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fix bug.

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This commit is contained in:
xinyang
2019-07-12 12:47:15 +08:00
parent 1c295e14ac
commit eefee82f18
14 changed files with 12531 additions and 12524 deletions
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2
CMakeLists.txt
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@@ -27,7 +27,7 @@ INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR}/armor/include)
INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR}/others/include) INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR}/others/include)
FILE(GLOB_RECURSE sourcefiles "others/src/*.cpp" "energy/src/*cpp" "armor/src/*.cpp") FILE(GLOB_RECURSE sourcefiles "others/src/*.cpp" "energy/src/*cpp" "armor/src/*.cpp")
ADD_EXECUTABLE(${BIN_NAME} main.cpp ${sourcefiles} others/include/constants.h armor/src/armor_finder/searching_state/find_light_blobs.cpp armor/src/armor_finder/searching_state/find_armor_boxes.cpp) ADD_EXECUTABLE(${BIN_NAME} main.cpp ${sourcefiles})
TARGET_LINK_LIBRARIES(${BIN_NAME} ${CMAKE_THREAD_LIBS_INIT}) TARGET_LINK_LIBRARIES(${BIN_NAME} ${CMAKE_THREAD_LIBS_INIT})
TARGET_LINK_LIBRARIES(${BIN_NAME} ${OpenCV_LIBS}) TARGET_LINK_LIBRARIES(${BIN_NAME} ${OpenCV_LIBS})

40
armor/src/armor_finder/armor_finder.cpp
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@@ -86,43 +86,3 @@ void ArmorFinder::run(cv::Mat &src) {
} }
} }
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);
static int fps;
uint8_t buff[8];
time_t t = time(nullptr);
if (last_time != t) {
last_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';
return serial.WriteData(buff, sizeof(buff));
}
bool ArmorFinder::sendBoxPosition() {
auto rect = armor_box;
double dx = rect.x + rect.width / 2 - 320;
double dy = rect.y + rect.height / 2 - 240 - 20;
double yaw = atan(dx / FOCUS_PIXAL) * 180 / PI;
double pitch = atan(dy / FOCUS_PIXAL) * 180 / PI;
double dist = DISTANCE_HEIGHT / armor_box.height;
// cout << yaw << endl;
return sendTarget(serial, yaw, -pitch, dist);
}

4
armor/src/armor_finder/searching_state/find_light_blobs.cpp
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@@ -21,7 +21,7 @@ bool rectangleContainPoint(cv::RotatedRect rectangle, cv::Point2f point) {
return indicator >= 0; return indicator >= 0;
} }
/// Todo: 下面的函数可以有性能优化，暂时未做。 // 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 &rotrect) { static double nonZeroRateOfRotateRect(const cv::Mat &bin, const cv::RotatedRect &rotrect) {
auto rect = rotrect.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) {
@@ -45,7 +45,7 @@ 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; 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) // 性能优化后的函数
static double nonZeroRateOfRotateRect_opt(const cv::Mat &bin, const cv::RotatedRect &rotrect) { static double nonZeroRateOfRotateRect_opt(const cv::Mat &bin, const cv::RotatedRect &rotrect) {
int cnt = 0; int cnt = 0;
cv::Point2f corners[4]; cv::Point2f corners[4];

46
armor/src/armor_finder/send_target/send_target.cpp Normal file
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@@ -0,0 +1,46 @@
//
// Created by xinyang on 19-7-11.
//
#include <armor_finder/armor_finder.h>
static 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);
static int fps;
uint8_t buff[8];
time_t t = time(nullptr);
if (last_time != t) {
last_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';
return serial.WriteData(buff, sizeof(buff));
}
bool ArmorFinder::sendBoxPosition() {
auto rect = armor_box;
double dx = rect.x + rect.width / 2 - 320;
double dy = rect.y + rect.height / 2 - 240 - 20;
double yaw = atan(dx / FOCUS_PIXAL) * 180 / PI;
double pitch = atan(dy / FOCUS_PIXAL) * 180 / PI;
double dist = DISTANCE_HEIGHT / rect.height;
// cout << yaw << endl;
return sendTarget(serial, yaw, -pitch, dist);
}

8
main.cpp
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@@ -29,17 +29,17 @@ using namespace std;
mcu_data mcuData = { // 单片机端回传结构体 mcu_data mcuData = { // 单片机端回传结构体
0, // 当前云台yaw角 0, // 当前云台yaw角
0, // 当前云台pitch角 0, // 当前云台pitch角
SMALL_ENERGY_STATE, // 当前状态，自瞄-大符-小符 ARMOR_STATE, // 当前状态，自瞄-大符-小符
0, // 云台角度标记位 0, // 云台角度标记位
1, // 是否启用数字识别 1, // 是否启用数字识别
ENEMY_RED, // 敌方颜色 ENEMY_BLUE, // 敌方颜色
}; };
WrapperHead *video_gimble = nullptr; // 云台摄像头视频源 WrapperHead *video_gimble = nullptr; // 云台摄像头视频源
WrapperHead *video_chassis = nullptr; // 底盘摄像头视频源 WrapperHead *video_chassis = nullptr; // 底盘摄像头视频源
Serial serial(115200); // 串口对象 Serial serial(115200); // 串口对象
uint8_t last_state = ARMOR_STATE; // 上次状态，用于初始化 uint8_t last_state = INIT_STATE; // 上次状态，用于初始化
// 自瞄主程序对象 // 自瞄主程序对象
ArmorFinder armorFinder(mcuData.enemy_color, serial, PROJECT_DIR"/tools/para/", mcuData.use_classifier); ArmorFinder armorFinder(mcuData.enemy_color, serial, PROJECT_DIR"/tools/para/", mcuData.use_classifier);
// 能量机关主程序对象 // 能量机关主程序对象
@@ -123,7 +123,7 @@ int main(int argc, char *argv[]) {
// chassis_src = chassis_src(Rect(106, 0, 640, 480)); // chassis_src = chassis_src(Rect(106, 0, 640, 480));
} else { // 自瞄模式 } else { // 自瞄模式
if (last_state != ARMOR_STATE) { if (last_state != ARMOR_STATE) {
((CameraWrapper *) video_gimble)->changeBrightness(40); ((CameraWrapper *) video_gimble)->changeBrightness(30);
} }
last_state = mcuData.state; last_state = mcuData.state;
ok = checkReconnect(video_gimble->read(gimble_src)); ok = checkReconnect(video_gimble->read(gimble_src));

1
others/include/constants.h
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@@ -16,6 +16,7 @@
#define BIG_ENERGY_STATE 'b' #define BIG_ENERGY_STATE 'b'
#define SMALL_ENERGY_STATE 's' #define SMALL_ENERGY_STATE 's'
#define ARMOR_STATE 'a' #define ARMOR_STATE 'a'
#define INIT_STATE 0
#define FOCUS_PIXAL_8MM (1488) #define FOCUS_PIXAL_8MM (1488)
#define FOCUS_PIXAL_5MM (917) #define FOCUS_PIXAL_5MM (917)

12
tools/para/conv1_b
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@@ -1,7 +1,7 @@
6 6
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-0.0030768034 0.75527006
0.24577394 -0.075059906
0.74099255 0.34237406
0.83760846 0.44510886

900
tools/para/conv1_w
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@@ -2,453 +2,453 @@
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