VSAG/vision_sjtu_19
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fix bug.

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This commit is contained in:
xinyang
2019-07-09 18:45:00 +08:00
parent cdef78ddde
commit cd5528cfb7
3 changed files with 3 additions and 19 deletions
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4
armor/include/armor_finder/armor_finder.h
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@@ -30,7 +30,7 @@ private:
typedef cv::TrackerKCF TrackerToUse; // Tracker类型定义
typedef enum{
WEAKSEARCHING_STATE, SEARCHING_STATE, TRACKING_STATE, STANDBY_STATE
SEARCHING_STATE, TRACKING_STATE, STANDBY_STATE
} State; // 自瞄状态枚举定义
const uint8_t &enemy_color; // 敌方颜色，引用外部变量，自动变化
@@ -41,8 +41,6 @@ private:
Classifier classifier; // CNN分类器对象实例，用于数字识别
int contour_area; // 装甲区域亮点个数，用于数字识别未启用时判断是否跟丢（已弃用）
int tracking_cnt; // 记录追踪帧数，用于定时退出追踪
int miss_cnt; //
int weak_cnt; //
Serial &serial; // 串口对象，引用外部变量，用于和能量机关共享同一个变量
const uint8_t &use_classifier; // 标记是否启用CNN分类器，引用外部变量，自动变化

16
armor/src/armor_finder/armor_finder.cpp
View File

@@ -28,9 +28,7 @@ ArmorFinder::ArmorFinder(uint8_t &color, Serial &u, const string &paras_folder,
contour_area(0),
use_classifier(use),
boxid(-1),
tracking_cnt(0),
miss_cnt(0),
weak_cnt(0)
tracking_cnt(0)
{
}
@@ -44,16 +42,8 @@ void ArmorFinder::run(cv::Mat &src) {
// stateSearchingTarget(src_use); // for debug
// return;
switch (state){
case WEAKSEARCHING_STATE:
if(stateSearchingTarget(src_use) && ++weak_cnt>5){
miss_cnt = 0;
state = SEARCHING_STATE;
}else{
weak_cnt = 0;
}
case SEARCHING_STATE:
if(stateSearchingTarget(src_use)){
miss_cnt = 0;
if((armor_box & cv::Rect2d(0, 0, 640, 480)) == armor_box) { // 判断装甲板区域是否脱离图像区域
if(!classifier || !use_classifier){ /* 如果分类器不可用或者不使用分类器 */
cv::Mat roi = src_use.clone()(armor_box), roi_gray; /* 就使用装甲区域亮点数判断是否跟丢 */
@@ -67,14 +57,10 @@ void ArmorFinder::run(cv::Mat &src) {
tracking_cnt = 0;
LOGM(STR_CTR(WORD_LIGHT_CYAN, "into track"));
}
}else if(++miss_cnt>100){
weak_cnt = 0;
state = WEAKSEARCHING_STATE;
}
break;
case TRACKING_STATE:
if(!stateTrackingTarget(src_use) || ++tracking_cnt>100){ // 最多追踪100帧图像
miss_cnt = 0;
state = SEARCHING_STATE;
LOGM(STR_CTR(WORD_LIGHT_YELLOW ,"into search!"));
}

2
armor/src/armor_finder/searching_state/searching_state.cpp
View File

@@ -291,7 +291,7 @@ bool ArmorFinder::stateSearchingTarget(cv::Mat &src) {
showArmorBoxVector("boxes", src, armor_boxes);
cv::waitKey(1);
}
if (classifier && use_classifier && state!=WEAKSEARCHING_STATE) {
if (classifier && use_classifier) {
for (auto box : armor_boxes) {
cv::Mat roi = src(box).clone();
cv::resize(roi, roi, cv::Size(48, 36));