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新版反陀螺。

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This commit is contained in:
xinyang
2019-08-03 19:00:46 +08:00
parent cdd6716214
commit ef32b54761
18 changed files with 148 additions and 73 deletions
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43
armor/src/armor_finder/anti_top/anti_top.cpp
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@@ -13,7 +13,7 @@ static double boxDistance(const cv::Rect2d &a, const cv::Rect2d &b) {
return sqrt(dist.x * dist.x + dist.y * dist.y);
}
template <int length>
template<int length>
static double mean(RoundQueue<double, length> &vec) {
double sum = 0;
for (int i = 0; i < vec.size(); i++) {
@@ -33,13 +33,14 @@ ArmorFinder::BoxRatioChangeType ArmorFinder::getRatioChangeType(RoundQueue<doubl
}
}
/*
void ArmorFinder::antiTop() {
if (armor_box.rect == cv::Rect2d()) return;
if (target_box.rect == cv::Rect2d()) return;
uint16_t shoot_delay = 0;
auto interval = getTimeIntervalms(frame_time, last_front_time);
box_ratioes.push(armor_box.rect.width / armor_box.rect.height);
box_ratioes.push(target_box.rect.width / target_box.rect.height);
auto change_type = getRatioChangeType(box_ratioes);
auto orientation = armor_box.getOrientation();
auto orientation = target_box.getOrientation();
if (interval > 700) {
anti_top_cnt = 0;
if (anti_top_state == ANTI_TOP) {
@@ -76,4 +77,38 @@ void ArmorFinder::antiTop() {
sendBoxPosition(shoot_delay);
}
}
*/
void ArmorFinder::antiTop() {
if (target_box.rect == cv::Rect2d()) return;
uint16_t shoot_delay = 0;
auto interval = getTimeIntervalms(frame_time, last_front_time);
if (anti_top_state == ANTI_TOP && interval > 700) {
anti_top_state = NORMAL;
LOGM(STR_CTR(WORD_YELLOW, "switch to normal"));
}
if (getPointLength(last_box.getCenter() - target_box.getCenter()) > last_box.rect.height * 3.0) {
if (150 < interval && interval < 700) {
if (anti_top_state == ANTI_TOP) {
top_periodms.push(interval);
LOGM(STR_CTR(WORD_LIGHT_GREEN, "top period: %.1lf ms"), interval);
systime curr_time;
getsystime(curr_time);
auto calculate_time = getTimeIntervalms(curr_time, frame_time);
shoot_delay = mean(top_periodms) - calculate_time;
} else {
if (++anti_top_cnt > 4) {
anti_top_state == ANTI_TOP;
LOGM(STR_CTR(WORD_CYAN, "switch to anti-top"));
}
}
}
}
if (anti_top_state == NORMAL) {
sendBoxPosition(0);
} else if (interval < top_periodms[-1] * 0.2){
sendBoxPosition(shoot_delay);
}
}

17
armor/src/armor_finder/armor_box/armor_box.cpp
View File

@@ -8,6 +8,15 @@
ArmorBox::ArmorBox(const cv::Rect &pos, const LightBlobs &blobs, uint8_t color, int i) :
rect(pos), light_blobs(blobs), box_color(color), id(i) {};
cv::Point2f ArmorBox::getCenter() const {
return cv::Point2f(
rect.x + rect.width / 2,
rect.y + rect.height / 2
);
}
double ArmorBox::getBlobsDistance() const {
if (light_blobs.size() == 2) {
auto &x = light_blobs[0].rect.center;
@@ -78,10 +87,10 @@ bool ArmorBox::operator<(const ArmorBox &box) const {
return prior_red[id2name[id]] < prior_red[id2name[box.id]];
}
} else {
auto d1 = (rect.x-IMAGE_CENTER_X)*(rect.x-IMAGE_CENTER_X)
+ (rect.y-IMAGE_CENTER_Y)*(rect.y-IMAGE_CENTER_Y);
auto d2 = (box.rect.x-IMAGE_CENTER_X)*(box.rect.x-IMAGE_CENTER_X)
+ (box.rect.y-IMAGE_CENTER_Y)*(box.rect.y-IMAGE_CENTER_Y);
auto d1 = (rect.x - IMAGE_CENTER_X) * (rect.x - IMAGE_CENTER_X)
+ (rect.y - IMAGE_CENTER_Y) * (rect.y - IMAGE_CENTER_Y);
auto d2 = (box.rect.x - IMAGE_CENTER_X) * (box.rect.x - IMAGE_CENTER_X)
+ (box.rect.y - IMAGE_CENTER_Y) * (box.rect.y - IMAGE_CENTER_Y);
return d1 < d2;
}
}

11
armor/src/armor_finder/armor_finder.cpp
View File

@@ -50,6 +50,9 @@ ArmorFinder::ArmorFinder(uint8_t &color, Serial &u, const string &paras_folder,
serial(u),
enemy_color(color),
state(STANDBY_STATE),
anti_top_cnt(0),
anti_switch_cnt(0),
anti_top_state(NORMAL),
classifier(paras_folder),
contour_area(0),
use_classifier(use),
@@ -63,15 +66,15 @@ void ArmorFinder::run(cv::Mat &src) {
switch (state) {
case SEARCHING_STATE:
if (stateSearchingTarget(src)) {
if ((armor_box.rect & cv::Rect2d(0, 0, 640, 480)) == armor_box.rect) { // 判断装甲板区域是否脱离图像区域
if ((target_box.rect & cv::Rect2d(0, 0, 640, 480)) == target_box.rect) { // 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(armor_box.rect).clone(), roi_gray; /* 就使用装甲区域亮点数判断是否跟丢 */
cv::Mat roi = src(target_box.rect).clone(), roi_gray; /* 就使用装甲区域亮点数判断是否跟丢 */
cv::cvtColor(roi, roi_gray, CV_RGB2GRAY);
cv::threshold(roi_gray, roi_gray, 180, 255, cv::THRESH_BINARY);
contour_area = cv::countNonZero(roi_gray);
}
tracker = TrackerToUse::create(); // 成功搜寻到装甲板，创建tracker对象
tracker->init(src, armor_box.rect);
tracker->init(src, target_box.rect);
state = TRACKING_STATE;
tracking_cnt = 0;
LOGM(STR_CTR(WORD_LIGHT_CYAN, "into track"));
@@ -92,7 +95,7 @@ end:
antiTop();
if (show_armor_box) { // 根据条件显示当前目标装甲板
showArmorBox("box", src, armor_box);
showArmorBox("box", src, target_box);
cv::waitKey(1);
}
}

9
armor/src/armor_finder/find/find_armor_box.cpp
View File

@@ -147,7 +147,14 @@ bool ArmorFinder::findArmorBox(const cv::Mat &src, ArmorBox &box) {
armor_box.id = c;
}
}, armor_boxes.size());
sort(armor_boxes.begin(), armor_boxes.end());
sort(armor_boxes.begin(), armor_boxes.end(), [&](const ArmorBox &a, const ArmorBox &b){
if(last_box.rect != cv::Rect2d()){
return getPointLength(a.getCenter()-last_box.getCenter()) <
getPointLength(b.getCenter()-last_box.getCenter());
}else{
return a < b;
}
});
if(armor_boxes[0].id != 0){
box = armor_boxes[0];
}

21
armor/src/armor_finder/searching_state/searching_state.cpp
View File

@@ -8,10 +8,23 @@
#include <log.h>
bool ArmorFinder::stateSearchingTarget(cv::Mat &src) {
if(findArmorBox(src, armor_box)){
return true;
}else{
armor_box = ArmorBox();
if(anti_switch_cnt >= 3){
last_box = ArmorBox();
}
if (findArmorBox(src, target_box)) {
if (last_box.rect != cv::Rect2d() &&
(getPointLength(last_box.getCenter() - target_box.getCenter()) > last_box.rect.height * 3.0) &&
anti_switch_cnt++ < 3) {
target_box = ArmorBox();
return false;
} else {
last_box = target_box;
anti_switch_cnt = 0;
return true;
}
} else {
target_box = ArmorBox();
anti_switch_cnt++;
return false;
}
}

4
armor/src/armor_finder/send_target/send_target.cpp
View File

@@ -42,11 +42,11 @@ static bool sendTarget(Serial &serial, double x, double y, double z, uint16_t sh
}
bool ArmorFinder::sendBoxPosition(uint16_t shoot_delay) {
if (armor_box.rect == cv::Rect2d()) return false;
if (target_box.rect == cv::Rect2d()) return false;
if (shoot_delay) {
LOGM(STR_CTR(WORD_BLUE, "shoot after %dms"), shoot_delay);
}
auto rect = armor_box.rect;
auto rect = target_box.rect;
double dx = rect.x + rect.width / 2 - IMAGE_CENTER_X;
double dy = rect.y + rect.height / 2 - IMAGE_CENTER_Y;
double yaw = atan(dx / FOCUS_PIXAL) * 180 / PI;

24
armor/src/armor_finder/tracking_state/tracking_state.cpp
View File

@@ -7,13 +7,13 @@
#include <show_images/show_images.h>
bool ArmorFinder::stateTrackingTarget(cv::Mat &src) {
auto pos = armor_box.rect;
auto pos = target_box.rect;
if(!tracker->update(src, pos)){
armor_box = ArmorBox();
target_box = ArmorBox();
return false;
}
if((pos & cv::Rect2d(0, 0, 640, 480)) != pos){
armor_box = ArmorBox();
target_box = ArmorBox();
return false;
}
@@ -32,21 +32,21 @@ bool ArmorFinder::stateTrackingTarget(cv::Mat &src) {
ArmorBox box;
if(findArmorBox(roi, box)) {
armor_box = box;
armor_box.rect.x += bigger_rect.x;
armor_box.rect.y += bigger_rect.y;
for(auto &blob : armor_box.light_blobs){
target_box = box;
target_box.rect.x += bigger_rect.x;
target_box.rect.y += bigger_rect.y;
for(auto &blob : target_box.light_blobs){
blob.rect.center.x += bigger_rect.x;
blob.rect.center.y += bigger_rect.y;
}
tracker = TrackerToUse::create();
tracker->init(src, armor_box.rect);
tracker->init(src, target_box.rect);
}else{
roi = src(pos).clone();
if(classifier){
cv::resize(roi, roi, cv::Size(48, 36));
if(classifier(roi) == 0){
armor_box = ArmorBox();
target_box = ArmorBox();
return false;
}
}else{
@@ -55,12 +55,12 @@ bool ArmorFinder::stateTrackingTarget(cv::Mat &src) {
cv::threshold(roi_gray, roi_gray, 180, 255, cv::THRESH_BINARY);
contour_area = cv::countNonZero(roi_gray);
if(abs(cv::countNonZero(roi_gray) - contour_area) > contour_area * 0.3){
armor_box = ArmorBox();
target_box = ArmorBox();
return false;
}
}
armor_box.rect = pos;
armor_box.light_blobs.clear();
target_box.rect = pos;
target_box.light_blobs.clear();
}
return true;
}