBlobs &light_blobs) { color_channel = channels[2]; /************************/ } - - cv::threshold(color_channel, src_bin_light, 200, 255, CV_THRESH_BINARY); // 二值化对应通道 + int light_threshold; + if(enemy_color == ENEMY_BLUE){ + light_threshold = 225; + }else{ + light_threshold = 200; + } + cv::threshold(color_channel, src_bin_light, light_threshold, 255, CV_THRESH_BINARY); // 二值化对应通道 if (src_bin_light.empty()) return false; imagePreProcess(src_bin_light); // 开闭运算 From 8d8d172c955fe8c06f5a0f1a0e0fb6a016f387d5 Mon Sep 17 00:00:00 2001 From: xinyang Date: Thu, 8 Aug 2019 01:47:52 +0800 Subject: [PATCH 2/4] fix bug --- armor/src/armor_finder/find/find_light_blobs.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/armor/src/armor_finder/find/find_light_blobs.cpp b/armor/src/armor_finder/find/find_light_blobs.cpp index f456c77..a10e602 100644 --- a/armor/src/armor_finder/find/find_light_blobs.cpp +++ b/armor/src/armor_finder/find/find_light_blobs.cpp @@ -18,7 +18,7 @@ static double areaRatio(const std::vector &contour, const cv::Rotated } static bool isValidLightBlob(const std::vector &contour, const cv::RotatedRect &rect) { - return (1.5 < lw_rate(rect) && lw_rate(rect) < 10) && + return (1.2 < lw_rate(rect) && lw_rate(rect) < 10) && // (rect.size.area() < 3000) && ((rect.size.area() < 50 && areaRatio(contour, rect) > 0.4) || (rect.size.area() >= 50 && areaRatio(contour, rect) > 0.6)); From 1507e2ec6df2ee1c8060836ee93c124afed7c678 Mon Sep 17 00:00:00 2001 From: xinyang Date: Thu, 8 Aug 2019 01:50:52 +0800 Subject: [PATCH 3/4] startup with show armor box. --- tools/create-startup.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/create-startup.sh b/tools/create-startup.sh index b7826dc..3e14f3d 100755 --- a/tools/create-startup.sh +++ b/tools/create-startup.sh @@ -5,5 +5,5 @@ echo "echo sjturm | sudo -S cpufreq-set -g performance" >> $2/startup-run echo "mkdir $1/Mark" >> $2/startup-run echo "mkdir $1/gimbal_video" >> $2/startup-run echo "mkdir $1/armor_box_photo" >> $2/startup-run -echo "gnome-terminal -- bash -c \"echo sjturm | sudo -S $1/tools/monitor.sh \\\"$2/run --run-with-camera --save-video --save-mark --wait-uart --save-labelled-boxes\\\"\"" >> $2/startup-run +echo "gnome-terminal -- bash -c \"echo sjturm | sudo -S $1/tools/monitor.sh \\\"$2/run --run-with-camera --save-video --save-mark --show-armor-box --wait-uart --save-labelled-boxes\\\"\"" >> $2/startup-run chmod +x $2/startup-run From faae07b5b3e18ecff37e0e20a45152f730d24eeb Mon Sep 17 00:00:00 2001 From: xinyang <895639507@qq.com> Date: Thu, 8 Aug 2019 10:48:32 +0800 Subject: [PATCH 4/4] =?UTF-8?q?=E5=8F=82=E6=95=B0=E6=9B=B4=E6=96=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- main.cpp | 8 +- tools/para/conv1_b | 12 +- tools/para/conv1_w | 752 +- tools/para/conv2_b | 20 +- tools/para/conv2_w | 832 +- tools/para/conv3_b | 28 +- tools/para/conv3_w | 2128 +- tools/para/fc1_b | 120 +- tools/para/fc1_w | 62394 +++++++++++++++++++++++-------------------- tools/para/fc2_b | 30 +- tools/para/fc2_w | 1800 +- 11 files changed, 36864 insertions(+), 31260 deletions(-) diff --git a/main.cpp b/main.cpp index e008b3c..42ca501 100644 --- a/main.cpp +++ b/main.cpp @@ -30,7 +30,7 @@ using namespace std; McuData mcu_data = { // 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 @@ -42,7 +42,7 @@ WrapperHead *video_gimbal = nullptr; // 云台摄像头视频源 WrapperHead *video_chassis = nullptr; // 底盘摄像头视频源 Serial serial(115200); // 串口对象 -uint8_t last_state = INIT_STATE; // 上次状态，用于初始化y +uint8_t last_state = INIT_STATE; // 上次状态，用于初始化 // 自瞄主程序对象 ArmorFinder armor_finder(mcu_data.enemy_color, serial, PROJECT_DIR"/tools/para/"); // 能量机关主程序对象 @@ -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("/home/sun/桌面/video_8.8/8.7.4-big.avi"); - video_chassis = new VideoWrapper("/home/sun/桌面/video_8.8/8.7.4-big.avi"); + video_gimbal = new VideoWrapper(PROJECT_DIR"/8-7-NO7.avi"); + video_chassis = new VideoWrapper(PROJECT_DIR"/8-7-NO7.avi"); } if (video_gimbal->init()) { LOGM("video_gimbal source initialization successfully."); diff --git a/tools/para/conv1_b b/tools/para/conv1_b index e65b87b..d2ddb9d 100644 --- a/tools/para/conv1_b +++ b/tools/para/conv1_b @@ -1,5 +1,7 @@ -4 -1.0091771 -0.75360304 -0.32836446 -0.27722517 +6 +-0.13957113 +0.06878903 +0.031124229 +1.4302016 +-0.1433692 +1.1473336 diff --git a/tools/para/conv1_w b/tools/para/conv1_w index 8f486c9..487386e 100644 --- a/tools/para/conv1_w +++ b/tools/para/conv1_w @@ -1,304 +1,454 @@ 3 -4 +6 5 5 --0.17910863 --0.4318622 --0.09879855 --0.2527657 --0.003185846 --0.24181125 --0.22703612 --0.15493874 --0.2673384 --0.1819421 --0.31178552 --0.28891796 --0.11877854 --0.042131122 -0.026375793 --0.19158052 --0.29840896 --0.24933136 -0.039657716 --0.055364735 --0.2232829 --0.16785903 --0.08067796 --0.14220497 --0.052384917 -0.2925089 -0.4120845 -0.74341506 -0.46763578 -0.05146623 -0.12698977 -0.37261236 -0.3935419 -0.25898162 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-0.08972692 -0.08433124 --0.25193617 --0.034116596 -0.10257884 --0.0813059 -0.14102417 --0.01561462 --0.12441367 --0.06327993 -0.07099745 -0.092985496 -1.2042538 -1.6012002 -1.4479427 -1.420359 -0.9067958 -0.90693825 -0.99859256 -1.1281759 -0.92514807 -0.6260572 -0.3877627 -0.80519366 -0.78809965 -0.40321863 -0.32943872 --0.0053374222 -0.18448626 -0.107170284 -0.10005993 --0.16069353 --0.7013289 --0.5937218 --0.39329964 --0.54779977 --0.26227468 -0.18688947 -0.5373189 -0.4971937 -0.36489144 -0.20950799 -0.29940185 -0.70193636 -0.6888256 -0.5748779 -0.3576433 -0.4846778 -0.4782251 -0.595415 -0.46374205 -0.23162521 -0.1836071 -0.6178091 -0.4126544 -0.30283985 -0.069174975 -0.20002016 -0.33548093 -0.4232866 -0.2476043 -0.055189032 -0.64387447 -0.7521561 -0.9530232 -0.64297724 -0.37787715 -0.99285096 -1.3132018 -1.341937 -0.8890728 -0.18775573 -1.1528043 -1.5992627 -1.3921872 -1.0223932 -0.26917282 -1.0887872 -1.2642268 -1.1114879 -0.99118245 -0.18824795 -0.72434646 -0.9969674 -0.75941694 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b/tools/para/conv2_w index de5f35d..13c4094 100644 --- a/tools/para/conv2_w +++ b/tools/para/conv2_w @@ -1,292 +1,544 @@ -4 -8 +6 +10 3 3 --0.5876183 --0.19599253 --0.18389738 --0.18267761 --0.23633389 --0.04682166 --0.40504217 --0.44397476 --0.27349973 --0.40846175 --0.4691861 --0.3045311 --0.29840764 --0.27123016 --0.4369171 --0.35068136 --0.33959505 --0.31722164 -1.1700047 -0.96824783 -0.76443076 -1.3795062 -1.2857901 -1.0736752 -1.4629307 -1.4044695 -0.9955982 -0.05907464 -0.2795705 -0.39697975 -0.2549381 -0.60816526 -0.4124389 -0.36631292 -0.5501452 -0.33622307 -0.7931202 -0.7949542 -0.73936164 -0.5743847 -0.71832895 -0.81374323 -0.6963634 -0.8371282 -0.56526226 -0.9787859 -0.83491445 -0.44296062 -0.94113594 -0.69709206 -0.4782157 -0.8485452 -0.55218476 -0.4278612 --0.06284774 -0.18234941 -0.24526665 -0.06594536 -0.18546979 -0.12066008 --0.0076901093 -0.051020034 --0.055962052 --0.12366264 --0.14234143 -0.17451781 --0.22803047 --0.20144975 -0.12696944 --0.14333135 --0.1437315 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