重新整理文件夹结构，并添加CNN训练代码。
This commit is contained in:
xinyang
230
others/src/camera/camera_wrapper.cpp
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230
others/src/camera/camera_wrapper.cpp
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//
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// Created by zhikun on 18-11-7.
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//
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#include <camera/camera_wrapper.h>
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using std::cout;
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using std::endl;
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using namespace cv;
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CameraWrapper::CameraWrapper()
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{
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camera_cnts = 2;
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camera_status0 = -1;
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camera_status1 = -1;
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iplImage0 = nullptr;
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iplImage1 = nullptr;
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channel0 = 3;
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channel1 = 3;
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}
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bool CameraWrapper::init() {
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CameraSdkInit(1);
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//枚举设备，并建立设备列表
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int camera_enumerate_device_status = CameraEnumerateDevice(camera_enum_list, &camera_cnts);
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//cout<<"camera enumerate device status: "<<camera_enumerate_device_status<<endl;
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//cout<<"camera number: "<<camera_cnts<<endl;
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//没有连接设备
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if (camera_cnts == 0) {
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cout<<"No device detected!"<<endl;
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return false;
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}
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else if(camera_cnts == 1)
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{
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cout<<"Only one camera device detected"<<endl;
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return false;
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}
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else if(camera_cnts == 2)
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{
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cout<<"Two camera devices detected."<<endl;
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}
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else
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{
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cout<<"More than 2 cameras detected or some other error occurs."<<endl;
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return false;
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}
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//相机初始化。初始化成功后，才能调用任何其他相机相关的操作接口
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camera_status0 = CameraInit(&camera_enum_list[0], -1, -1, &h_camera0);
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//初始化失败
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if (camera_status0 != CAMERA_STATUS_SUCCESS) {
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cout<<"Camera 0 initialization failed with code "<<camera_status0<<". See camera_status.h to find the code meaning."<<endl;
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return false;
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}
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camera_status1 = CameraInit(&camera_enum_list[1], -1, -1, &h_camera1);
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if (camera_status1 != CAMERA_STATUS_SUCCESS) {
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cout<<"Camera 1 initialization failed with code "<<camera_status1<<". See camera_status.h to find the code meaning."<<endl;
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return false;
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}
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CameraGetFriendlyName(h_camera0, camera_name0);
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CameraGetFriendlyName(h_camera1, camera_name1);
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cout<<"camera names: "<<camera_name0<<" "<<camera_name1<<endl;
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// cout<<camera_name0<<endl;
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// cout<<camera_name1<<endl;
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//如果读取的相机列表不是energy在左，armor在右，则交换相机句柄
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if(strcmp(camera_name0, "armor") != 0)
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{
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swapCameraHandle();
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}
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//获得相机的特性描述结构体。该结构体中包含了相机可设置的各种参数的范围信息。决定了相关函数的参数
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CameraGetCapability(h_camera0, &tCapability0);
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CameraGetCapability(h_camera1, &tCapability1);
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// set resolution to 320*240
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// CameraSetImageResolution(hCamera, &(tCapability.pImageSizeDesc[2]));
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rgb_buffer0 = (unsigned char *)malloc(tCapability0.sResolutionRange.iHeightMax *
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tCapability0.sResolutionRange.iWidthMax * 3);
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rgb_buffer1 = (unsigned char *)malloc(tCapability1.sResolutionRange.iHeightMax *
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tCapability1.sResolutionRange.iWidthMax * 3);
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CameraSetAeState(h_camera0, true); //设置是否自动曝光
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CameraSetAeState(h_camera1, true);
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/*让SDK进入工作模式，开始接收来自相机发送的图像
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数据。如果当前相机是触发模式，则需要接收到
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触发帧以后才会更新图像。 */
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CameraPlay(h_camera0);
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CameraPlay(h_camera1);
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/*其他的相机参数设置
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例如 CameraSetExposureTime CameraGetExposureTime 设置/读取曝光时间
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CameraSetImageResolution CameraGetImageResolution 设置/读取分辨率
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CameraSetGamma、CameraSetConrast、CameraSetGain等设置图像伽马、对比度、RGB数字增益等等。
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CameraGetFriendlyName CameraSetFriendlyName 获取/设置相机名称（该名称可写入相机硬件）
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*/
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// double exposure_time0, exposure_time1;
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// CameraGetExposureTime(h_camera0, &exposure_time0);
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// CameraGetExposureTime(h_camera1, &exposure_time1);
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// cout<<"exposure time "<<exposure_time0<<" "<<exposure_time1<<endl;
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// 抗频闪
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CameraSetAntiFlick(h_camera0, true);
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CameraSetAntiFlick(h_camera1, true);
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if (tCapability0.sIspCapacity.bMonoSensor) {
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channel0 = 1;
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CameraSetIspOutFormat(h_camera0, CAMERA_MEDIA_TYPE_MONO8);
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cout<<"camera0 mono "<<endl;
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} else {
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channel0 = 3;
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CameraSetIspOutFormat(h_camera0, CAMERA_MEDIA_TYPE_BGR8);
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cout<<"camera0 color mode"<<endl;
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}
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if (tCapability1.sIspCapacity.bMonoSensor) {
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channel1 = 1;
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CameraSetIspOutFormat(h_camera1, CAMERA_MEDIA_TYPE_MONO8);
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cout<<"camera1 mono "<<endl;
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} else {
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channel1 = 3;
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CameraSetIspOutFormat(h_camera1, CAMERA_MEDIA_TYPE_BGR8);
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cout<<"camera1 color mode"<<endl;
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}
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return true;
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}
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bool CameraWrapper::read(cv::Mat& src0, cv::Mat& src1) {
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return readRaw(src0, src1); //suit for using bayer hacking in armor_finder to replace process, fast and it can filter red and blue.
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//return readProcessed(src0, src1); // processed color image, but this runs slowly, about half fps of previous one.
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}
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bool CameraWrapper::readRaw(cv::Mat &src0, cv::Mat &src1) {
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if (CameraGetImageBuffer(h_camera0, &frame_info0, &pby_buffer0, 1000) == CAMERA_STATUS_SUCCESS &&
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CameraGetImageBuffer(h_camera1, &frame_info1, &pby_buffer1, 1000) == CAMERA_STATUS_SUCCESS)
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{
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if (iplImage0) {
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cvReleaseImageHeader(&iplImage0);
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}
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if (iplImage1){
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cvReleaseImageHeader(&iplImage1);
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}
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iplImage0 = cvCreateImageHeader(cvSize(frame_info0.iWidth, frame_info0.iHeight), IPL_DEPTH_8U, 1);
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iplImage1 = cvCreateImageHeader(cvSize(frame_info1.iWidth, frame_info1.iHeight), IPL_DEPTH_8U, 1);
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cvSetData(iplImage0, pby_buffer0, frame_info0.iWidth); //此处只是设置指针，无图像块数据拷贝，不需担心转换效率
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cvSetData(iplImage1, pby_buffer1, frame_info1.iWidth);
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src0 = cv::cvarrToMat(iplImage0);
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src1 = cv::cvarrToMat(iplImage1);
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//在成功调用CameraGetImageBuffer后，必须调用CameraReleaseImageBuffer来释放获得的buffer。
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//否则再次调用CameraGetImageBuffer时，程序将被挂起一直阻塞，直到其他线程中调用CameraReleaseImageBuffer来释放了buffer
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CameraReleaseImageBuffer(h_camera0, pby_buffer0);
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CameraReleaseImageBuffer(h_camera1, pby_buffer1);
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return true;
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} else {
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return false;
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}
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}
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bool CameraWrapper::readProcessed(cv::Mat &src0, cv::Mat &src1) {
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if (CameraGetImageBuffer(h_camera0, &frame_info0, &pby_buffer0, 1000) == CAMERA_STATUS_SUCCESS &&
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CameraGetImageBuffer(h_camera1, &frame_info1, &pby_buffer1, 1000) == CAMERA_STATUS_SUCCESS)
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{
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CameraImageProcess(h_camera0, pby_buffer0, rgb_buffer0, &frame_info0); // this function is super slow, better not to use it.
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CameraImageProcess(h_camera1, pby_buffer1, rgb_buffer1, &frame_info1);
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if (iplImage0) {
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cvReleaseImageHeader(&iplImage0);
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}
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if (iplImage1){
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cvReleaseImageHeader(&iplImage1);
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}
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iplImage0 = cvCreateImageHeader(cvSize(frame_info0.iWidth, frame_info0.iHeight), IPL_DEPTH_8U, channel0);
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iplImage1 = cvCreateImageHeader(cvSize(frame_info1.iWidth, frame_info1.iHeight), IPL_DEPTH_8U, channel1);
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cvSetData(iplImage0, rgb_buffer0, frame_info0.iWidth * channel0); //此处只是设置指针，无图像块数据拷贝，不需担心转换效率
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cvSetData(iplImage1, rgb_buffer1, frame_info1.iWidth * channel1);
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src0 = cv::cvarrToMat(iplImage0);
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src1 = cv::cvarrToMat(iplImage1);
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//在成功调用CameraGetImageBuffer后，必须调用CameraReleaseImageBuffer来释放获得的buffer。
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//否则再次调用CameraGetImageBuffer时，程序将被挂起一直阻塞，直到其他线程中调用CameraReleaseImageBuffer来释放了buffer
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CameraReleaseImageBuffer(h_camera0, pby_buffer0);
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CameraReleaseImageBuffer(h_camera1, pby_buffer1);
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return true;
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} else {
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return false;
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}
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}
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CameraWrapper::~CameraWrapper()
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{
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CameraUnInit(h_camera0);
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CameraUnInit(h_camera1);
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//注意，先反初始化后再free
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free(rgb_buffer0);
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free(rgb_buffer1);
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}
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void CameraWrapper::swapCameraHandle() {
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int tmp_h_camera = h_camera0;
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h_camera0 = h_camera1;
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h_camera1 = tmp_h_camera;
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}
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23
others/src/camera/video_wrapper.cpp
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23
others/src/camera/video_wrapper.cpp
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//
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// Created by xixiliadorabarry on 1/24/19.
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//
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#include "camera/video_wrapper.h"
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VideoWrapper::VideoWrapper(const std::string &filename0, const std::string &filename1) {
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video0.open(filename0);
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video1.open(filename1);
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}
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VideoWrapper::~VideoWrapper() = default;
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bool VideoWrapper::init() {
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return video0.isOpened() && video1.isOpened();
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}
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bool VideoWrapper::read(cv::Mat &src_left, cv::Mat &src_right) {
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return video0.read(src_left) && video1.read(src_right);
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}
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67
others/src/options/additions.cpp
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67
others/src/options/additions.cpp
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//
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// Created by xinyang on 19-4-7.
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//
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#include <options/additions.h>
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#include <options/options.h>
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#include <stdio.h>
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#include <log.h>
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#include <opencv2/imgproc.hpp>
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#include <opencv2/imgcodecs.hpp>
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#include <opencv2/videoio.hpp>
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#include <opencv2/highgui.hpp>
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using namespace std;
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#define VIDEO_SAVE_DIR "/home/sjturm/Desktop/video/"
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static cv::VideoWriter *create_video_writer(){
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FILE* info = fopen(VIDEO_SAVE_DIR"info.txt", "r");
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int cnt=0;
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fscanf(info, "%d", &cnt);
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fclose(info);
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info = fopen(VIDEO_SAVE_DIR"info.txt", "w");
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fprintf(info, "%d", ++cnt);
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char name[100];
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sprintf(name, VIDEO_SAVE_DIR"%d.avi", cnt);
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return new cv::VideoWriter(name, cv::VideoWriter::fourcc('P','I','M','1'), 80, cv::Size(640,480),false);
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}
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void save_video_file(cv::Mat &src){
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static cv::VideoWriter *video = create_video_writer();
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video->write(src);
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}
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#define SAVE_DIR "/home/sjturm/Desktop/labelled/"
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int get_labelled_cnt(){
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FILE *fp = fopen(SAVE_DIR"info.txt", "r");
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int cnt=0;
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fscanf(fp, "%d", &cnt);
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fclose(fp);
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return cnt+1;
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}
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void save_labelled_cnt(int cnt){
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FILE *fp = fopen(SAVE_DIR"info.txt", "w");
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fprintf(fp, "%d", cnt);
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fclose(fp);
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}
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void save_labelled_image(cv::Mat &src, cv::Rect2d box){
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static int cnt=get_labelled_cnt();
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char name[50];
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sprintf(name, SAVE_DIR"%d.jpg", cnt);
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cv::imwrite(name, src);
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sprintf(name, SAVE_DIR"%d.txt", cnt);
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FILE *fp = fopen(name, "w");
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if(fp == NULL){
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LOGW("Can't create file: %s!\nStop saving!", name);
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save_labelled = false;
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return;
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}
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fprintf(fp, "%lf %lf %lf %lf\n", box.x, box.y, box.width, box.height);
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fclose(fp);
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save_labelled_cnt(cnt);
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}
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68
others/src/options/options.cpp
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68
others/src/options/options.cpp
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@@ -0,0 +1,68 @@
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//
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// Created by xinyang on 19-3-27.
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//
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#include <options/options.h>
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#include <log.h>
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#include <cstring>
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bool show_armor_box = false;
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bool show_armor_boxes = false;
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bool show_light_blobs = false;
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bool show_origin = false;
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bool save_labelled = false;
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bool run_with_camera = false;
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bool save_video = false;
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bool collect_data = false;
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void process_options(int argc, char *argv[]){
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if(argc >= 2){
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for(int i=1; i<argc; i++){
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if(strcmp(argv[i], "--help") == 0){
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LOGM("--show-armor-box: show the aim box.");
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LOGM("--show-armor-boxes: show the candidate aim boxes.");
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LOGM("--show-light-blobs: show the candidate light blobs.");
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LOGM("--show-origin: show the origin image.");
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LOGM("--save-label: save the image when box found.");
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LOGM("--run-with-camera: start the program with camera directly without asking.");
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LOGM("--save-video: save the video.");
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LOGM("--collect-data: collect data sent from mcu.");
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}else if(strcmp(argv[i], "--show-armor-box") == 0){
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show_armor_box = true;
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LOGM("Enable show armor box");
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}else if(strcmp(argv[i], "--show-armor-boxes") == 0){
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show_armor_boxes = true;
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LOGM("Enable show armor boxes");
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}else if(strcmp(argv[i], "--show-light-blobs") == 0) {
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show_light_blobs = true;
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LOGM("Enable show light blobs");
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}else if(strcmp(argv[i], "--show-origin") == 0) {
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show_origin = true;
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LOGM("Enable show origin");
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}else if(strcmp(argv[i], "--show-all") ==0 ) {
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show_armor_box = true;
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LOGM("Enable show armor box");
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show_armor_boxes = true;
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LOGM("Enable show armor boxes");
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show_light_blobs = true;
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LOGM("Enable show light blobs");
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show_origin = true;
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LOGM("Enable show origin");
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}else if(strcmp(argv[i], "--save-labeled") == 0){
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save_labelled = true;
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LOGM("Enable save labeled");
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}else if(strcmp(argv[i], "--run-with-camera") == 0){
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run_with_camera = true;
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LOGM("Run with camera!");
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}else if(strcmp(argv[i], "--save-video") == 0){
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save_video = true;
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LOGM("Save video!");
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}else if(strcmp(argv[i], "--collect-data") == 0){
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collect_data = true;
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LOGM("Enable data collection!");
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}else{
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LOGW("Unknown option: %s. Use --help to see options.", argv[i]);
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}
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}
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}
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}
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161
others/src/uart/uart.cpp
Normal file
161
others/src/uart/uart.cpp
Normal file
@@ -0,0 +1,161 @@
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//
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// Created by xixiliadorabarry on 1/24/19.
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//
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#include <uart/uart.h>
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#include <energy/param_struct_define.h>
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using std::cout;
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using std::cerr;
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using std::clog;
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using std::dec;
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using std::endl;
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using std::hex;
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GMAngle_t aim;
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Uart::Uart(){
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fd = open("/dev/ttyUSB0", O_RDWR);
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if(fd < 0)
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{
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cerr<<"open port error"<<endl;
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return;
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}
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if(set_opt(fd, 115200, 8, 'N', 1) < 0 )
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{
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cerr<<"set opt error"<<endl;
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return;
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}
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cout<<"uart port success"<<endl;
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buff[0] = 's';
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buff[1] = '+';
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buff[2] = (0 >> 8) & 0xFF;
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buff[3] = 0 & 0xFF;
|
||||
buff[4] = '+';
|
||||
buff[5] = (0 >> 8) & 0xFF;
|
||||
buff[6] = (0 & 0xFF);
|
||||
buff[7] = 'e';
|
||||
|
||||
fps = 0;
|
||||
cur_time = time(nullptr);
|
||||
|
||||
}
|
||||
|
||||
int Uart::set_opt(int fd, int nSpeed, int nBits, char nEvent, int nStop) {
|
||||
termios newtio{}, oldtio{};
|
||||
if (tcgetattr(fd, &oldtio) != 0) {
|
||||
perror("SetupSerial 1");
|
||||
return -1;
|
||||
}
|
||||
bzero(&newtio, sizeof(newtio));
|
||||
newtio.c_cflag |= CLOCAL | CREAD;
|
||||
newtio.c_cflag &= ~CSIZE;
|
||||
|
||||
switch (nBits) {
|
||||
case 7:
|
||||
newtio.c_cflag |= CS7;break;
|
||||
case 8:
|
||||
newtio.c_cflag |= CS8;break;
|
||||
default:break;
|
||||
}
|
||||
|
||||
switch (nEvent) {
|
||||
case 'O': //奇校验
|
||||
newtio.c_cflag |= PARENB;
|
||||
newtio.c_cflag |= PARODD;
|
||||
newtio.c_iflag |= (INPCK | ISTRIP);
|
||||
break;
|
||||
case 'E': //偶校验
|
||||
newtio.c_iflag |= (INPCK | ISTRIP);
|
||||
newtio.c_cflag |= PARENB;
|
||||
newtio.c_cflag &= ~PARODD;
|
||||
break;
|
||||
case 'N': //无校验
|
||||
newtio.c_cflag &= ~PARENB;
|
||||
break;
|
||||
default:break;
|
||||
}
|
||||
|
||||
switch (nSpeed) {
|
||||
case 2400:
|
||||
cfsetispeed(&newtio, B2400);
|
||||
cfsetospeed(&newtio, B2400);
|
||||
break;
|
||||
case 4800:
|
||||
cfsetispeed(&newtio, B4800);
|
||||
cfsetospeed(&newtio, B4800);
|
||||
break;
|
||||
case 9600:
|
||||
cfsetispeed(&newtio, B9600);
|
||||
cfsetospeed(&newtio, B9600);
|
||||
break;
|
||||
case 115200:
|
||||
cfsetispeed(&newtio, B115200);
|
||||
cfsetospeed(&newtio, B115200);
|
||||
break;
|
||||
default:
|
||||
cfsetispeed(&newtio, B9600);
|
||||
cfsetospeed(&newtio, B9600);
|
||||
break;
|
||||
}
|
||||
|
||||
if (nStop == 1) {
|
||||
newtio.c_cflag &= ~CSTOPB;
|
||||
} else if (nStop == 2) {
|
||||
newtio.c_cflag |= CSTOPB;
|
||||
}
|
||||
|
||||
newtio.c_cc[VTIME] = 0;
|
||||
newtio.c_cc[VMIN] = 0;
|
||||
tcflush(fd, TCIFLUSH);
|
||||
if ((tcsetattr(fd, TCSANOW, &newtio)) != 0) {
|
||||
perror("com set error");
|
||||
return -1;
|
||||
}
|
||||
printf("set done!\n");
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
void Uart::sendTarget(float x, float y, float z) {
|
||||
static short x_tmp, y_tmp, z_tmp;
|
||||
|
||||
time_t t = time(nullptr);
|
||||
if(cur_time != t)
|
||||
{
|
||||
cur_time = t;
|
||||
cout<<"fps:"<<fps<<", ("<<x<<","<<y<<","<<z<<")"<<endl;
|
||||
fps = 0;
|
||||
}
|
||||
fps += 1;
|
||||
|
||||
x_tmp= static_cast<short>(x * (32768 - 1) / 100);
|
||||
y_tmp= static_cast<short>(y * (32768 - 1) / 100);
|
||||
z_tmp= static_cast<short>(z * (32768 - 1) / 1000);
|
||||
|
||||
buff[0] = 's';
|
||||
buff[1] = static_cast<char>((x_tmp >> 8) & 0xFF);
|
||||
buff[2] = static_cast<char>((x_tmp >> 0) & 0xFF);
|
||||
buff[3] = static_cast<char>((y_tmp >> 8) & 0xFF);
|
||||
buff[4] = static_cast<char>((y_tmp >> 0) & 0xFF);
|
||||
buff[5] = static_cast<char>((z_tmp >> 8) & 0xFF);
|
||||
buff[6] = static_cast<char>((z_tmp >> 0) & 0xFF);
|
||||
buff[7] = 'e';
|
||||
|
||||
write(fd, buff, 8);
|
||||
|
||||
}
|
||||
|
||||
// 's' + (x) ( 8bit + 8bit ) + (y) ( 8bit + 8bit ) + (z) ( 8bit + 8bit ) + 'e'
|
||||
|
||||
|
||||
uint8_t Uart::receive() {
|
||||
uint8_t data;
|
||||
while(read(fd, &data, 1) < 1);
|
||||
return data;
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user