commit b8d3598708b58b33e16a6505857cafdc2bd4cf39 Author: lyf <169361657@qq.com> Date: Tue Jun 16 20:13:24 2026 +0800 修改 diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..1521057 --- /dev/null +++ b/.gitignore @@ -0,0 +1,8 @@ +# Xmake cache +.xmake/ +build/ + +# MacOS Cache +.DS_Store + + diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json new file mode 100644 index 0000000..65bfae5 --- /dev/null +++ b/.vscode/c_cpp_properties.json @@ -0,0 +1,17 @@ +{ + "configurations": [ + { + "name": "Linux", + "includePath": [ + "${workspaceFolder}/**", + "/usr/include/opencv4" + ], + "defines": [], + "compilerPath": "/usr/bin/g++", + "cStandard": "c11", + "cppStandard": "c++11", + "intelliSenseMode": "linux-gcc-x64" + } + ], + "version": 4 +} \ No newline at end of file diff --git a/src/main.cpp b/src/main.cpp new file mode 100644 index 0000000..da22471 --- /dev/null +++ b/src/main.cpp @@ -0,0 +1,461 @@ +#include +#include "CameraApi.h" +#include "opencv2/core.hpp" +#include "opencv2/opencv.hpp" +#include "opencv2/highgui/highgui.hpp" +#include +#include +#include +#include +#include + +using namespace cv; + +unsigned char * g_pRgbBuffer; + +struct lightbors +{ + cv::RotatedRect left_lightbors; + cv::RotatedRect right_lightbors; + cv::RotatedRect left_armor; + cv::RotatedRect right_armor; + cv::Point2f armor_center; + cv::Point2f armor_point[4]; // 次序为 左上 -> 右上 -> 右下 -> 左下 + std::string ID; // 装甲板数字 + bool righting = 0; +}; + + +// 长边拉长函数 +cv::RotatedRect stretchLongSide(const cv::RotatedRect& rect, float scale) { + cv::RotatedRect result = rect; + + // 比较 width 和 height，长边是较大的那个 + if (rect.size.width >= rect.size.height) { + result.size.width *= scale; // width 是长边，拉长它 + } else { + result.size.height *= scale; // height 是长边，拉长它 + } + + return result; +} + +// 角点交换函数 +void points_exchange(Point2f points[4]) { + std::vector pts(points, points + 4); + + // Step 1: 按 y 坐标升序排序（y 小在上，y 大在下） + // y 相同则按 x 排序（x 小在左） + std::sort(pts.begin(), pts.end(), [](const Point2f& a, const Point2f& b) { + if (std::abs(a.y - b.y) > 1e-5) { + return a.y < b.y; // y 小的排在前面（上方） + } + return a.x < b.x; // y 相同，x 小的排在前面 + }); + + // Step 2: 分组 —— 上方两点（y 较小）和下方两点（y 较大） + Point2f top1 = pts[0]; // y 最小 + Point2f top2 = pts[1]; // y 次小 + Point2f bottom1 = pts[2]; // y 次大 + Point2f bottom2 = pts[3]; // y 最大 + + // Step 3: 上方两点按 x 排序，确定左上和右上 + Point2f top_left, top_right; + if (top1.x < top2.x) { + top_left = top1; // x 小 → 左上 + top_right = top2; // x 大 → 右上 + } else { + top_left = top2; + top_right = top1; + } + + // Step 4: 下方两点按 x 排序，确定左下和右下 + Point2f bottom_left, bottom_right; + if (bottom1.x < bottom2.x) { + bottom_left = bottom1; // x 小 → 左下 + bottom_right = bottom2; // x 大 → 右下 + } else { + bottom_left = bottom2; + bottom_right = bottom1; + } + + // Step 5: 按顺时针重新赋值：左上 → 右上 → 右下 → 左下 + points[0] = top_left; // 左上 + points[1] = top_right; // 右上 + points[2] = bottom_right; // 右下 + points[3] = bottom_left; // 左下 +} + +// 装甲板计算函数 +void set_light(lightbors& armor_light){ + + armor_light.left_lightbors = stretchLongSide(armor_light.left_lightbors, 2.2f); + armor_light.right_lightbors = stretchLongSide(armor_light.right_lightbors, 2.2f); + // 获取角点并放进数组内部 + Point2f left_points[4]; + Point2f right_points[4]; + armor_light.left_lightbors.points(left_points); + armor_light.right_lightbors.points(right_points); + points_exchange(left_points); + points_exchange(right_points); + + for(size_t i = 0 ; i < 4; i++){ + if (i == 0 || i == 3) + { + armor_light.armor_point[i] = left_points[i]; + }else{ + armor_light.armor_point[i] = right_points[i]; + } + + } + armor_light.armor_center = {(armor_light.left_armor.center.x + armor_light.right_armor.center.x) / 2 , (armor_light.left_armor.center.y + armor_light.right_armor.center.y) / 2}; + +} + +/* +// // 透视变换获取图像 并进行特征变换变为 64 * 64 +// void Per_transformation(const lightbors& armor_light, cv::Mat& endB, cv::Mat outImage){ + +// int dst_w = 64; +// int dst_h = 64; + +// std::vector dst_pts = { +// {0.0f, 0.0f}, +// {(float)dst_w, 0.0f}, +// {(float)dst_w, (float)dst_h}, +// {0.0f, (float)dst_h} +// }; + +// cv::Mat M = cv::getPerspectiveTransform(armor_light.armor_point, dst_pts.data()); +// std::cout << "[DEBUG] M empty: " << M.empty() << std::endl; + +// cv::warpPerspective(endB, outImage, M, cv::Size(dst_w, dst_h)); + +// } +*/ + +void CropAndResize(const lightbors& armor_light, cv::Mat& endB, cv::Mat& outImage) { + + int dst_w = 64; + int dst_h = 64; + + // 计算 armor_point 四个角点的外接矩形 + float min_x = std::min({armor_light.armor_point[0].x, armor_light.armor_point[1].x, + armor_light.armor_point[2].x, armor_light.armor_point[3].x}); + float max_x = std::max({armor_light.armor_point[0].x, armor_light.armor_point[1].x, + armor_light.armor_point[2].x, armor_light.armor_point[3].x}); + float min_y = std::min({armor_light.armor_point[0].y, armor_light.armor_point[1].y, + armor_light.armor_point[2].y, armor_light.armor_point[3].y}); + float max_y = std::max({armor_light.armor_point[0].y, armor_light.armor_point[1].y, + armor_light.armor_point[2].y, armor_light.armor_point[3].y}); + + // 限制在图像范围内 + int x = std::max(0, static_cast(min_x)); + int y = std::max(0, static_cast(min_y)); + int width = std::min(static_cast(max_x) - x, endB.cols - x); + int height = std::min(static_cast(max_y) - y, endB.rows - y); + + if (width <= 0 || height <= 0) { + std::cerr << "[ERROR] Invalid crop region!" << std::endl; + outImage = cv::Mat::zeros(dst_h, dst_w, endB.type()); + return; + } + + // 截取 ROI 并缩放到 64x64 + cv::Rect roi(x, y, width, height); + cv::Mat cropped = endB(roi).clone(); + cv::resize(cropped, outImage, cv::Size(dst_w, dst_h)); +} + +// 自研分类算法 +void distinguish(lightbors& armor_light, std::vector>& contours){ + // 空集反馈 + if (contours.empty()){ + armor_light.ID = "UNKNOWN"; + armor_light.righting = 0; + std::cout << "error" << std::endl; + return; + } + + int max_idx = 0; + double max_area = 0; + for (int i = 0; i < contours.size(); i++) + { + double area = cv::contourArea(contours[i]); + if(area > max_area){ + max_area = area; + max_idx = i; + } + } + auto& contour = contours[max_idx]; + + // ========== 特征 1：多边形顶点数 ========== + std::vector approx; + double epsilon = 0.02 * cv::arcLength(contour, true); + cv::approxPolyDP(contour, approx, epsilon, true); + int vertices = approx.size(); + + // ========== 特征 2：凸缺陷 ========== + std::vector hull_indices; + cv::convexHull(contour, hull_indices, false, false); + std::vector defects; + int defect_count = 0; + + try { + cv::convexityDefects(contour, hull_indices, defects); + double perimeter = cv::arcLength(contour, true); + for (auto& d : defects) { + if (d[3] / 256.0 > perimeter * 0.04) + defect_count++; + } + } catch (const cv::Exception& e) { + // 自相交轮廓，跳过凸缺陷检测 + defect_count = 0; + } + + // ========== 特征 3：宽高比 ========== + cv::Rect rect = cv::boundingRect(contour); + double aspect_ratio = (double)rect.width / rect.height; + + // ========== 特征 4：凸性 ========== + double area = cv::contourArea(contour); + std::vector hull_pts; + cv::convexHull(contour, hull_pts); + double hull_area = cv::contourArea(hull_pts); + double solidity = (hull_area > 0) ? area / hull_area : 0; + + // ========== 特征 5：实心像素密度 ========== + cv::Mat roi_mask = cv::Mat::zeros(64, 64, CV_8UC1); + cv::drawContours(roi_mask, contours, max_idx, 255, cv::FILLED); + cv::Mat filled; + cv::floodFill(roi_mask, cv::Point(32, 32), 255); + int filled_pixels = cv::countNonZero(roi_mask); + double fill_ratio = (hull_area > 0) ? + (double)filled_pixels / (64.0 * 64.0) : 0; + + if (vertices >= 20 && fill_ratio > 0.4) + { + armor_light.righting = 1; + armor_light.ID = "sentinel"; + return; + } + else if (defect_count == 0 && aspect_ratio < 0.5 && vertices <= 8 ) + { + armor_light.righting = 1; + armor_light.ID = "1"; + return; + } + else if (defect_count >= 1 && aspect_ratio >= 0.4) + { + armor_light.righting = 1; + armor_light.ID = "3"; + return; + } + else{ + armor_light.righting = 0; + armor_light.ID = "UNKNOWN"; + return; + } +} + +int main(){ + int iCameraCounts = 1; + int iStatues = -1; + int setStatues = -1; + tSdkCameraDevInfo tCameraEnumList; + double* pfExposureTime; + int hCamera; + tSdkCameraCapbility tCapability; + tSdkFrameHead sFrameInfo; + BYTE* pbyBuffer; + int iDisplatFrames = 10000; + int channel = 3; + + ///////////////////////////////////////////////////////// + std::vector armor; + ///////////////////////////////////////////////////////// + + CameraSdkInit(1); + + iStatues = CameraEnumerateDevice(&tCameraEnumList, &iCameraCounts); + printf("statue = %d\n", iStatues); + + printf("count = %d\n", iCameraCounts); + if(iCameraCounts == 0){ + return -1; + } + + iStatues = CameraInit(&tCameraEnumList, -1, -1, &hCamera); + + printf("state = %d\n", iStatues); + if(iStatues != CAMERA_STATUS_SUCCESS){ + return -1; + } + + CameraGetCapability(hCamera, &tCapability); + + g_pRgbBuffer = (unsigned char*)malloc(tCapability.sResolutionRange.iHeightMax*tCapability.sResolutionRange.iWidthMax*3); + + CameraPlay(hCamera); + CameraSetAeState(hCamera, false); + setStatues = CameraSetExposureTime(hCamera, 3000); + CameraSetGain(hCamera, 100, 70, 50); + // CameraGetExposureLineTime(hCamera, pfExposureTime); + // printf("compuse = %lf", *pfExposureTime); + printf("statue = %d\n", setStatues); + + if(tCapability.sIspCapacity.bMonoSensor){ + channel = 1; + CameraSetIspOutFormat(hCamera, CAMERA_MEDIA_TYPE_MONO8); + }else{ + channel = 3; + CameraSetIspOutFormat(hCamera, CAMERA_MEDIA_TYPE_BGR8); + } + + while(iDisplatFrames){ + + if(CameraGetImageBuffer(hCamera, &sFrameInfo, &pbyBuffer, 1000) == CAMERA_STATUS_SUCCESS){ + + CameraImageProcess(hCamera, pbyBuffer, g_pRgbBuffer, &sFrameInfo); + + cv::Mat matImage( + cv::Size(sFrameInfo.iWidth,sFrameInfo.iHeight), + sFrameInfo.uiMediaType == CAMERA_MEDIA_TYPE_MONO8 ? CV_8UC1 : CV_8UC3, + g_pRgbBuffer + ); + + // 测试图像处理代码 + // 作用为突出数字特征 + cv::Mat grayImage; + cv::cvtColor(matImage, grayImage, cv::COLOR_BGR2GRAY); + cv::Mat endImage; + cv::threshold(grayImage, endImage, 4, 255, cv::THRESH_TOZERO); + cv::threshold(endImage, endImage, 10, 255, cv::THRESH_TOZERO_INV); + cv::Mat reduceguss; + cv::GaussianBlur(endImage, reduceguss, cv::Size(5, 5), 0); + cv::Mat process; + cv::threshold(reduceguss, process, 10, 0, cv::THRESH_TRUNC); + cv::Mat end; + cv::threshold(process, end, 2, 255, cv::THRESH_BINARY); + cv::Mat end_canny; + cv::Canny(end, end_canny, 120, 200); + cv::Mat the_end; + + /* 此内容为灯条检测部分 + 作用为测试灯条检测如何编写 + */ + std::vector channels; + cv::split(matImage, channels); + cv::Mat r = channels[2]; + cv::Mat mask; + cv::threshold(r, mask, 150, 255, cv::THRESH_BINARY); + cv::Mat mask3c; + cv::cvtColor(mask, mask3c, cv::COLOR_GRAY2BGR); + std::vector> counters; + cv::findContours(mask, counters, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_SIMPLE); + std::vector end_rects; + + // 灯条检测逻辑 + for(auto& cnt : counters){ + cv::RotatedRect rotRect = cv::minAreaRect(cnt); + + float area = rotRect.size.width * rotRect.size.height; + if (area < 50 || area > 9000) continue; + float width = std::min(rotRect.size.width, rotRect.size.height); + float height = std::max(rotRect.size.width, rotRect.size.height); + float ratio = height / width; + if (ratio < 4 || ratio > 26) continue; + end_rects.push_back(rotRect); + + cv::Point2f pts[4]; + rotRect.points(pts); + // for (int i = 0; i < 4; i++) + // { + // cv::line(result, pts[i], pts[(i+1)%4], cv::Scalar(0,255,0), 2); + // } + + } + + armor.clear(); + if(end_rects.size() >= 2){ + // 灯条配对逻辑 + for(size_t i = 0; i < end_rects.size()-1; i++){ + for(size_t j = i + 1; j < end_rects.size(); j++){ + + /* + ***** 灯条匹配逻辑 ****** + */ + // 倾斜角度偏差检测 + float angle_TF = end_rects[i].angle - end_rects[j].angle; + if (fabs(angle_TF) > 6)continue; + + // 灯条距离与灯条长度比值检测 + float first_max = std::max(end_rects[i].size.width, end_rects[i].size.height); + float second_max = std::max(end_rects[j].size.width, end_rects[j].size.height); + float getheight = end_rects[i].center.x - end_rects[j].center.x; + float getlight = (first_max + second_max) / 2; + float distance_TF = std::fabs(getheight) / getlight; + if (distance_TF > 2.9 || distance_TF < 2.0)continue; + + /* + ***** 灯条归位并定点 ***** + */ + lightbors armor_light; + + if(end_rects[i].center.x < end_rects[j].center.x){ + armor_light.left_lightbors = end_rects[i]; + armor_light.right_lightbors = end_rects[j]; + }else{ + armor_light.left_lightbors = end_rects[j]; + armor_light.right_lightbors = end_rects[i]; + } + + // 计算每对灯条的装甲板 + set_light(armor_light); + + // 放入装甲板总数组 + armor.push_back(armor_light); + + } + } + + // 此处为字符识别部分，为了降低算力，采用自研的识别算法 + for(auto& cnt_string : armor){ + cv::Mat ROI; + CropAndResize(cnt_string, end_canny, ROI); + + std::vector> contours; + cv::findContours(ROI, contours, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_SIMPLE); + distinguish(cnt_string, contours); + } + + // 将疑似装甲板全部绘制出来 并配上识别字符 + for(auto& cnt : armor){ + + if(cnt.righting){ + cv::putText(matImage, cnt.ID, cnt.armor_point[0], cv::FONT_HERSHEY_SIMPLEX, 3.0, cv::Scalar(255,0,0), 3); + } + for (int i = 0; i < 4; i++) + { + cv::line(matImage, cnt.armor_point[i], cnt.armor_point[(i+1)%4], cv::Scalar(0,0,254), 2); + } + } + } + + imshow("Tracking", matImage); + // imshow("tae", end_canny); + + waitKey(5); + + CameraReleaseImageBuffer(hCamera, pbyBuffer); + } + } + + CameraUnInit(hCamera); + + free(g_pRgbBuffer); + + + return 0; +} + diff --git a/xmake.lua b/xmake.lua new file mode 100644 index 0000000..f655216 --- /dev/null +++ b/xmake.lua @@ -0,0 +1,85 @@ +set_project("test_cxx") +set_version("1.0.0") +set_languages("c++11") +set_optimize("fastest") +add_requires("opencv 4.x", {configs = {shared = true}}) + +add_rules("mode.debug", "mode.release") + +target("test_cxx") + set_kind("binary") + add_files("src/*.cpp") + add_packages("opencv") + + + +add_links("MVSDK") +-- +-- If you want to known more usage about xmake, please see https://xmake.io +-- +-- ## FAQ +-- +-- You can enter the project directory firstly before building project. +-- +-- $ cd projectdir +-- +-- 1. How to build project? +-- +-- $ xmake +-- +-- 2. How to configure project? +-- +-- $ xmake f -p [macosx|linux|iphoneos ..] -a [x86_64|i386|arm64 ..] -m [debug|release] +-- +-- 3. Where is the build output directory? +-- +-- The default output directory is `./build` and you can configure the output directory. +-- +-- $ xmake f -o outputdir +-- $ xmake +-- +-- 4. How to run and debug target after building project? +-- +-- $ xmake run [targetname] +-- $ xmake run -d [targetname] +-- +-- 5. How to install target to the system directory or other output directory? +-- +-- $ xmake install +-- $ xmake install -o installdir +-- +-- 6. Add some frequently-used compilation flags in xmake.lua +-- +-- @code +-- -- add debug and release modes +-- add_rules("mode.debug", "mode.release") +-- +-- -- add macro definition +-- add_defines("NDEBUG", "_GNU_SOURCE=1") +-- +-- -- set warning all as error +-- set_warnings("all", "error") +-- +-- -- set language: c99, c++11 +-- set_languages("c99", "c++11") +-- +-- -- set optimization: none, faster, fastest, smallest +-- set_optimize("fastest") +-- +-- -- add include search directories +-- add_includedirs("/usr/include", "/usr/local/include") +-- +-- -- add link libraries and search directories +-- add_links("tbox") +-- add_linkdirs("/usr/local/lib", "/usr/lib") +-- +-- -- add system link libraries +-- add_syslinks("z", "pthread") +-- +-- -- add compilation and link flags +-- add_cxflags("-stdnolib", "-fno-strict-aliasing") +-- add_ldflags("-L/usr/local/lib", "-lpthread", {force = true}) +-- +-- @endcode +-- +