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This commit is contained in:
xinyang
2019-07-09 14:16:01 +08:00
parent 8866f43b56
commit cdef78ddde
7 changed files with 62 additions and 47 deletions
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6
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{
SEARCHING_STATE, TRACKING_STATE, STANDBY_STATE
WEAKSEARCHING_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
@@ -40,9 +40,13 @@ private:
cv::Ptr<cv::Tracker> tracker; // tracker对象实例
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
bool stateSearchingTarget(cv::Mat &src); // searching state主函数
bool stateTrackingTarget(cv::Mat &src); // tracking state主函数
bool stateStandBy(); // stand by state主函数（已弃用）

34
armor/src/armor_finder/armor_finder.cpp
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@@ -8,17 +8,17 @@
#include <opencv2/highgui.hpp>
#include <armor_finder/armor_finder.h>
std::map<int, string> id2name = {
std::map<int, string> id2name = { //装甲板id到名称的map
{-1, "OO"},{ 0, "NO"},
{ 1, "B1"},{ 2, "B2"},{ 3, "B3"},{ 4, "B4"},{ 5, "B5"},{ 6, "B7"},{ 7, "B8"},
{ 8, "R1"},{ 9, "R2"},{10, "R3"},{11, "R4"},{12, "R5"},{13, "R7"},{14, "R8"},
}; //装甲板id到名称的map
};
std::map<string, int> name2id = {
std::map<string, int> name2id = { //装甲板名称到id的map
{"OO", -1},{"NO", 0},
{"B1", 1},{"B2", 2},{"B3", 3},{"B4", 4},{"B5", 5},{"B7", 6},{"B8", 7},
{"R1", 8},{"R2", 9},{"R3", 10},{"R4", 11},{"R5", 12},{"R7", 13},{"R8", 14},
}; //装甲板名称到id的map
};
ArmorFinder::ArmorFinder(uint8_t &color, Serial &u, const string &paras_folder, const uint8_t &use) :
serial(u),
@@ -27,23 +27,33 @@ ArmorFinder::ArmorFinder(uint8_t &color, Serial &u, const string &paras_folder,
classifier(paras_folder),
contour_area(0),
use_classifier(use),
boxid(-1)
boxid(-1),
tracking_cnt(0),
miss_cnt(0),
weak_cnt(0)
{
}
void ArmorFinder::run(cv::Mat &src) {
static int tracking_cnt = 0; // 记录追踪帧数，用于定时退出追踪
cv::Mat src_use = src.clone(); // 实际参与计算的图像对象
if(show_armor_box){ // 根据条件显示当前目标装甲板
showArmorBox("box", src, armor_box, boxid);
cv::waitKey(1);
}
// stateSearchingTarget(src_use);
// 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 */
@@ -57,10 +67,14 @@ 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(++tracking_cnt>100 || !stateTrackingTarget(src_use)){ // 最多追踪100帧图像
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!"));
}
@@ -71,10 +85,6 @@ void ArmorFinder::run(cv::Mat &src) {
}
}
#define FOCUS_PIXAL_8MM (1488)
#define FOCUS_PIXAL_5MM (917)
#define FOCUS_PIXAL FOCUS_PIXAL_5MM
bool sendTarget(Serial& serial, double x, double y, double z) {
static short x_tmp, y_tmp, z_tmp;
static time_t last_time = time(nullptr);

2
armor/src/armor_finder/searching_state/searching_state.cpp
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@@ -291,7 +291,7 @@ bool ArmorFinder::stateSearchingTarget(cv::Mat &src) {
showArmorBoxVector("boxes", src, armor_boxes);
cv::waitKey(1);
}
if (classifier && use_classifier) {
if (classifier && use_classifier && state!=WEAKSEARCHING_STATE) {
for (auto box : armor_boxes) {
cv::Mat roi = src(box).clone();
cv::resize(roi, roi, cv::Size(48, 36));

4
energy/include/energy/constant.h
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@@ -6,10 +6,8 @@
#include "additions/additions.h"
#define d2r (CV_PI / 180.0)
//#define d2r (CV_PI / 180.0)
const int ALLY_BLUE = ENEMY_RED;
const int ALLY_RED = ENEMY_BLUE;
const int SRC_WIDTH_CAMERA = 640;
const int SRC_HEIGHT_CAMERA = 480;
const int SRC_WIDTH = 320;

4
energy/src/energy/get/aim_point_get.cpp
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@@ -8,10 +8,6 @@
using namespace std;
using namespace cv;
#define FOCUS_PIXAL_5MM (917)
#define FOCUS_PIXAL FOCUS_PIXAL_5MM
//----------------------------------------------------------------------------------------------------------------------
// 此函数通过自瞄逻辑击打目标点，用于大符的自动对心和小符直接打击
// ---------------------------------------------------------------------------------------------------------------------

52
energy/src/energy/tool/tool.cpp
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@@ -8,56 +8,56 @@
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
using namespace cv;
using std::cout;
using std::endl;
using std::vector;
//----------------------------------------------------------------------------------------------------------------------
// 此函数选取图像中的一部分进行处理
// ---------------------------------------------------------------------------------------------------------------------
void Energy::extract(cv::Mat &src){
cv::Rect rect(EXTRACT_POINT_X, EXTRACT_POINT_Y, EXTRACT_WIDTH, EXTRACT_HEIGHT);
src = src(rect).clone();
cv::resize(src, src, cv::Size(640, 480), 2);
imshow("extract", src);
void Energy::extract(cv::Mat &src) {
cv::Rect rect(EXTRACT_POINT_X, EXTRACT_POINT_Y, EXTRACT_WIDTH, EXTRACT_HEIGHT);
src = src(rect).clone();
cv::resize(src, src, cv::Size(640, 480), 2);
imshow("extract", src);
}
//----------------------------------------------------------------------------------------------------------------------
// 此函数用于计算预测的击打点坐标
// ---------------------------------------------------------------------------------------------------------------------
void Energy::rotate() {
int x1, x2, y1, y2;
// 为了减小强制转换的误差
x1 = circle_center_point.x * 100;
x2 = target_point.x * 100;
y1 = circle_center_point.y * 100;
y2 = target_point.y * 100;
int x1, x2, y1, y2;
// 为了减小强制转换的误差
x1 = circle_center_point.x * 100;
x2 = target_point.x * 100;
y1 = circle_center_point.y * 100;
y2 = target_point.y * 100;
predict_point.x = static_cast<int>((x1 + (x2 - x1)*cos(-predict_rad * d2r) - (y1 - y2)*sin(-predict_rad * d2r))/100);
predict_point.y = static_cast<int>((y1 - (x2 - x1)*sin(-predict_rad * d2r) - (y1 - y2)*cos(-predict_rad * d2r))/100);
predict_point.x = static_cast<int>(
(x1 + (x2 - x1) * cos(-predict_rad * PI / 180.0) - (y1 - y2) * sin(-predict_rad * PI / 180.0)) / 100);
predict_point.y = static_cast<int>(
(y1 - (x2 - x1) * sin(-predict_rad * PI / 180.0) - (y1 - y2) * cos(-predict_rad * PI / 180.0)) / 100);
}
//----------------------------------------------------------------------------------------------------------------------
// 此函数将像素差转换到实际距离差
// ---------------------------------------------------------------------------------------------------------------------
void Energy::stretch(cv::Point point_1, cv::Point2f &point_2){
if(point_1==circle_center_point){
void Energy::stretch(cv::Point point_1, cv::Point2f &point_2) {
if (point_1 == circle_center_point) {
// cout<<"stretch wrong!"<<endl;
return;
}
double x_0 = point_1.x - circle_center_point.x;
double y_0 = point_1.y - circle_center_point.y;
double r_0 = sqrt(pow(x_0, 2)+ pow(y_0, 2));
double x_0 = point_1.x - circle_center_point.x;
double y_0 = point_1.y - circle_center_point.y;
double r_0 = sqrt(pow(x_0, 2) + pow(y_0, 2));
point_2.x = static_cast<float >( ARMOR_CENTER_TO_CYCLE_CENTER * x_0 / r_0);
point_2.y = static_cast<float >( ARMOR_CENTER_TO_CYCLE_CENTER * y_0 / r_0);
point_2.x = static_cast<float >( ARMOR_CENTER_TO_CYCLE_CENTER * x_0 / r_0);
point_2.y = static_cast<float >( ARMOR_CENTER_TO_CYCLE_CENTER * y_0 / r_0);
}
@@ -65,10 +65,10 @@ void Energy::stretch(cv::Point point_1, cv::Point2f &point_2){
// 此函数用于计算两点距离
// ---------------------------------------------------------------------------------------------------------------------
double Energy::pointDistance(cv::Point point_1, cv::Point point_2){
double Energy::pointDistance(cv::Point point_1, cv::Point point_2) {
double distance = 0;
distance = sqrt(pow(static_cast<double>(point_1.x - point_2.x),2)
+ pow(static_cast<double>(point_1.y - point_2.y),2));
distance = sqrt(pow(static_cast<double>(point_1.x - point_2.x), 2)
+ pow(static_cast<double>(point_1.y - point_2.y), 2));
return distance;
}

7
others/include/constants.h
View File

@@ -10,8 +10,15 @@
#define ENEMY_BLUE 0
#define ENEMY_RED 1
#define ALLY_BLUE ENEMY_RED
#define ALLY_RED ENEMY_BLUE
#define BIG_ENERGY_STATE 'b'
#define SMALL_ENERGY_STATE 's'
#define ARMOR_STATE 'a'
#define FOCUS_PIXAL_8MM (1488)
#define FOCUS_PIXAL_5MM (917)
#define FOCUS_PIXAL FOCUS_PIXAL_5MM
#endif /* _CONSTANTS_H */