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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。

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This commit is contained in:
xinyang
2019-07-02 20:55:20 +08:00
parent 17fe564f98
commit cb6cf4b2fc
6 changed files with 102 additions and 55 deletions
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2
CMakeLists.txt
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@@ -46,4 +46,4 @@ ELSE ()
MESSAGE(STATUS "Unsupport platform: ${CMAKE_SYSTEM_NAME}") MESSAGE(STATUS "Unsupport platform: ${CMAKE_SYSTEM_NAME}")
ENDIF() ENDIF()
ADD_CUSTOM_TARGET(bind-monitor COMMAND "${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}")

113
armor/src/armor_finder/state_machine/searching_state/searching_state.cpp
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@@ -28,31 +28,90 @@ bool rectangleContainPoint(cv::RotatedRect rectangle, cv::Point2f point)
double indicator = pointPolygonTest(contour,point,true); double indicator = pointPolygonTest(contour,point,true);
return indicator >= 0; return indicator >= 0;
} }
/// Todo: 下面的函数可以有性能优化，暂时未做。 /// 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){ if(rect.x < 0 || rect.y < 0 || rect.x+rect.width > bin.cols || rect.y+rect.height > bin.rows){
// cout << "break" << endl;
return 0; return 0;
} }
auto roi=bin(rect); auto roi=bin(rect);
int cnt=0; int cnt=0;
for(int r=0; r<roi.rows; r++){ for(int r=0; r<roi.rows; r++){
for(int c=0; c<roi.cols; c++){ 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)){ if(roi.at<uint8_t>(r, c)){
cnt++; 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){ 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 < 3000) &&
(rect.size.width*rect.size.height > 1) && (rect.size.width*rect.size.height > 1) &&
// (nonZeroRateOfRotateRect_opt(bin, rect) > 0.8);
(nonZeroRateOfRotateRect(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){ }else if(src.type() == CV_8UC1){
src_gray = src.clone(); src_gray = src.clone();
} }
LightBlobs all;
std::vector<std::vector<cv::Point> > light_contours; std::vector<std::vector<cv::Point> > light_contours;
cv::findContours(src_gray, light_contours, CV_RETR_LIST, CV_CHAIN_APPROX_NONE); 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)){ if(isValidLightBlob(src_gray, rect)){
light_blobs.emplace_back(rect); light_blobs.emplace_back(rect);
} }
all.emplace_back(rect);
} }
showContours("all", src, all);
return light_blobs.size() >= 2; return light_blobs.size() >= 2;
} }
bool angelJudge(const LightBlob &light_blob_i, const LightBlob &light_blob_j) { 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 : 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; 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 : 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) { 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; cv::Point2f centers = light_blob_i.rect.center - light_blob_j.rect.center;
return abs(centers.y)<30; return abs(centers.y)<30;
} }
@@ -101,38 +160,18 @@ bool lengthJudge(const LightBlob &light_blob_i, const LightBlob &light_blob_j) {
double side_length; double side_length;
cv::Point2f centers = light_blob_i.rect.center - light_blob_j.rect.center; cv::Point2f centers = light_blob_i.rect.center - light_blob_j.rect.center;
side_length = sqrt(centers.ddot(centers)); 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); 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) { 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 return (light_blob_i.length / light_blob_j.length < 2
&& light_blob_i.length / light_blob_j.length > 0.5); && 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) { 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) && lengthJudge(light_blob_i, light_blob_j) &&
heightJudge(light_blob_i, light_blob_j) && heightJudge(light_blob_i, light_blob_j) &&
angelJudge(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; double min_x, min_y, max_x, max_y;
min_x = fmin(rect_left.x, rect_right.x) - 4; 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; 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) { if (min_x < 0 || max_x > 640 || min_y < 0 || max_y > 480) {
continue; 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}; int prior_blue[]= {5, 7, 8, 9, 6, 0, 2, 3, 4, 1};
bool ArmorFinder::stateSearchingTarget(cv::Mat &src) { 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; LightBlobs light_blobs, light_blobs_, light_blobs_real;
std::vector<cv::Rect2d> armor_boxes, boxes_number[10]; std::vector<cv::Rect2d> armor_boxes, boxes_number[10];
armor_box = cv::Rect2d(0,0,0,0); armor_box = cv::Rect2d(0,0,0,0);
cv::cvtColor(src, src_gray, CV_BGR2GRAY); 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); // pipelineLightBlobPreprocess(src_gray);
cv::threshold(src_gray, src_bin, 170, 255, CV_THRESH_BINARY); cv::threshold(src_gray, src_bin, 170, 255, CV_THRESH_BINARY);
imagePreProcess(src_bin);
// imshow("gray bin", src_bin); // imshow("gray bin", src_bin);
if(!findLightBlobs(src_bin, light_blobs)){ if(!findLightBlobs(src_bin, light_blobs)){
return false; return false;

22
main.cpp
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@@ -32,7 +32,7 @@ mcu_data mcuData = {
ARMOR_STATE, ARMOR_STATE,
0, 0,
1, 1,
ENEMY_BLUE, ENEMY_RED,
}; };
int main(int argc, char *argv[]) { int main(int argc, char *argv[]) {
@@ -57,8 +57,8 @@ int main(int argc, char *argv[]) {
WrapperHead *video_armor=nullptr; WrapperHead *video_armor=nullptr;
WrapperHead *video_energy=nullptr; WrapperHead *video_energy=nullptr;
if (from_camera) { 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 { } else {
// string armor_video, energy_video; // string armor_video, energy_video;
// lastVideo(armor_video, PROJECT_DIR"/armor_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/"); // lastVideo(energy_video, PROJECT_DIR"/energy_video/");
// video_energy = new VideoWrapper(energy_video); // video_energy = new VideoWrapper(energy_video);
video_armor = new VideoWrapper("/home/sjturm/Desktop/valid_video/armor/65.avi"); 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()) { if (video_armor->init()) {
LOGM("video_armor source initialization successfully."); LOGM("video_armor source initialization successfully.");
@@ -75,13 +75,13 @@ int main(int argc, char *argv[]) {
delete video_armor; delete video_armor;
video_armor = nullptr; 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; Mat energy_src, armor_src;
for (int i = 0; i < 10; i++) { for (int i = 0; i < 10; i++) {

7
others/include/log.h
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@@ -139,7 +139,7 @@
GetLocalTime(&te); \ GetLocalTime(&te); \
LOGM(tag": %dms", (te.wSecond-ts.wSecond)*1000+(te.wMilliseconds-ts.wMilliseconds)); \ LOGM(tag": %dms", (te.wSecond-ts.wSecond)*1000+(te.wMilliseconds-ts.wMilliseconds)); \
}while (0) }while (0)
#else #elif defined(Linux)
#include <sys/time.h> #include <sys/time.h>
#define CNT_TIME(tag, codes, ...) do{ \ #define CNT_TIME(tag, codes, ...) do{ \
static timeval ts, te; \ static timeval ts, te; \
@@ -148,7 +148,10 @@
gettimeofday(&te, NULL); \ gettimeofday(&te, NULL); \
LOGM(tag": %.1lfms", (te.tv_sec-ts.tv_sec)*1000.0+(te.tv_usec-ts.tv_usec)/1000.0); \ LOGM(tag": %.1lfms", (te.tv_sec-ts.tv_sec)*1000.0+(te.tv_usec-ts.tv_usec)/1000.0); \
}while (0) }while (0)
#endif #else
#warning "Unsupport plantform for CNT_TIME"
#define CNT_TIME(tag, codes, ...) codes
#endif
#else #else
#define CNT_TIME(tag, codes, ...) codes #define CNT_TIME(tag, codes, ...) codes
#endif #endif

6
others/src/camera/camera_wrapper.cpp
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@@ -75,10 +75,10 @@ bool CameraWrapper::init() {
LOGM("successfully loaded %s!", filepath); LOGM("successfully loaded %s!", filepath);
#elif defined(Linux) #elif defined(Linux)
CameraSetAeState(h_camera, false); 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){ if(mode == 0){
CameraSetGain(h_camera, 100, 131, 113); CameraSetGain(h_camera, 100, 130, 112);
CameraSetLutMode(h_camera, LUTMODE_PRESET); CameraSetLutMode(h_camera, LUTMODE_PRESET);
} }
#endif #endif

7
tools/bind-monitor.sh → tools/create-startup.sh Normal file → Executable file
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@@ -1,5 +1,6 @@
#!/bin/bash #!/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