有vofa验证

.gitignore

@@ -1,6 +1,9 @@
 cmake-build-debug
 build
 .idea
+.xmake
+.vscode/.cache
+.vscode/compile_commands.json
 Mark
 armor_box_photo
 tools/TrainCNN/.idea
@@ -9,4 +12,4 @@ tools/TrainCNN/__pycache__
 others/include/config/config.h
 others/MV-UB31-Group0.config
 .DS_Store
-video
+video

.vscode/settings.json

@@ -0,0 +1,8 @@
+{
+        "clangd.arguments": [
+        "--compile-commands-dir=${workspaceFolder}/build",
+        "--completion-style=detailed",
+        "--query-driver=/usr/bin/clang",
+        "--header-insertion=never"
+    ],
+}

CMakeLists.txt

@@ -8,6 +8,8 @@ SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DPATH=\"\\\"${PROJECT_SOURCE_DIR}\\\"\"
 SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -D${CMAKE_SYSTEM_NAME}")
 SET(BIN_NAME "run")
 
+SET(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
 
 FIND_FILE(CONFIG_FOUND "config.h" "others/include/config")
 if (CONFIG_FOUND)
@@ -24,7 +26,7 @@ IF(CCACHE_FOUND)
 ENDIF()
 
 FIND_PACKAGE(Eigen3 REQUIRED)
-FIND_PACKAGE(OpenCV 3 REQUIRED)
+FIND_PACKAGE(OpenCV 4 REQUIRED)
 FIND_PACKAGE(Threads)
 
 LINK_DIRECTORIES(${PROJECT_SOURCE_DIR}/others)

LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2019 xinyang
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

README.md

@@ -13,6 +13,12 @@
 
 **如有BUG或者想交流的朋友欢迎积极联系我们**
 
+**分享部分比赛时摄像头录制的视频:**
+
+链接: https://pan.baidu.com/s/1LwxEpeYYblX3cSzb59MTVg 提取码: 84ju 复制这段内容后打开百度网盘手机App，操作更方便哦
+
+---
+
 运行效果：自瞄帧率120（摄像头最大帧率）,识别距离根据环境不同大约8米左右(5mm焦距镜头)。
 
 ![front](https://github.com/lloi7/SJTU-RM-CV-2019/blob/master/picture0.png)
@@ -24,6 +30,8 @@
 | ---------------------------------------------------- | -------------------------------------------- | ------------------------------------------------------------ | ---------------------------------------------------------- |
 | IntelNUC<br />MindVision工业相机×１<br />USB转TTL×１ | Ubuntu18.04<br />Ubuntu16.04<br />Ｗindows10 | OpenCV3.4.5<br />OpenCV_contrib3.4.5<br />Eigen3<br />MindVision相机驱动 | Ubuntu18/16 : cmake3+gcc7+g++7 <br />Win10 : cmake3+VS2019 |
 
+MindVision相机型号：MV-UBS31GC
+
 **关于Windows环境下的运行支持，仅保证程序可以编译运行。对与部分辅助功能，如生成自启动脚本则不支持。**
 
 **实际装载在步兵和哨兵上的运行环境为Ubuntu18.04。**
@@ -60,6 +68,8 @@ sudo ./run
 
 ```./run --help```可以查看所有命令行参数及其作用。所有调试选项都集成到了命令行参数中。
 
+**不使用任何参数直接运行将没有任何图像显示。**
+
 需要调参的部分：主要需要根据车辆情况而调参的参数存放在others/include/config/setconfig.h中
 
 ### 3.工作条件
@@ -118,7 +128,7 @@ sudo ./run
 ### 1.自瞄装甲板识别方式
 
 ​    首先对图像进行通道拆分以及二值化操作，再进行开闭运算，通过边缘提取和条件限制得出可能为灯条的部分。再对所有可能的灯条进行两两匹配，根据形状大小特性进行筛选，得出可能为装甲板的候选区。然后把所有候选区交给分类器判断，得出真实的装甲板及其数字id。最后根据优先级选取最终击打目标以及后续处理。
-
+​     ![autoaim](https://github.com/lloi7/SJTU-RM-CV-2019/blob/master/自瞄流程图.png)
 ### 2.能量机关识别方式
 
 ​    首先对图像进行二值化操作，然后进行一定腐蚀和膨胀，通过边缘提取和条件限制得出待击打叶片（锤子形）。在待击打叶片范围内进一步用类似方法寻找目标装甲板和流动条，在二者连线上寻找中心的“R”。根据目标装甲板坐标和中心坐标计算极坐标系下的目标角度，进而预测待击打点的坐标（小符为装甲板本身，大符需要旋转）。最后将待击打点坐标和图像中心的差值转换为yaw和pitch轴角度，增加一环PID后发送给云台主控板。

armor/include/armor_finder/armor_finder.h

@@ -9,7 +9,7 @@
 #include <systime.h>
 #include <constants.h>
 #include <opencv2/core.hpp>
-#include <opencv2/tracking.hpp>
+#include <opencv2/tracking/tracking.hpp>
 #include <serial.h>
 #include <armor_finder/classifier/classifier.h>
 #include <additions.h>
@@ -20,8 +20,8 @@
 #define BOX_RED     ENEMY_RED
 #define BOX_BLUE    ENEMY_BLUE
 
-#define IMAGE_CENTER_X      (320)
-#define IMAGE_CENTER_Y      (240-20)
+#define IMAGE_CENTER_X      (640)
+#define IMAGE_CENTER_Y      (512-20)
 
 #define DISTANCE_HEIGHT_5MM (10700.0)     // 单位: cm*pixel
 #define DISTANCE_HEIGHT     DISTANCE_HEIGHT_5MM
@@ -120,6 +120,10 @@ private:
     vector<systime> time_seq;                           // 一个周期内的时间采样点
     vector<float> angle_seq;                            // 一个周期内的角度采样点
 
+    float yaw_rotation, pitch_rotation;//云台yaw轴和pitch轴应该转到的角度
+    float last_yaw, last_pitch;//PID中微分项
+    float sum_yaw, sum_pitch;//yaw和pitch的累计误差，即PID中积分项
+
     bool findLightBlobs(const cv::Mat &src, LightBlobs &light_blobs);
     bool findArmorBox(const cv::Mat &src, ArmorBox &box);
     bool matchArmorBoxes(const cv::Mat &src, const LightBlobs &light_blobs, ArmorBoxes &armor_boxes);

armor/src/armor_finder/anti_top/anti_top.cpp

@@ -38,6 +38,14 @@ void ArmorFinder::antiTop() {
     // 通过两次装甲角度为零的时间差计算陀螺旋转周期
     // 根据旋转周期计算下一次装甲出现在角度为零的时间点
     if (getPointLength(last_box.getCenter() - target_box.getCenter()) > last_box.rect.height * 1.5) {
+        /* PID相关控制 */
+        sum_yaw = sum_pitch = 0;
+        double dx = target_box.rect.x + target_box.rect.width / 2 - IMAGE_CENTER_X;
+        double dy = target_box.rect.y + target_box.rect.height / 2 - IMAGE_CENTER_Y;
+        double yaw = dx;
+        double pitch = dy;
+        /* PID相关控制 */
+        
         auto front_time = getFrontTime(time_seq, angle_seq);
         auto once_periodms = getTimeIntervalms(front_time, last_front_time);
 //        if (abs(once_periodms - top_periodms[-1]) > 50) {

armor/src/armor_finder/armor_finder.cpp

@@ -54,7 +54,11 @@ ArmorFinder::ArmorFinder(uint8_t &color, Serial &u, const string &paras_folder,
         anti_switch_cnt(0),
         classifier(paras_folder),
         contour_area(0),
-        tracking_cnt(0) {
+        tracking_cnt(0),
+        last_yaw(0), 
+        last_pitch(0), 
+        sum_yaw(0), 
+        sum_pitch(0) {
 }
 
 void ArmorFinder::run(cv::Mat &src) {
@@ -67,7 +71,7 @@ void ArmorFinder::run(cv::Mat &src) {
                 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) {                                          /* 如果分类器不可用 */
                         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::cvtColor(roi, roi_gray, cv::COLOR_RGB2GRAY);
                         cv::threshold(roi_gray, roi_gray, 180, 255, cv::THRESH_BINARY);
                         contour_area = cv::countNonZero(roi_gray);
                     }
@@ -75,6 +79,9 @@ void ArmorFinder::run(cv::Mat &src) {
                     tracker->init(src, target_box.rect);
                     state = TRACKING_STATE;
                     tracking_cnt = 0;
+                    last_yaw = target_box.rect.x + target_box.rect.width / 2 - IMAGE_CENTER_X;
+                    last_pitch = target_box.rect.y + target_box.rect.height / 2 - IMAGE_CENTER_Y;
+                    sum_yaw = sum_pitch = 0;
                     LOGM(STR_CTR(WORD_LIGHT_CYAN, "into track"));
                 }
             }
@@ -82,6 +89,8 @@ void ArmorFinder::run(cv::Mat &src) {
         case TRACKING_STATE:
             if (!stateTrackingTarget(src) || ++tracking_cnt > 100) {    // 最多追踪100帧图像
                 state = SEARCHING_STATE;
+                last_yaw = last_pitch = 0;
+                sum_yaw = sum_pitch = 0;
                 LOGM(STR_CTR(WORD_LIGHT_YELLOW, "into search!"));
             }
             break;
@@ -93,6 +102,11 @@ end:
     if(is_anti_top) { // 判断当前是否为反陀螺模式
         antiTop();
     }else if(target_box.rect != cv::Rect2d()) {
+        if(last_box.rect == cv::Rect2d()) { // 如果上一帧没有目标装甲板
+            sum_yaw = sum_pitch = 0;
+            last_yaw = target_box.rect.x + target_box.rect.width / 2 - IMAGE_CENTER_X;
+            last_pitch = target_box.rect.y + target_box.rect.height / 2 - IMAGE_CENTER_Y;
+        }
         anti_top_cnt = 0;
         time_seq.clear();
         angle_seq.clear();

armor/src/armor_finder/find/find_armor_box.cpp

@@ -156,6 +156,7 @@ bool ArmorFinder::findArmorBox(const cv::Mat &src, ArmorBox &box) {
         for (auto &one_box : armor_boxes) {
             if (one_box.id != 0) {
                 box = one_box;
+                break;
             }
         }
         if (save_labelled_boxes) {

armor/src/armor_finder/find/find_light_blobs.cpp

@@ -83,11 +83,11 @@ bool ArmorFinder::findLightBlobs(const cv::Mat &src, LightBlobs &light_blobs) {
     }else{
         light_threshold = 200;
     }
-    cv::threshold(color_channel, src_bin_light, light_threshold, 255, CV_THRESH_BINARY); // 二值化对应通道
+    cv::threshold(color_channel, src_bin_light, light_threshold, 255, cv::THRESH_BINARY); // 二值化对应通道
     if (src_bin_light.empty()) return false;
     imagePreProcess(src_bin_light);                                  // 开闭运算
 
-    cv::threshold(color_channel, src_bin_dim, 140, 255, CV_THRESH_BINARY); // 二值化对应通道
+    cv::threshold(color_channel, src_bin_dim, 140, 255, cv::THRESH_BINARY); // 二值化对应通道
     if (src_bin_dim.empty()) return false;
     imagePreProcess(src_bin_dim);                                  // 开闭运算
 
@@ -100,8 +100,8 @@ bool ArmorFinder::findLightBlobs(const cv::Mat &src, LightBlobs &light_blobs) {
     std::vector<std::vector<cv::Point>> light_contours_light, light_contours_dim;
     LightBlobs light_blobs_light, light_blobs_dim;
     std::vector<cv::Vec4i> hierarchy_light, hierarchy_dim;
-    cv::findContours(src_bin_light, light_contours_light, hierarchy_light, CV_RETR_CCOMP, CV_CHAIN_APPROX_NONE);
-    cv::findContours(src_bin_dim, light_contours_dim, hierarchy_dim, CV_RETR_CCOMP, CV_CHAIN_APPROX_NONE);
+    cv::findContours(src_bin_light, light_contours_light, hierarchy_light, cv::RETR_CCOMP, cv::CHAIN_APPROX_NONE);
+    cv::findContours(src_bin_dim, light_contours_dim, hierarchy_dim, cv::RETR_CCOMP, cv::CHAIN_APPROX_NONE);
     for (int i = 0; i < light_contours_light.size(); i++) {
         if (hierarchy_light[i][2] == -1) {
             cv::RotatedRect rect = cv::minAreaRect(light_contours_light[i]);

armor/src/armor_finder/send_target/send_target.cpp

@@ -7,6 +7,7 @@
 #include <log.h>
 
 static bool sendTarget(Serial &serial, double x, double y, double z, uint16_t shoot_delay) {
+    
     static short x_tmp, y_tmp, z_tmp;
     uint8_t buff[10];
 
@@ -22,9 +23,12 @@ static bool sendTarget(Serial &serial, double x, double y, double z, uint16_t sh
     fps += 1;
 #endif
 
-    x_tmp = static_cast<short>(x * (32768 - 1) / 100);
+#define MINMAX(value, min, max) value = ((value) < (min)) ? (min) : ((value) > (max) ? (max) : (value))
+
+    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);
@@ -36,19 +40,51 @@ static bool sendTarget(Serial &serial, double x, double y, double z, uint16_t sh
     buff[7] = static_cast<char>((shoot_delay >> 8) & 0xFF);
     buff[8] = static_cast<char>((shoot_delay >> 0) & 0xFF);
     buff[9] = 'e';
-//    if(buff[7]<<8 | buff[8])
-//        cout << (buff[7]<<8 | buff[8]) << endl;
+    //if(buff[7]<<8 | buff[8])
+    //   cout << (buff[7]<<8 | buff[8]) << endl;
     return serial.WriteData(buff, sizeof(buff));
+  
+    
+    // Vofa串口验证
+    
+    //char buff[128];
+    //int len = (buff, "s %lf %lf %lf %d e", x, y, z, shoot_delay);
+    //return serial.WriteData((unsigned char *)buff, len);
+    
+    
+    
 }
 
 bool ArmorFinder::sendBoxPosition(uint16_t shoot_delay) {
     if (target_box.rect == cv::Rect2d()) return false;
-    if (shoot_delay) {
+    /*if (shoot_delay) {
         LOGM(STR_CTR(WORD_BLUE, "next box %dms"), shoot_delay);
-    }
+    }*/
     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;
+
+    // PID
+    #define MAX_YAW 100
+    #define MAX_PITCH 80
+    sum_yaw += dx;
+    sum_pitch += dy;
+    sum_yaw =(sum_yaw > MAX_YAW) ? MAX_YAW : (sum_yaw < -MAX_YAW ? -MAX_YAW : sum_yaw);
+    sum_pitch =(sum_pitch > MAX_PITCH) ? MAX_PITCH : (sum_pitch < -MAX_PITCH ? -MAX_PITCH : sum_pitch);
+    float yaw_I_component = YAW_AIM_KI * sum_yaw;
+    float pitch_I_component = PITCH_AIM_KI * sum_pitch;
+
+    double tmp_yaw = dx;
+    double tmp_pitch = dy;
+    dx = YAW_AIM_KP * dx + YAW_AIM_KI * sum_yaw +
+                   YAW_AIM_KD * (dx - last_yaw);
+    dy = PITCH_AIM_KP * dy + PITCH_AIM_KI * sum_pitch +
+                     PITCH_AIM_KD * (dy - last_pitch);
+
+    last_yaw = tmp_yaw;
+    last_pitch = tmp_pitch;
+    //
+
     double yaw = atan(dx / FOCUS_PIXAL) * 180 / PI;
     double pitch = atan(dy / FOCUS_PIXAL) * 180 / PI;
     double dist = DISTANCE_HEIGHT / rect.height;

armor/src/armor_finder/tracking_state/tracking_state.cpp

@@ -8,13 +8,13 @@
 #include <show_images/show_images.h>
 
 bool ArmorFinder::stateTrackingTarget(cv::Mat &src) {
-    auto pos = target_box.rect;
+    cv::Rect pos(target_box.rect);
     if(!tracker->update(src, pos)){ // 使用KCFTracker进行追踪
         target_box = ArmorBox();
         LOGW("Track fail!");
         return false;
     }
-    if((pos & cv::Rect2d(0, 0, 640, 480)) != pos){
+    if((cv::Rect2d(pos) & cv::Rect2d(0, 0, 640, 480)) != cv::Rect2d(pos)){
         target_box = ArmorBox();
         LOGW("Track out range!");
         return false;
@@ -52,7 +52,7 @@ bool ArmorFinder::stateTrackingTarget(cv::Mat &src) {
             }
         }else{ //　分类器不可用，使用常规方法判断
             cv::Mat roi_gray;
-            cv::cvtColor(roi, roi_gray, CV_RGB2GRAY);
+            cv::cvtColor(roi, roi_gray, cv::COLOR_RGB2GRAY);
             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){

energy/src/energy/find/energy_finder.cpp

@@ -21,12 +21,12 @@ int Energy::findFans(const cv::Mat &src) {
     static Mat src_bin;
     src_bin = src.clone();
     if (src.type() == CV_8UC3) {
-        cvtColor(src_bin, src_bin, CV_BGR2GRAY);//若读取三通道视频文件，需转换为单通道
+        cvtColor(src_bin, src_bin, cv::COLOR_BGR2GRAY);//若读取三通道视频文件，需转换为单通道
     }
     std::vector<vector<Point> > fan_contours;
     FanStruct(src_bin);//图像膨胀，防止图像断开并更方便寻找
     if (show_process)imshow("fan struct", src_bin);
-    findContours(src_bin, fan_contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE);
+    findContours(src_bin, fan_contours, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_NONE);
 
     for (auto &fan_contour : fan_contours) {
         if (!isValidFanContour(src_bin, fan_contour)) {
@@ -54,16 +54,16 @@ int Energy::findArmors(const cv::Mat &src) {
     static Mat src_bin;
     src_bin = src.clone();
     if (src.type() == CV_8UC3) {
-        cvtColor(src_bin, src_bin, CV_BGR2GRAY);//若读取三通道视频文件，需转换为单通道
+        cvtColor(src_bin, src_bin, cv::COLOR_BGR2GRAY);//若读取三通道视频文件，需转换为单通道
     }
     std::vector<vector<Point> > armor_contours;
     std::vector<vector<Point> > armor_contours_external;//用总轮廓减去外轮廓，只保留内轮廓，除去流动条的影响。
 
     ArmorStruct(src_bin);//图像膨胀，防止图像断开并更方便寻找
-    findContours(src_bin, armor_contours, CV_RETR_LIST, CV_CHAIN_APPROX_NONE);
+    findContours(src_bin, armor_contours, cv::RETR_LIST, cv::CHAIN_APPROX_NONE);
     if (show_process)imshow("armor struct", src_bin);
 
-    findContours(src_bin, armor_contours_external, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE);
+    findContours(src_bin, armor_contours_external, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_NONE);
     for (int i = 0; i < armor_contours_external.size(); i++)//去除外轮廓
     {
         unsigned long external_contour_size = armor_contours_external[i].size();
@@ -103,12 +103,12 @@ bool Energy::findCenterR(const cv::Mat &src) {
     static Mat src_bin;
     src_bin = src.clone();
     if (src.type() == CV_8UC3) {
-        cvtColor(src_bin, src_bin, CV_BGR2GRAY);
+        cvtColor(src_bin, src_bin, cv::COLOR_BGR2GRAY);
     }
     std::vector<vector<Point> > center_R_contours;
     CenterRStruct(src_bin);
     if (show_process)imshow("R struct", src_bin);
-    findContours(src_bin, center_R_contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE);
+    findContours(src_bin, center_R_contours, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_NONE);
     for (auto &center_R_contour : center_R_contours) {
         if (!isValidCenterRContour(center_R_contour)) {
             continue;
@@ -139,13 +139,13 @@ bool Energy::findFlowStripFan(const cv::Mat &src) {
     src_bin = src.clone();
     src_copy = src.clone();
     if (src.type() == CV_8UC3) {
-        cvtColor(src_bin, src_bin, CV_BGR2GRAY);//若读取三通道视频文件，需转换为单通道
+        cvtColor(src_bin, src_bin, cv::COLOR_BGR2GRAY);//若读取三通道视频文件，需转换为单通道
     }
     std::vector<vector<Point> > flow_strip_fan_contours;
     FlowStripFanStruct(src_bin);//图像膨胀，防止图像断开并更方便寻找
     if (show_process)imshow("flow strip fan struct", src_bin);
 
-    findContours(src_bin, flow_strip_fan_contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE);
+    findContours(src_bin, flow_strip_fan_contours, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_NONE);
     std::vector<cv::RotatedRect> candidate_flow_strip_fans;
 
     for (auto &flow_strip_fan_contour : flow_strip_fan_contours) {
@@ -175,7 +175,7 @@ bool Energy::findFlowStrip(const cv::Mat &src) {
 
     if (src_bin.type() == CV_8UC1) // 黑白图像
     {
-        cvtColor(src_bin, src_bin, COLOR_GRAY2RGB);
+        cvtColor(src_bin, src_bin, cv::COLOR_GRAY2RGB);
 
     }
     std::vector<cv::RotatedRect> candidate_target_armors = target_armors;
@@ -189,13 +189,13 @@ bool Energy::findFlowStrip(const cv::Mat &src) {
         }
     }
 
-    cvtColor(src_bin, src_bin, CV_BGR2GRAY);//若读取三通道视频文件，需转换为单通道
+    cvtColor(src_bin, src_bin, cv::COLOR_BGR2GRAY);//若读取三通道视频文件，需转换为单通道
 
     FlowStripStruct(src_bin);//图像膨胀，防止图像断开并更方便寻找
     if (show_process)imshow("flow strip struct", src_bin);
 
     std::vector<vector<Point> > flow_strip_contours;
-    findContours(src_bin, flow_strip_contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE);
+    findContours(src_bin, flow_strip_contours, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_NONE);
 
     for (auto candidate_flow_strip_fan: flow_strip_fans) {
         for (auto &flow_strip_contour : flow_strip_contours) {
@@ -261,7 +261,7 @@ bool Energy::findFlowStripWeak(const cv::Mat &src) {
 
     if (src_bin.type() == CV_8UC1) // 黑白图像
     {
-        cvtColor(src_bin, src_bin, COLOR_GRAY2RGB);
+        cvtColor(src_bin, src_bin, cv::COLOR_GRAY2RGB);
 
     }
     std::vector<cv::RotatedRect> candidate_armors = armors;
@@ -275,13 +275,13 @@ bool Energy::findFlowStripWeak(const cv::Mat &src) {
         }
     }
 
-    cvtColor(src_bin, src_bin, CV_BGR2GRAY);//若读取三通道视频文件，需转换为单通道
+    cvtColor(src_bin, src_bin, cv::COLOR_BGR2GRAY);//若读取三通道视频文件，需转换为单通道
 
     FlowStripStruct(src_bin);//图像膨胀，防止图像断开并更方便寻找
     if (show_process)imshow("weak struct", src_bin);
 
     std::vector<vector<Point> > flow_strip_contours;
-    findContours(src_bin, flow_strip_contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE);
+    findContours(src_bin, flow_strip_contours, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_NONE);
 
     for (auto &flow_strip_contour : flow_strip_contours) {
         if (!isValidFlowStripContour(flow_strip_contour)) {
@@ -335,6 +335,4 @@ bool Energy::findCenterROI(const cv::Mat &src) {
                                  Size2f(length * 1.7, length * 1.7), -90);
     return true;
 
-}
-
-
+}

main.cpp

@@ -44,7 +44,9 @@ WrapperHead *video = nullptr;    // 云台摄像头视频源
 Serial serial(115200);                  // 串口对象
 uint8_t last_state = ARMOR_STATE;     // 上次状态，用于初始化
 // 自瞄主程序对象
-ArmorFinder armor_finder(mcu_data.enemy_color, serial, PROJECT_DIR"/tools/para/", mcu_data.anti_top);
+uint8_t enemy_color = ENEMY_BLUE;//RED ro BLUE
+uint8_t forced_anti_top = 1;
+ArmorFinder armor_finder(enemy_color, serial, PROJECT_DIR"/tools/para/", forced_anti_top);
 // 能量机关主程序对象
 Energy energy(serial, mcu_data.enemy_color);
 

others/armor.Config

@@ -5,17 +5,17 @@ resolution :
   image_size : 
   {
     iIndex = 1;
-    acDescription = "640X480 ROI";
+    acDescription = "1280X1024 ROI";
     uBinSumMode = 0;
     uBinAverageMode = 0;
     uSkipMode = 0;
     uResampleMask = 0;
     iHOffsetFOV = 56;
     iVOffsetFOV = 0;
-    iWidthFOV = 640;
-    iHeightFOV = 480;
-    iWidth = 640;
-    iHeight = 480;
+    iWidthFOV = 1280;
+    iHeightFOV = 1024;
+    iWidth = 1280;
+    iHeight = 1024;
     iWidthZoomHd = 0;
     iHeightZoomHd = 0;
     iWidthZoomSw = 0;

others/include/camera/camera_define.h

@@ -662,4 +662,4 @@ typedef void (*CAMERA_PAGE_MSG_PROC)(CameraHandle hCamera,UINT MSG,UINT uParam,P
 #define CAMERA_MEDIA_TYPE_RGB16_PLANAR       (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY48BIT | 0x0024)
 
 
-#endif
+#endif

others/include/camera/camera_wrapper.h

@@ -6,7 +6,7 @@
 #define _CAMERA_WRAPPER_H_
 
 #include <additions.h>
-#include <opencv2/core/core.hpp>
+#include <opencv2/core.hpp>
 #include <camera/wrapper_head.h>
 
 #ifdef Windows
@@ -19,9 +19,9 @@ class CameraWrapper: public WrapperHead {
     friend void cameraCallback(CameraHandle hCamera, BYTE *pFrameBuffer, tSdkFrameHead* pFrameHead,PVOID pContext);
 private:
     const std::string name;
-    int mode;
+    //int mode;
 
-    bool init_done;
+    //bool init_done;
 
     unsigned char* rgb_buffer;
     int camera_cnts;
@@ -33,13 +33,16 @@ private:
     tSdkCameraCapbility tCapability;
     tSdkFrameHead frame_info;
     BYTE *pby_buffer;
-    IplImage* iplImage;
+    cv::Mat image_header;
     int channel;
 
     RoundQueue<cv::Mat, 2> src_queue;
 public:
     int gain;
     int exposure;
+    
+    int mode;
+    bool init_done;
 
     CameraWrapper(int exposure, int gain, int camera_mode=1, const std::string &n="NULL");
     ~CameraWrapper() final;
@@ -52,4 +55,4 @@ public:
 };
 
 
-#endif /* _CAMERA_WRAPPER_H_ */
+#endif /* _CAMERA_WRAPPER_H_ */

others/include/config/setconfig.h

@@ -4,6 +4,7 @@
 #ifndef _SETCONFIG_H_
 #define _SETCONFIG_H_
 
+#define WITH_CONFIG
 
 #ifdef WITH_CONFIG
     #include <config/config.h>
@@ -49,13 +50,13 @@
     #define YAW_AIM_KI (0.01)
 #endif
 #ifndef PITCH_AIM_KD
-    #define PITCH_AIM_KD (0.4)
+    #define PITCH_AIM_KD (0)
 #endif
 #ifndef PITCH_AIM_KP
-    #define PITCH_AIM_KP (0.75)
+    #define PITCH_AIM_KP (0)
 #endif
 #ifndef PITCH_AIM_KI
-    #define PITCH_AIM_KI (0.01)
+    #define PITCH_AIM_KI (0)
 #endif
 
 #ifndef RED_COMPENSATE_YAW

others/include/constants.h

@@ -19,6 +19,6 @@
 
 #define FOCUS_PIXAL_8MM  (1488)
 #define FOCUS_PIXAL_5MM  (917)
-#define FOCUS_PIXAL      FOCUS_PIXAL_5MM
+#define FOCUS_PIXAL      FOCUS_PIXAL_8MM
 
 #endif /* _CONSTANTS_H */

others/include/log.h

@@ -32,6 +32,7 @@
 
 #include <stdio.h>
 #include <systime.h>
+#include <iostream>
 
 /************** Define the control code *************/
 #define START_CTR           "\033[0"

others/src/additions.cpp

@@ -36,10 +36,10 @@ void uartReceive(Serial *pSerial) {
         pSerial->ReadData((uint8_t *) buffer, sizeof(mcu_data)+1);
         if (buffer[sizeof(mcu_data)] == '\n') {
             memcpy(&mcu_data, buffer, sizeof(mcu_data));
-//            LOGM("Get, state:%c, mark:%d!", mcu_data.state, (int) mcu_data.mark);
-//            LOGM("Get yaw: %f, pitch: %f!", mcu_data.curr_yaw, mcu_data.curr_pitch);
-//            LOGM("Get delta x: %d, delta y: %d!", mcu_data.delta_x, mcu_data.delta_y);
-//            static int t = time(nullptr);
+           LOGM("Get, state:%c, mark:%d!", mcu_data.state, (int) mcu_data.mark);
+           LOGM("Get yaw: %f, pitch: %f!", mcu_data.curr_yaw, mcu_data.curr_pitch);
+            LOGM("Get delta x: %d, delta y: %d!", mcu_data.delta_x, mcu_data.delta_y);
+ //           static int t = time(nullptr);
 //            static int cnt = 0;
 //            if(time(nullptr) > t){
 //                t = time(nullptr);
@@ -77,8 +77,12 @@ bool checkReconnect(bool is_camera_connect) {
     if (!is_camera_connect) {
         int curr_gain = ((CameraWrapper* )video)->gain;
         int curr_exposure = ((CameraWrapper* )video)->exposure;
+        int curr_mode = ((CameraWrapper* )video)->mode; // 获取原始模式
+        
         delete video;
-        video = new CameraWrapper(curr_exposure, curr_gain, 0/*, "armor"*/);
+        std::this_thread::sleep_for(std::chrono::milliseconds(500)); // 等待硬件释放
+        video = new CameraWrapper(curr_exposure, curr_gain, curr_mode/*, "armor"*/);
+        //video = new CameraWrapper(curr_exposure, curr_gain, 0/*, "armor"*/);
         is_camera_connect = video->init();
     }
     return is_camera_connect;
@@ -103,14 +107,14 @@ void extract(cv::Mat &src) {//图像预处理，将视频切成640×480的大小
     if (src.empty()) return;
     float length = static_cast<float>(src.cols);
     float width = static_cast<float>(src.rows);
-    if (length / width > 640.0 / 480.0) {
-        length *= 480.0 / width;
-        resize(src, src, cv::Size(length, 480));
-        src = src(Rect((length - 640) / 2, 0, 640, 480));
+    if (length / width > 1280.0 / 1024.0) {
+        length *= 1024 / width;
+        resize(src, src, cv::Size(length, 1024));
+        src = src(Rect((length - 1280) / 2, 0, 1280, 1024));
     } else {
-        width *= 640.0 / length;
-        resize(src, src, cv::Size(640, width));
-        src = src(Rect(0, (width - 480) / 2, 640, 480));
+        width *= 1280.0 / length;
+        resize(src, src, cv::Size(1280, width));
+        src = src(Rect(0, (width - 1024) / 2, 1280, 1024));
     }
 }
 

others/src/camera/camera_wrapper.cpp

@@ -17,7 +17,6 @@ CameraWrapper::CameraWrapper(int exposure, int gain, int camera_mode, const std:
         mode(camera_mode),
         camera_cnts(2),
         camera_status(-1),
-        iplImage(nullptr),
         rgb_buffer(nullptr),
         channel(3),
         gain(gain),
@@ -27,9 +26,11 @@ CameraWrapper::CameraWrapper(int exposure, int gain, int camera_mode, const std:
 void cameraCallback(CameraHandle hCamera, BYTE *pFrameBuffer, tSdkFrameHead* pFrameHead,PVOID pContext){
     CameraWrapper *c = (CameraWrapper*)pContext;
     CameraImageProcess(hCamera, pFrameBuffer, c->rgb_buffer, pFrameHead);
-    auto iplImage = cvCreateImageHeader(cvSize(pFrameHead->iWidth, pFrameHead->iHeight), IPL_DEPTH_8U, c->channel);
-    cvSetData(iplImage, c->rgb_buffer, pFrameHead->iWidth * c->channel);  //此处只是设置指针，无图像块数据拷贝，不需担心转换效率
-    c->src_queue.push(cv::cvarrToMat(iplImage).clone());
+    // 使用 cv::Mat 替代 IplImage
+    cv::Mat img(pFrameHead->iHeight, pFrameHead->iWidth, 
+                c->channel == 3 ? CV_8UC3 : CV_8UC1, 
+                c->rgb_buffer, pFrameHead->iWidth * c->channel);
+    c->src_queue.push(img.clone());
 }
 
 bool CameraWrapper::init() {
@@ -37,6 +38,7 @@ bool CameraWrapper::init() {
     int camera_enumerate_device_status = CameraEnumerateDevice(camera_enum_list, &camera_cnts);
     if (camera_enumerate_device_status != CAMERA_STATUS_SUCCESS) {
         LOGE("CameraEnumerateDevice fail with %d!", camera_enumerate_device_status);
+        return false;
     }
     if (camera_cnts == 0) {
         LOGE("No camera device detected!");
@@ -134,15 +136,9 @@ bool CameraWrapper::read(cv::Mat &src) {
 
 bool CameraWrapper::readRaw(cv::Mat &src) {
     if (CameraGetImageBuffer(h_camera, &frame_info, &pby_buffer, 500) == CAMERA_STATUS_SUCCESS) {
-        if (iplImage) {
-            cvReleaseImageHeader(&iplImage);
-        }
-
-        iplImage = cvCreateImageHeader(cvSize(frame_info.iWidth, frame_info.iHeight), IPL_DEPTH_8U, 1);
-
-        cvSetData(iplImage, pby_buffer, frame_info.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
-
-        src = cv::cvarrToMat(iplImage).clone();
+        // 使用 cv::Mat 替代 IplImage
+        cv::Mat img(frame_info.iHeight, frame_info.iWidth, CV_8UC1, pby_buffer, frame_info.iWidth);
+        src = img.clone();
 
         //在成功调用CameraGetImageBuffer后，必须调用CameraReleaseImageBuffer来释放获得的buffer。
         //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
@@ -156,16 +152,13 @@ bool CameraWrapper::readRaw(cv::Mat &src) {
 }
 
 bool CameraWrapper::readProcessed(cv::Mat &src) {
-//	cerr << "Get-1" << endl;
     if (CameraGetImageBuffer(h_camera, &frame_info, &pby_buffer, 500) == CAMERA_STATUS_SUCCESS) {
         CameraImageProcess(h_camera, pby_buffer, rgb_buffer,
                            &frame_info);  // this function is super slow, better not to use it.
-        if (iplImage) {
-            cvReleaseImageHeader(&iplImage);
-        }
-        iplImage = cvCreateImageHeader(cvSize(frame_info.iWidth, frame_info.iHeight), IPL_DEPTH_8U, channel);
-        cvSetData(iplImage, rgb_buffer, frame_info.iWidth * channel);  //此处只是设置指针，无图像块数据拷贝，不需担心转换效率
-        src = cv::cvarrToMat(iplImage).clone();
+        // 使用 cv::Mat 替代 IplImage
+        int mat_type = (channel == 3) ? CV_8UC3 : CV_8UC1;
+        cv::Mat img(frame_info.iHeight, frame_info.iWidth, mat_type, rgb_buffer, frame_info.iWidth * channel);
+        src = img.clone();
         //在成功调用CameraGetImageBuffer后，必须调用CameraReleaseImageBuffer来释放获得的buffer。
         //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
         CameraReleaseImageBuffer(h_camera, pby_buffer);
@@ -193,4 +186,4 @@ CameraWrapper::~CameraWrapper() {
     //注意，先反初始化后再free
     if (rgb_buffer != nullptr)
         free(rgb_buffer);
-}
+}

others/src/options.cpp

@@ -6,19 +6,20 @@
 #include <log.h>
 #include <cstring>
 #include <map>
+#include <string>
 
-bool show_armor_box = false;
+bool show_armor_box = true;
 bool show_armor_boxes = false;
 bool show_light_blobs = false;
 bool show_origin = false;
-bool run_with_camera = false;
+bool run_with_camera = true;
 bool save_video = false;
 bool wait_uart = false;
 bool save_labelled_boxes = false;
 bool show_process = false;
 bool show_energy = false;
 bool save_mark = false;
-bool show_info = false;
+bool show_info = true;
 bool run_by_frame = false;
 
 // 使用map保存所有选项及其描述和操作，加快查找速度。

others/src/serial.cpp

@@ -181,7 +181,7 @@ bool Serial::ReadData(unsigned char *buffer,  unsigned int length) {
 using namespace std;
 
 string get_uart_dev_name() {
-    FILE *ls = popen("ls /dev/ttyUSB* --color=never", "r");
+    FILE *ls = popen("ls /dev/ttyCH341USB* --color=never", "r");
     char name[20] = {0};
     fscanf(ls, "%s", name);
     return name;

tools/tty-permission.sh

@@ -0,0 +1,3 @@
+#!/bin/sh
+
+sudo touch /etc/udev/rules.d/70-ttyusb.rules