From f0b3d52883d6a5de7a79c7b841595e0cbf859b9a Mon Sep 17 00:00:00 2001 From: Cassie <9944584+cassie_lin@user.noreply.gitee.com> Date: Sat, 18 Dec 2021 13:34:17 +0000 Subject: [PATCH] update Armor/Armor.cpp. --- Armor/Armor.cpp | 320 ++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 320 insertions(+) diff --git a/Armor/Armor.cpp b/Armor/Armor.cpp index e69de29..6c02899 100644 --- a/Armor/Armor.cpp +++ b/Armor/Armor.cpp @@ -0,0 +1,320 @@ +#include "Armor.h" + +ArmorParam armorParam = ArmorParam(); + +ArmorDetector::ArmorDetector() +{ + state = LIGHTS_NOT_FOUND; +} + +ArmorDetector::~ArmorDetector(){} + +void ArmorDetector::resetDetector() +{ + state = LIGHTS_NOT_FOUND; + lights.clear(); + armors.clear(); +} + +/** +* @brief: set enemyColor 设置敌方颜色 +*/ +void ArmorDetector::setEnemyColor(Color enemyColor){ + this->enemyColor = enemyColor; +} + +/** +* @brief: set enemyNum 设置目标装甲板数字 +*/ +void ArmorDetector::setTargetNum(const int & targetNum) +{ + this->targetNum = targetNum; +} + +/** +* @brief: load source image and set roi if roiMode is open and found target in last frame 载入源图像并设置ROI区域（当ROI模式开启，且上一帧找到目标装甲板时） +* @param: const Mat& src 源图像的引用 +*/ +void ArmorDetector::setImg(Mat & src){ + src.copyTo(srcImg); //deep copy src to srcImg 深（值）拷贝给srcImg + classifier.loadImg(srcImg); //srcImg for classifier, warp perspective 载入classifier类成员的srcImg，用于透射变换剪切出装甲板图 + srcImg_binary = Mat::zeros(srcImg.size(), CV_8UC1); //color feature image + + //pointer visits all the data of srcImg, the same to bgr channel split 通道相减法的自定义形式，利用指针访问，免去了split、substract和thresh操作，加速了1.7倍 + //data of Mat bgr bgr bgr bgr + uchar *pdata = (uchar*)srcImg.data; + uchar *qdata = (uchar*)srcImg_binary.data; + int srcData = srcImg.rows * srcImg.cols; + if (enemyColor == RED) + { + for (int i = 0; i < srcData; i++) + { + if (*(pdata + 2) - *pdata > armorParam.color_threshold) + *qdata = 255; + pdata += 3; + qdata++; + } + } + else if (enemyColor == BLUE) + { + for (int i = 0; i < srcData; i++) + { + if (*pdata - *(pdata+2) > armorParam.color_threshold) + *qdata = 255; + pdata += 3; + qdata++; + } + } + + Mat kernel = getStructuringElement(MORPH_ELLIPSE, Size(3, 3)); //kernel for dilate; shape:ellipse size:Size(3,3) 膨胀操作使用的掩膜 + dilate(srcImg_binary, srcImg_binary, kernel); //dilate the roiImg_binary which can make the lightBar area more smooth 对roiIng_binary进行膨胀操作，试得灯条区域更加平滑有衔接 +} + +/** + *@brief: load SVM model 载入svm模型 + *@param: the path of svm xml file and the size of training images svm模型路径及训练集的图像大学 + */ +void ArmorDetector::loadSVM(const char * model_path, Size armorImgSize) +{ + classifier.loadSvmModel(model_path, armorImgSize); +} + +/** + *@brief: an integrative function to run the Detector 集成跑ArmorDetector + */ +void ArmorDetector::run(Mat & src) { + //firstly, load and set srcImg 首先，载入并处理图像 + this->setImg(src); //globally srcImg and preprocess it into srcImg_binary 载入Detector的全局源图像 并对源图像预处理成 + + //secondly, reset detector before we findLights or matchArmors(clear lights and armors we found in the last frame and reset the state as LIGHTS_NOT_FOUND) + //随后，重设detector的内容，清空在上一帧中找到的灯条和装甲板，同时检测器状态重置为LIGHTS_NOT_FOUND（最低状态） + resetDetector(); + + //thirdly, find all the lights in the current frame (srcImg) + //第三步，在当前图像中找出所有的灯条 + findLights(); + + //forthly, if the state is LIGHTS_FOUND (detector found more than two lights) , we match each two lights into an armor + //第四步，如果状态为LIGHTS_FOUND（找到多于两个灯条），则 + if (state == LIGHTS_FOUND) + { + //match each two lights into an armor and if the armor is a suitable one, emplace back it into armors + //将每两个灯条匹配为一个装甲板，如果匹配出来的装甲板是合适的，则压入armors中 + matchArmors(); + + //if the state is ARMOR_FOUND(detector has matched suitable armor), set target armor and last armor + //如果找到了灯条，则设置好目标装甲板和上一个装甲板 + if (state == ARMOR_FOUND) { + setTargetArmor(); + } + } +} + +/** + *@brief: get the vertices and type of target Armor for angle solver 将detector的结果输出 + */ +void ArmorDetector::getTargetInfo(vector& armorVertices, Point2f & centerPoint, ArmorType & type) +{ + armorVertices.clear(); + armorVertices = targetArmor.armorVertices; + centerPoint = targetArmor.center; + type = targetArmor.type; +} + + +/** + *@brief: return the Detector status 识别程序是否识别到装甲版 + *@return: FOUND(1) NOT_FOUND(0) + */ +bool ArmorDetector::isFoundArmor() +{ + if(state == ARMOR_FOUND) + { + return 1; + } + else + { + return 0; + } +} + + +/////////////////////////////////////////////////////////// functions for debugging ////////////////////////////////////////////////////////////////// + +/** + *@brief: show all the lights found in a copy of srcImg 在图像中显示找到的所有灯条 + */ +void showLights(Mat & image, const vector & lights) +{ + Mat lightDisplay;//image for the use of dialaying the lights 显示灯条用的图像 + image.copyTo(lightDisplay);//get a copy of srcImg 获取源图像的拷贝 + //if detector finds lights 如果找到了灯条 + if (!lights.empty()) + { + putText(lightDisplay, "LIGHTS FOUND!", Point(100, 50), FONT_HERSHEY_SIMPLEX, 1, Scalar(0, 255, 255), 1, 8, false); //title LIGHT_FOUND 大标题 “找到了灯条” + for (auto light : lights) + { + Point2f lightVertices[4]; + light.lightRect.points(lightVertices); + //draw all the lights' contours 画出所有灯条的轮廓 + for (size_t i = 0; i < 4; i++) + { + line(lightDisplay, lightVertices[i], lightVertices[(i + 1) % 4], Scalar(255, 0, 255), 1, 8, 0); + } + + //draw the lights's center point 画出灯条中心 + circle(lightDisplay, light.center, 2, Scalar(0, 255, 0), 2, 8, 0); + + //show the lights' center point x,y value 显示灯条的中心坐标点 + putText(lightDisplay, to_string(int(light.center.x)), light.center, FONT_HERSHEY_PLAIN, 1, Scalar(0, 255, 0), 1, 8, false); + putText(lightDisplay, to_string(int(light.center.y)), light.center + Point2f(0, 15), FONT_HERSHEY_PLAIN, 1, Scalar(0, 255, 0), 1, 8, false); + } + } + //if detector does not find lights 如果没找到灯条 + else + { + putText(lightDisplay, "LIGHTS NOT FOUND!", Point(100, 50), FONT_HERSHEY_SIMPLEX, 1, Scalar(0, 0, 255), 1, 8, false);//title LIGHT_NOT_FOUND 大标题 “没找到灯条” + } + //show the result image 显示结果图 + imshow("Lights Monitor", lightDisplay); +} + +/** + *@brief: show all the armors matched in a copy of srcImg 在图像中显示找到的所有装甲板 + */ +void showArmors(Mat & image, const vector & armors, const ArmorBox & targetArmor) +{ + Mat armorDisplay; //Image for the use of displaying armors 展示装甲板的图像 + image.copyTo(armorDisplay); //get a copy of srcImg 源图像的拷贝 + // if armors is not a empty vector (ARMOR_FOUND) 如果找到了装甲板 + if (!armors.empty()) + { + putText(armorDisplay, "ARMOR FOUND!", Point(100, 50), FONT_HERSHEY_SIMPLEX, 1, Scalar(255, 255, 0), 1, 8, false); //title FOUND 大标题 “找到了装甲板” + //draw all the armors' vertices and center 画出所有装甲板的顶点边和中心 + for (auto armor : armors) + { + //draw the center 画中心 + circle(armorDisplay, armor.center, 2, Scalar(0, 255, 0), 2); + for (size_t i = 0; i < 4; i++) + { + line(armorDisplay, armor.armorVertices[i], armor.armorVertices[(i + 1) % 4], Scalar(255, 255, 0), 2, 8, 0); + } + //display its center point x,y value 显示中点坐标 + putText(armorDisplay, to_string(int(armor.center.x)), armor.center, FONT_HERSHEY_PLAIN, 1, Scalar(255, 0, 255), 1, 8, false); + putText(armorDisplay, to_string(int(armor.center.y)), armor.center + Point2f(0, 15), FONT_HERSHEY_PLAIN, 1, Scalar(255, 0, 255), 1, 8, false); + putText(armorDisplay, to_string(int(armor.armorNum)), armor.center + Point2f(15, 30), FONT_HERSHEY_PLAIN, 1, Scalar(255, 255, 255), 1, 8, false); + } + //connect all the vertices to be the armor contour 画出装甲板轮廓 + for (size_t i = 0; i < 4; i++) + { + line(armorDisplay, targetArmor.armorVertices[i], targetArmor.armorVertices[(i + 1) % 4], Scalar(255, 255, 255), 2, 8, 0); + } + } + //if armors is a empty vector (ARMOR_NOT FOUND) 如果没找到装甲板 + else + { + putText(armorDisplay, "ARMOR NOT FOUND!", Point(100, 50), FONT_HERSHEY_SIMPLEX, 1, Scalar(255, 0, 255), 1, 8, false);//title NOT FOUND 大标题 “没找到装甲板” + } + //show the result armors image 显示结果图 + imshow("Armor Monitor", armorDisplay); +} + +/** + *@brief: show all the lights information in console 在控制台输出找到灯条的中心和角度 + */ +void textLights(vector & lights) +{ + cout << "\n################## L I G H T S ##################" << endl; + if (lights.empty()) { + cout << "LIGHTS NOT FOUND!" << endl; + } + else + { + cout << "LIGHTS FOUND!" << endl; + for (size_t i = 0; i < lights.size(); i++) + { + cout << "#############################" << endl; + cout << "Light Center:" << lights[i].center << endl; + cout << "Light Angle:" << lights[i].angle << endl; + } + cout << "#################################################" << endl; + } +} + +/** + *@brief: show all the armors information in console 在控制台输出找到装甲板的中心、数字、匹配信息 + */ +void textArmors(vector & armors) +{ + cout << "\n$$$$$$$$$$$$$$$$$$ A R M O R S $$$$$$$$$$$$$$$$$$" << endl; + if (armors.empty()) { + cout << "ARMORS NOT FOUND!" << endl; + } + else + { + cout << "ARMOR FOUND!" << endl; + for (size_t i = 0; i < armors.size(); i++) + { + cout << "$$$$$$$$$$$$$$$$$$$$$$$$$$$$$" << endl; + cout << "Armor Center: " << armors[i].center << endl; + cout << "Armor Number: " << armors[i].armorNum << endl; + if (armors[i].type == SMALL_ARMOR) cout << "Armor Type: SMALL ARMOR" << endl; + else if(armors[i].type == BIG_ARMOR) cout << "Armor Type: BIG ARMOR" << endl; + cout << "\n###### matching information ######" << endl; + cout << "Angle difference: " << armors[i].getAngleDiff() << endl; + cout << "Deviation Angle: " << armors[i].getDeviationAngle() << endl; + cout << "X Dislocation Ration: " << armors[i].getDislocationX() << endl; + cout << "Y Dislocation Ration: " << armors[i].getDislocationY() << endl; + cout << "Length Ration: " << armors[i].getLengthRation() << endl; + } + cout << "$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$" << endl; + } + +} + +/** + *@brief: show all the armors score information in console 在控制台输出找到装甲板的打击度信息 + */ +void textScores(vector & armors, ArmorBox & lastArmor) +{ + if (!armors.empty()) + { + cout << "\n@@@@@@@@@@@@@@@@@@ S C O R E S @@@@@@@@@@@@@@@@@@" << endl; + for (size_t i = 0; i < armors.size(); i++) + { + float score = 0; // shooting value of armor的打击度 + cout << "Armor Center: " << armors[i].center << endl; + cout << "Area: " << armors[i].armorRect.area() << endl; + score += armors[i].armorRect.area(); //area value of a a_armor面积得分 + + + if (lastArmor.armorNum != 0) { //if lastArmor.armorRect is not a default armor means there is a true targetArmor in the last frame 上一帧图像中存在目标装甲板 + float a_distance = getPointsDistance(armors[i].center, lastArmor.center); //distance score to the lastArmor(if exist) 装甲板距离得分，算负分 + cout << "Distance: " << a_distance << endl; + score -= a_distance * 2; + } + } + cout << "@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@" << endl; + } +} + +/** + *@brief: lights, armors, lights to armors every information in one 所有调试用数据输出 + */ +void ArmorDetector::showDebugInfo(bool showSrcImg_ON, bool showSrcBinary_ON, bool showLights_ON, bool showArmors_ON, bool textLights_ON, bool textArmors_ON, bool textScores_ON) +{ + if (showSrcImg_ON) + imshow("srcImg", srcImg); + if (showSrcBinary_ON) + imshow("srcImg_Binary", srcImg_binary); + if (showLights_ON) + showLights(srcImg, lights); + if (showArmors_ON) + showArmors(srcImg, armors, targetArmor); + if (textLights_ON) + textLights(lights); + if (textArmors_ON) + textArmors(armors); + if (textScores_ON) + textScores(armors, lastArmor); +} -- Gitee