开机启动脚本现在会尝试从github上更新当前分支的最新代码并编译运行。

CMakeLists.txt

@@ -46,4 +46,4 @@ ELSE ()
     MESSAGE(STATUS "Unsupport platform: ${CMAKE_SYSTEM_NAME}")
 ENDIF()
 
-ADD_CUSTOM_TARGET(bind-monitor COMMAND "${PROJECT_SOURCE_DIR}/tools/bind-monitor.sh" "${PROJECT_SOURCE_DIR}" "${CMAKE_BINARY_DIR}")
+ADD_CUSTOM_TARGET(create-startup COMMAND "${PROJECT_SOURCE_DIR}/tools/create-startup.sh" "${PROJECT_SOURCE_DIR}" "${CMAKE_BINARY_DIR}")

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

@@ -28,31 +28,90 @@ bool rectangleContainPoint(cv::RotatedRect rectangle, cv::Point2f point)
     double indicator = pointPolygonTest(contour,point,true);
     return indicator >= 0;
 }
+
 /// Todo: 下面的函数可以有性能优化，暂时未做。
-static double nonZeroRateOfRotateRect(const cv::Mat &bin, const cv::RotatedRect &rorect){
+static double nonZeroRateOfRotateRect(const cv::Mat &bin, const cv::RotatedRect &rotrect){
-    auto rect = rorect.boundingRect();
+    auto rect = rotrect.boundingRect();
     if(rect.x < 0 || rect.y < 0 || rect.x+rect.width > bin.cols || rect.y+rect.height > bin.rows){
-//        cout << "break" << endl;
         return 0;
     }
     auto roi=bin(rect);
     int cnt=0;
     for(int r=0; r<roi.rows; r++){
         for(int c=0; c<roi.cols; c++){
-            if(rectangleContainPoint(rorect, cv::Point(c+rect.x, r+rect.y))){
+            if(rectangleContainPoint(rotrect, cv::Point(c+rect.x, r+rect.y))){
                 if(roi.at<uint8_t>(r, c)){
                     cnt++;
                 }
             }
         }
     }
-    return double(cnt) / rorect.size.area();
+    return double(cnt) / rotrect.size.area();
+}
+
+int linePointX(const cv::Point2f &p1, const cv::Point2f &p2, int y){
+    return (p2.x-p1.x)/(p2.y-p1.y)*(y-p1.y)+p1.x;
+}
+
+///Todo: 性能优化后的函数。(暂时还有点问题)
+static double nonZeroRateOfRotateRect_opt(const cv::Mat &bin, const cv::RotatedRect &rotrect){
+    int cnt=0;
+    cv::Point2f corners[4];
+    rotrect.points(corners);
+    sort(corners, &corners[4], [](cv::Point2f p1, cv::Point2f p2){
+        return p1.y < p2.y;
+    });
+//    for(int r=corners[0].y; r<corners[3].y; r++){
+//        int val[]={
+//            linePointX(corners[0],corners[1], r),
+//            linePointX(corners[0],corners[2], r),
+//            linePointX(corners[1],corners[3], r),
+//            linePointX(corners[2],corners[3], r),
+//        };
+//        for(int c=val[1]; c<val[2]; c++){
+//            if(bin.at<uint8_t >(c, r)){
+//                cnt++;
+//            }
+//        }
+//    }
+    for(int r=corners[0].y; r<corners[1].y; r++){
+        auto start = min(linePointX(corners[0],corners[1], r), linePointX(corners[0],corners[2], r))-1;
+        auto end = max(linePointX(corners[0],corners[1], r), linePointX(corners[0],corners[2], r))+1;
+        if(start<0 || end>640) return 0;
+        for(int c=start; c<end; c++){
+            if(bin.at<uint8_t >(c, r)){
+                cnt++;
+            }
+        }
+    }
+    for(int r=corners[1].y; r<corners[2].y; r++){
+        auto start = min(linePointX(corners[0],corners[2], r), linePointX(corners[1],corners[3], r))-1;
+        auto end = max(linePointX(corners[0],corners[2], r), linePointX(corners[1],corners[3], r))+1;
+        if(start<0 || end>640) return 0;
+        for(int c=start; c<end; c++){
+            if(bin.at<uint8_t >(r, c)){
+                cnt++;
+            }
+        }
+    }
+    for(int r=corners[2].y; r<corners[3].y; r++){
+        auto start = min(linePointX(corners[1],corners[3], r), linePointX(corners[2],corners[3], r))-1;
+        auto end = max(linePointX(corners[1],corners[3], r), linePointX(corners[2],corners[3], r))+1;
+        if(start<0 || end>640) return 0;
+        for(int c=start; c<end; c++){
+            if(bin.at<uint8_t >(c, r)){
+                cnt++;
+            }
+        }
+    }
+    return double(cnt) / rotrect.size.area();
 }
 
 static bool isValidLightBlob(const cv::Mat &bin, const cv::RotatedRect &rect){
-    return (lw_rate(rect) > 1.5) &&
+    return (lw_rate(rect) > 1.8) &&
 //           (rect.size.width*rect.size.height < 3000) &&
            (rect.size.width*rect.size.height > 1) &&
+//           (nonZeroRateOfRotateRect_opt(bin, rect) > 0.8);
            (nonZeroRateOfRotateRect(bin, rect) > 0.8);
 }
 
@@ -70,7 +129,7 @@ static bool findLightBlobs(const cv::Mat &src, LightBlobs &light_blobs) {
     }else if(src.type() == CV_8UC1){
         src_gray = src.clone();
     }
-
+    LightBlobs all;
     std::vector<std::vector<cv::Point> > light_contours;
     cv::findContours(src_gray, light_contours, CV_RETR_LIST, CV_CHAIN_APPROX_NONE);
 
@@ -79,12 +138,13 @@ static bool findLightBlobs(const cv::Mat &src, LightBlobs &light_blobs) {
         if(isValidLightBlob(src_gray, rect)){
             light_blobs.emplace_back(rect);
         }
+        all.emplace_back(rect);
     }
+    showContours("all", src, all);
     return light_blobs.size() >= 2;
 }
 
 bool angelJudge(const LightBlob &light_blob_i, const LightBlob &light_blob_j) {
-
     float angle_i = light_blob_i.rect.size.width > light_blob_i.rect.size.height ? light_blob_i.rect.angle :
                     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 :
@@ -93,7 +153,6 @@ bool angelJudge(const LightBlob &light_blob_i, const LightBlob &light_blob_j) {
 }
 bool heightJudge(const LightBlob &light_blob_i, const LightBlob &light_blob_j) {
     cv::Point2f centers = light_blob_i.rect.center - light_blob_j.rect.center;
-
     return abs(centers.y)<30;
 }
 
@@ -101,38 +160,18 @@ bool lengthJudge(const LightBlob &light_blob_i, const LightBlob &light_blob_j) {
     double side_length;
     cv::Point2f centers = light_blob_i.rect.center - light_blob_j.rect.center;
     side_length = sqrt(centers.ddot(centers));
-//    std::cout << "side:" << side_length << " length:" << light_blob_i.length  << std::endl;
     return (side_length / light_blob_i.length < 6 && side_length / light_blob_i.length > 0.5);
 }
 
 bool lengthRatioJudge(const LightBlob &light_blob_i, const LightBlob &light_blob_j) {
-//    std::cout << "i:" << light_blob_i.length << " j:" << light_blob_j.length << std::endl;
     return (light_blob_i.length / light_blob_j.length < 2
             && light_blob_i.length / light_blob_j.length > 0.5);
 }
 
 bool isCoupleLight(const LightBlob &light_blob_i, const LightBlob &light_blob_j, uint8_t enemy_color) {
-    if(light_blob_i.BlobColor != enemy_color || light_blob_j.BlobColor != enemy_color){
+    return light_blob_i.BlobColor == enemy_color &&
-        return false;
+           light_blob_j.BlobColor == enemy_color &&
-    }
+           lengthRatioJudge(light_blob_i, light_blob_j) &&
-    if(!lengthRatioJudge(light_blob_i, light_blob_j)){
-//        std::cout << "lengthRatioJudge" << std::endl;
-        return false;
-    }
-    if(!lengthJudge(light_blob_i, light_blob_j)){
-//        std::cout << "lengthJudge" << std::endl;
-        return false;
-    }
-    if(!heightJudge(light_blob_i, light_blob_j)){
-//        std::cout << "heightJudge" << std::endl;
-        return false;
-    }
-    if(!angelJudge(light_blob_i, light_blob_j)){
-//        std::cout << "angelJudge" << std::endl;
-        return false;
-    }
-    return true;
-    return lengthRatioJudge(light_blob_i, light_blob_j) &&
            lengthJudge(light_blob_i, light_blob_j) &&
            heightJudge(light_blob_i, light_blob_j) &&
            angelJudge(light_blob_i, light_blob_j);
@@ -156,8 +195,8 @@ static bool findArmorBoxes(LightBlobs &light_blobs, std::vector<cv::Rect2d> &arm
             double min_x, min_y, max_x, max_y;
             min_x = fmin(rect_left.x, rect_right.x) - 4;
             max_x = fmax(rect_left.x + rect_left.width, rect_right.x + rect_right.width) + 4;
-            min_y = fmin(rect_left.y, rect_right.y) - 4;
+            min_y = fmin(rect_left.y, rect_right.y) - 0.3*(rect_left.height+rect_right.height)/2.0;
-            max_y = fmax(rect_left.y + rect_left.height, rect_right.y + rect_right.height) + 4;
+            max_y = fmax(rect_left.y + rect_left.height, rect_right.y + rect_right.height) + 0.3*(rect_left.height+rect_right.height)/2.0;
             if (min_x < 0 || max_x > 640 || min_y < 0 || max_y > 480) {
                 continue;
             }
@@ -216,14 +255,18 @@ int prior_red[] = {0, 2, 3, 4, 1, 5, 7, 8, 9, 6};
 int prior_blue[]= {5, 7, 8, 9, 6, 0, 2, 3, 4, 1};
 
 bool ArmorFinder::stateSearchingTarget(cv::Mat &src) {
-    cv::Mat split, src_bin;
+    cv::Mat split, src_bin/*, edge*/;
     LightBlobs light_blobs, light_blobs_, light_blobs_real;
     std::vector<cv::Rect2d> armor_boxes, boxes_number[10];
     armor_box = cv::Rect2d(0,0,0,0);
 
     cv::cvtColor(src, src_gray, CV_BGR2GRAY);
+//    cv::Canny(src_gray, edge, 100, 150);
+//    src_gray -= edge;
+//    cv::imshow("minus", src_gray);
 //    pipelineLightBlobPreprocess(src_gray);
     cv::threshold(src_gray, src_bin, 170, 255, CV_THRESH_BINARY);
+    imagePreProcess(src_bin);
 //    imshow("gray bin", src_bin);
     if(!findLightBlobs(src_bin, light_blobs)){
         return false;

main.cpp

@@ -32,7 +32,7 @@ mcu_data mcuData = {
         ARMOR_STATE,
         0,
         1,
-        ENEMY_BLUE,
+        ENEMY_RED,
 };
 
 int main(int argc, char *argv[]) {
@@ -57,8 +57,8 @@ int main(int argc, char *argv[]) {
         WrapperHead *video_armor=nullptr;
         WrapperHead *video_energy=nullptr;
         if (from_camera) {
-            video_armor = new CameraWrapper(0/*, "armor"*/);
+            video_armor = new CameraWrapper(0, "armor");
-//            video_energy = new CameraWrapper(1, "energy");
+            video_energy = new CameraWrapper(1, "energy");
         } else {
 //            string armor_video, energy_video;
 //            lastVideo(armor_video, PROJECT_DIR"/armor_video/");
@@ -66,7 +66,7 @@ int main(int argc, char *argv[]) {
 //            lastVideo(energy_video, PROJECT_DIR"/energy_video/");
 //            video_energy = new VideoWrapper(energy_video);
             video_armor = new VideoWrapper("/home/sjturm/Desktop/valid_video/armor/65.avi");
-//            video_energy = new VideoWrapper("/home/sjturm/Desktop/valid_video/energy/121.avi");
+            video_energy = new VideoWrapper("/home/sjturm/Desktop/valid_video/energy/121.avi");
         }
         if (video_armor->init()) {
             LOGM("video_armor source initialization successfully.");
@@ -75,13 +75,13 @@ int main(int argc, char *argv[]) {
             delete video_armor;
             video_armor = nullptr;
         }
-//        if (video_energy->init()) {
+        if (video_energy->init()) {
-//            LOGM("video_energy source initialization successfully.");
+            LOGM("video_energy source initialization successfully.");
-//        } else {
+        } else {
-//            LOGW("video_energy source unavailable!");
+            LOGW("video_energy source unavailable!");
-//            delete video_energy;
+            delete video_energy;
-//            video_energy = nullptr;
+            video_energy = nullptr;
-//        }
+        }
 
         Mat energy_src, armor_src;
         for (int i = 0; i < 10; i++) {

others/include/log.h

@@ -139,7 +139,7 @@
 			GetLocalTime(&te); \
 			LOGM(tag": %dms", (te.wSecond-ts.wSecond)*1000+(te.wMilliseconds-ts.wMilliseconds)); \
 		}while (0)
-	#else
+	#elif defined(Linux)
 		#include <sys/time.h>
 		#define CNT_TIME(tag, codes, ...) do{ \
 			static timeval ts, te; \
@@ -148,6 +148,9 @@
 			gettimeofday(&te, NULL); \
 			LOGM(tag": %.1lfms", (te.tv_sec-ts.tv_sec)*1000.0+(te.tv_usec-ts.tv_usec)/1000.0); \
 		}while (0)
+    #else
+        #warning "Unsupport plantform for CNT_TIME"
+        #define CNT_TIME(tag, codes, ...) codes
     #endif
 #else
 	#define CNT_TIME(tag, codes, ...) codes

others/src/camera/camera_wrapper.cpp

@@ -75,10 +75,10 @@ bool CameraWrapper::init() {
 	LOGM("successfully loaded %s!", filepath);
 #elif defined(Linux)
     CameraSetAeState(h_camera, false);
-    CameraSetExposureTime(h_camera, 8*1000);
+    CameraSetExposureTime(h_camera, 10*1000);
-    CameraSetAnalogGain(h_camera, 16);
+    CameraSetAnalogGain(h_camera, 20);
     if(mode == 0){
-        CameraSetGain(h_camera, 100, 131, 113);
+        CameraSetGain(h_camera, 100, 130, 112);
         CameraSetLutMode(h_camera, LUTMODE_PRESET);
     }
 #endif

tools/create-startup.sh

@@ -1,5 +1,6 @@
 #!/bin/bash
 
-echo "#!/bin/bash" > $2/monitor-run
+echo "#!/bin/bash" > $2/startup-run
-echo "gnome-terminal -- bash -c \"echo sjturm | sudo -S $1/tools/monitor.sh \\\"$2/run --run-with-camera --save-video --wait-uart\\\"\"" >> $2/monitor-run
+echo "$1/tools/auto-pull.sh" >> $2/startup-run
-chmod +x $2/monitor-run
+echo "gnome-terminal -- bash -c \"echo sjturm | sudo -S $1/tools/monitor.sh \\\"$2/run --run-with-camera --save-video --wait-uart\\\"\"" >> $2/startup-run
+chmod +x $2/startup-run