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code.cpp
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/*
* @Author: your name
* @Date: 2021-11-18 11:00:18
* @LastEditTime: 2022-07-31 19:39:02
* @LastEditors: JoyceKirkland [email protected]
* @Description: 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE
* @FilePath: /code/code.cpp
*/
#define CVUI_IMPLEMENTATION
#define WINDOW_NAME "Radar"
#include <iostream>
#include <cstring>
#include <time.h>
#include <sys/timeb.h>
#include <stdio.h>
#include <stdlib.h>
#include <iomanip>
#include <algorithm>
#include <stdexcept>
#include <string>
#include <vector>
#include <cstring>
#include <fcntl.h>
#include <linux/usbdevice_fs.h>
#include <sys/ioctl.h>
#include <unistd.h>
#include <memory>
#include <atomic>
#include <chrono>
#include <exception>
#include <thread>
#include <opencv2/opencv.hpp>
#include <opencv2/core/utility.hpp>
#include <opencv2/tracking.hpp>
#include <opencv2/opencv.hpp>
#include <opencv2/videoio.hpp>
#include <opencv2/highgui.hpp>
#include "radar/camera/mv_video_capture.hpp"
#include "TRTModule.hpp"
// #include <opencv4/opencv2/cvv.hpp>
// #include <python3.8/Python.h>
#include <fmt/format.h>
#include <fmt/color.h>
#include "/home/joyce/workplace/rm/2022/code/cvui/cvui.h"
// #include "KCf/serial/uart_serial.hpp"
#include "KCf/angle_solve/basic_pnp.hpp"
#include "math.h"
// #include "KCf/camera/mv_video_capture.hpp"
#include "KCf/devices/new_serial/serial.hpp"
// #include "KCf/devices/serial/uart_serial.hpp"
#include <string.h>
#include <thread>
#include <chrono>
#include "cmdline.h"
#include "livox_sample/lds_lidar.h"
using namespace std;
using namespace cv;
static bool debug = true;
enum Color {
BLUE,
RED,
};
struct Detection_pack{
/*
* 打包数据结构，将识别结果、对应的图像、陀螺仪和时间戳对应
*/
std::vector<bbox_t> detection;
cv::Mat img;
std::array<double, 4> q;
double timestamp;
};
float getDistance(const cv::Point a, const cv::Point b) {
return sqrt((a.x - b.x) * (a.x - b.x) + (a.y - b.y) * (a.y - b.y));
}
struct armor_data{
cv::Point2f pts[4];
float img_center_dist;
int color_id; // 0: blue, 1: red, 2: gray
int tag_id; // 0: guard, 1-5: number, 6: base
float confidence; // 识别准确率
};
struct ROI {
bool ROI_selected = false;
cv::Rect2f ROI_bbox;
int last_class = -1;
ROI()=default;
ROI(cv::Rect2f &bbox, int &last): ROI_selected(true), ROI_bbox(bbox), last_class(last) {}
inline void clear() {
ROI_selected = false;
last_class = -1;
}
~ROI()=default;
};
cv::Point2f points_center(cv::Point2f pts[4]){
for (int i = 0; i < 4; ++i) {
for (int j = i+1; j < 4; ++j) {
if (pts[i] == pts[j]) {
std::cout << "[Error] Unable to calculate center point." << std::endl;
return cv::Point2f{0, 0};
}
}
}
cv::Point2f center(0, 0);
if (pts[0].x == pts[2].x && pts[1].x == pts[3].x) {
std::cout << "[Error] Unable to calculate center point." << std::endl;
}
else if (pts[0].x == pts[2].x && pts[1].x != pts[3].x) {
center.x = pts[0].x;
center.y = (pts[3].y-pts[1].y)/(pts[3].x-pts[1].x)*(pts[0].x-pts[3].x)+pts[3].y;
}
else if (pts[1].x == pts[3].x && pts[0].x != pts[2].x) {
center.x = pts[1].x;
center.y = (pts[2].y-pts[0].y)/(pts[2].x-pts[0].x)*(pts[1].x-pts[0].x)+pts[0].y;
}
else {
center.x = (((pts[3].y-pts[1].y)/(pts[3].x-pts[1].x)*pts[3].x - pts[3].y + \
pts[0].y - (pts[2].y-pts[0].y)/(pts[2].x-pts[0].x)*pts[0].x)) / \
((pts[3].y-pts[1].y)/(pts[3].x-pts[1].x)-(pts[2].y-pts[0].y)/(pts[2].x-pts[0].x));
center.y = (pts[2].y-pts[0].y)/(pts[2].x-pts[0].x)*(center.x-pts[0].x)+pts[0].y;
}
return center;
}
Mat runCamera(mindvision::VideoCapture* mv_capture_,
cv::VideoCapture cap_,Mat img)
{
if (mv_capture_->isindustryimgInput())
{
img = mv_capture_->image();
}
else
{
cap_.read(img);
}
if (!img.empty())
{
return img;
}else
{
cout<<"\nimg error\n"<<endl;
exit(0);
}
}
// int main()
// {
// mindvision::VideoCapture* mv_capture_ = new mindvision::VideoCapture(
// mindvision::CameraParam(0, mindvision::RESOLUTION_1280_X_800, mindvision::EXPOSURE_20000),0);
// mindvision::VideoCapture* mv_capture_1 = new mindvision::VideoCapture(
// mindvision::CameraParam(0, mindvision::RESOLUTION_1280_X_800, mindvision::EXPOSURE_20000),1);
// cv::VideoCapture cap_ = cv::VideoCapture(0);
// cv::VideoCapture cap_1 = cv::VideoCapture(1);
// Mat img;
// Mat img1;
// int change=1;
// // namedWindow("1",WINDOW_NORMAL);
// // setWindowProperty("1", WND_PROP_FULLSCREEN, WINDOW_NORMAL);
// for(;;)
// {
// double time = (double)getTickCount();
// img=runCamera(mv_capture_,cap_,img);
// img1=runCamera(mv_capture_1,cap_1,img1);
// time = ((double)getTickCount() - time) / getTickFrequency();
// int fps = 1 / time;
// // cout<<"fps:"<<fps<<endl;
// int key = waitKey(1);
// if(char(key) == 27)break;
// // if(change==1)
// {
// cv::imshow("0", img);
// }
// // else if(change==2)
// {
// cv::imshow("1", img1);
// }
// // if(char(key)==49)
// // {
// // change=1;
// // }else if(char(key)==50)
// // {
// // change=2;
// // }
// mv_capture_->cameraReleasebuff();
// mv_capture_1->cameraReleasebuff();
// }
// }
//暂且无用，留作备份
// void armor(mindvision::VideoCapture* mv_capture_,Mat img,cv::VideoCapture cap_,
// uart::SerialPort serial_,const cv::Scalar colors[4],
// basic_pnp::PnP pnp_,float yaw_angle,float last_yaw_angle,float enemy_robot_v,
// float forecast_dist,int compensate_w,double time,int index)
// {
// TRTModule model("/home/joyce/workplace/rm/2022/code/KCf/asset/model-opt-3.onnx");
// if (mv_capture_->isindustryimgInput()) {
// img = mv_capture_->image();
// } else {
// cap_.read(img);
// }
// if (!img.empty())
// {
// // count_num=count_num+1;
// // GaussianBlur(img, img, Size(5, 5), 1, 1);
// // cvtColor( img,mid_filer, COLOR_RGB2GRAY );
// // if(count_num==1)
// // {
// // background=mid_filer.clone();
// // frame_0=background;
// // }
// // else
// // {
// // background=frame_0;
// // }
// // absdiff(mid_filer,background,foreground);//用帧差法求前景
// // threshold( foreground, foreground_BW, 120, 255 , 0 );//二值化通常设置为50 255
// // dilate(foreground_BW,foreground_BW,element);
// // vector<vector<Point>> contours;
// // vector<Vec4i> hierarchy;
// // findContours(foreground_BW,contours,hierarchy,RETR_EXTERNAL,CHAIN_APPROX_NONE,Point());//寻找并绘制轮廓
// // vector<Moments>mu(contours.size());
// // for(unsigned i=0;i<contours.size();i++)//计算轮廓面积
// // {
// // mu[i]=moments(contours[i],false);
// // }
// // for(int i=0;i<contours.size();i++)//最小外接矩形
// // {
// // Rect rect = boundingRect(contours[i]); //找出轮廓最小外界矩形
// // // cout << "矩形框" << rect.width << endl;
// // // if(mu[i].m00<2000&&mu[i].m00>125)
// // if(mu[i].m00<200)
// // {
// // rectangle(img, rect, Scalar(0, 0, 255), 2); //在原图像上画出矩形
// // }
// // }
// //--------------------------------------------
// std::array<double, 4> q;
// double timestamp = 0.0;
// std::vector<armor_data> data_armor;
// // const auto& [img, q, timestamp] = sensor_sub.pop();
// auto detections = model(img);
// armor_data armor;
// // /* publish detection results */
// /* show detections */
// if(!detections.empty())
// {
// cv::Mat im2show = img.clone();
// // for (const auto &b: detections) {
// for (int i = 0; i < detections.size(); i++)
// {
// cv::line(img, detections[i].pts[0], detections[i].pts[1], colors[2], 2);
// cv::line(img, detections[i].pts[1], detections[i].pts[2], colors[2], 2);
// cv::line(img, detections[i].pts[2], detections[i].pts[3], colors[2], 2);
// cv::line(img, detections[i].pts[3], detections[i].pts[0], colors[2], 2);
// cv::putText(img, std::to_string(detections[i].tag_id), detections[i].pts[0], cv::FONT_HERSHEY_SIMPLEX, 1, colors[detections[i].color_id]);
// armor.color_id = detections[i].color_id;
// armor.tag_id = detections[i].tag_id;
// armor.pts[0] = detections[i].pts[0];
// armor.pts[1] = detections[i].pts[1];
// armor.pts[2] = detections[i].pts[2];
// armor.pts[3] = detections[i].pts[3];
// armor.confidence = detections[i].confidence;
// armor.img_center_dist = getDistance((detections[i].pts[0] + detections[i].pts[3]) * 0.5, cv::Point(img.cols * 0.5, img.rows * 0.5 + 100));
// if (serial_.returnReceiceColor() != detections[i].color_id && detections[i].confidence > 0.5 /* && detections[i].tag_id != 2 */) {
// data_armor.push_back(armor);
// }
// // std::cout << armor.img_center_dist << std::endl;
// }
// }
// if (!data_armor.empty())
// {
// serial_.returnReceivePitch();
// yaw_angle = serial_.returnReceiveYaw();
// // 离枪管最近装甲板
// std::sort(data_armor.begin(), data_armor.end(), [](const armor_data &_a, const armor_data &_b) {
// return _a.img_center_dist < _b.img_center_dist;
// });
// if (data_armor.size() > 0) {
// cv::line(img, data_armor[0].pts[0], data_armor[0].pts[1], colors[3], 2);
// cv::line(img, data_armor[0].pts[1], data_armor[0].pts[2], colors[3], 2);
// cv::line(img, data_armor[0].pts[2], data_armor[0].pts[3], colors[3], 2);
// cv::line(img, data_armor[0].pts[3], data_armor[0].pts[0], colors[3], 2);
// cv::putText(img, std::to_string(data_armor[0].tag_id), data_armor[0].pts[0], cv::FONT_HERSHEY_SIMPLEX, 1, colors[data_armor[0].color_id]);
// }
// std::vector<cv::Point2f> target_2d;
// target_2d.push_back(data_armor[0].pts[0]);
// target_2d.push_back(data_armor[0].pts[1]);
// target_2d.push_back(data_armor[0].pts[2]);
// target_2d.push_back(data_armor[0].pts[3]);
// if (data_armor[0].tag_id == 1 || data_armor[0].tag_id == 0) {
// pnp_.solvePnP(serial_.returnReceiveBulletVelocity(), 1, target_2d);
// } else {
// pnp_.solvePnP(serial_.returnReceiveBulletVelocity(), 0, target_2d);
// }
// if (last_yaw_angle != 0) {
// // 敌方机器人当前速度
// enemy_robot_v = (yaw_angle - last_yaw_angle) * pnp_.returnDepth();
// // 实际预测位置
// forecast_dist = enemy_robot_v * (time + 0.2);
// // 添加补偿宽度
// compensate_w = 8 * pnp_.returnDepth() / forecast_dist;
// std::vector<cv::Point2f> k_target_2d;
// for (int i = 0; i < target_2d.size(); i++) {
// k_target_2d.push_back(cv::Point2f(target_2d[i].x + compensate_w, target_2d[i].y));
// }
// if (data_armor[0].tag_id == 1 || data_armor[0].tag_id == 0) {
// pnp_.solvePnP(serial_.returnReceiveBulletVelocity(), 1, k_target_2d);
// } else {
// pnp_.solvePnP(serial_.returnReceiveBulletVelocity(), 0, k_target_2d);
// }
// }
// serial_.updataWriteData(pnp_.returnYawAngle(),
// pnp_.returnPitchAngle(),
// pnp_.returnDepth(),
// 1,
// 0);
// }
// serial_.updataWriteData(pnp_.returnYawAngle(),
// pnp_.returnPitchAngle(),
// pnp_.returnDepth(),
// 0,
// 0);
// last_yaw_angle = yaw_angle;
// data_armor.clear();
// data_armor.shrink_to_fit();
// // fps_count++;
// // time = ((double)getTickCount() - time) / getTickFrequency();
// // int fps = 1 / time;
// // cv::putText(img, fmt::format("fps={}", fps), {10, 25}, cv::FONT_HERSHEY_SIMPLEX, 1, cv::Scalar(255, 255, 255));
// // frame_0=mid_filer.clone();
// // if(index==0)
// {
// cv::imshow("0", img);
// }
// // else
// {
// // cv::imshow("1",img);
// }
// // if(cv::waitKey(1) == 'q') {
// // break;
// // }
// }
// }
// void darts_Door(mindvision::VideoCapture* mv_capture_,Mat img,cv::VideoCapture cap_,
// int count_num,Mat mid_filer)
// Mat darts_Door(mindvision::VideoCapture* mv_capture_,Mat img,cv::VideoCapture cap_,
// int count_num,Mat mid_filer,Mat background,Mat frame_0,Mat foreground,
// Mat foreground_BW,Mat element)
// Mat darts_Door(Mat img,int count_num,Mat mid_filer,Mat background,Mat frame_0,Mat foreground,
// Mat foreground_BW,Mat element)
//暂且无用，留作备份
// Mat darts_Door(Mat img,Mat element)
// {
// if (mv_capture_->isindustryimgInput()) {
// img = mv_capture_->image();
// } else {
// cap_.read(img);
// }
// if (!img.empty())
// {
// static int count_num=1;
// Mat mid_filer,background,frame_0,foreground,foreground_BW;
// // static int count_num = 1;
// // count_num+=1;
// GaussianBlur(img, img, Size(5, 5), 1, 1);
// cvtColor( img,mid_filer, COLOR_RGB2GRAY );
// // // cv::imshow("mid_filer",mid_filer);
// if(count_num==1)
// {
// background=mid_filer.clone();
// frame_0=background;
// // cout<<"count_num:"<<count_num<<endl;
// }
// else
// {
// background=frame_0;
// }
// // cv::imshow("background",background);
// absdiff(mid_filer,background,foreground);//用帧差法求前景
// // imshow("frame_0",frame_0);
// threshold( foreground, foreground_BW, 120, 255 , 0 );//二值化通常设置为50 255
// dilate(foreground_BW,foreground_BW,element);
// // count_num=count_num+1;
// // return foreground_BW;
// vector<vector<Point>> contours;
// vector<Vec4i> hierarchy;
// findContours(foreground_BW,contours,hierarchy,RETR_EXTERNAL,CHAIN_APPROX_NONE,Point());//寻找并绘制轮廓
// vector<Moments>mu(contours.size());
// for(unsigned i=0;i<contours.size();i++)//计算轮廓面积
// {
// mu[i]=moments(contours[i],false);
// }
// for(int i=0;i<contours.size();i++)//最小外接矩形
// {
// Rect rect = boundingRect(contours[i]); //找出轮廓最小外界矩形
// cout<<"rect:faasasdsdasda"<<endl;
// // cout << "矩形框" << rect.width << endl;
// // if(mu[i].m00<2000&&mu[i].m00>125)
// // if(mu[i].m00<200)
// {
// rectangle(img, rect, Scalar(0, 0, 255), 2); //在原图像上画出矩形
// }
// }
// frame_0=mid_filer.clone();
// count_num+=1;
// // cout<<"count_num:"<<count_num<<endl;
// return img;
// cv::imshow("1",img);
// }
// }
RoboInf out_robo_inf;
RoboInf out_robo_cmd;
struct HP_information
{
int R_Hero_HP = 0;
int R_Engineer_HP = 0;
int R_Infantry3_HP = 0;
int R_Infantry4_HP = 0;
int R_Infantry5_HP = 0;
int R_Sentry_HP = 0;
int R_Outpost_HP = 0;
int R_Base_HP = 0;
int B_Hero_HP = 0;
int B_Engineer_HP = 0;
int B_Infantry3_HP = 0;
int B_Infantry4_HP = 0;
int B_Infantry5_HP = 0;
int B_Sentry_HP = 0;
int B_Outpost_HP = 0;
int B_Base_HP = 0;
}HP_info;
// void output_HP()
// {
// HP_info.R_Hero_HP=out_robo_inf.R_Hero_HP.load();
// HP_info.R_Engineer_HP=out_robo_inf.R_Engineer_HP.load();
// HP_info.R_Infantry3_HP=out_robo_inf.R_Infantry3_HP.load();
// HP_info.R_Infantry4_HP=out_robo_inf.R_Infantry4_HP.load();
// HP_info.R_Infantry5_HP=out_robo_inf.R_Infantry5_HP.load();
// HP_info.R_Sentry_HP=out_robo_inf.R_Sentry_HP.load();
// HP_info.R_Outpost_HP=out_robo_inf.R_Outpost_HP.load();
// HP_info.R_Base_HP=out_robo_inf.R_Base_HP.load();
// HP_info.B_Hero_HP=out_robo_inf.B_Hero_HP.load();
// HP_info.B_Engineer_HP=out_robo_inf.B_Engineer_HP.load();
// HP_info.B_Infantry3_HP=out_robo_inf.B_Infantry3_HP.load();
// HP_info.B_Infantry4_HP=out_robo_inf.B_Infantry4_HP.load();
// HP_info.B_Infantry5_HP=out_robo_inf.B_Infantry5_HP.load();
// HP_info.B_Sentry_HP=out_robo_inf.B_Sentry_HP.load();
// HP_info.B_Outpost_HP=out_robo_inf.B_Outpost_HP.load();
// HP_info.B_Base_HP=out_robo_inf.B_Base_HP.load();
// }
void uartWriteThread(const std::shared_ptr<RoboSerial> &serial,
RoboCmd &robo_cmd) {
while (true) try {
if(serial->isOpen()) {
serial->WriteInfo(robo_cmd);
// cout<<"is_left:"<<robo_cmd.is_left<<endl;
// cout<<"turn_angle:"<<robo_cmd.turn_angle<<endl;
} else {
serial->open();
}
std::this_thread::sleep_for(1ms);
} catch (const std::exception &e) {
serial->close();
static int serial_read_excepted_times{0};
if (serial_read_excepted_times++ > 3) {
std::this_thread::sleep_for(10000ms);
fmt::print("[{}] read serial excepted to many times, sleep 10s.\n",
idntifier_red);
serial_read_excepted_times = 0;
}
fmt::print("[{}] serial exception: {}\n",
idntifier_red, e.what());
std::this_thread::sleep_for(1000ms);
}
}
void uartReadThread(const std::shared_ptr<RoboSerial> &serial,
RoboInf &robo_inf) {
while (true) try {
// cout<<"??????????/"<<endl;
if(serial->isOpen()) {
serial->ReceiveInfo(robo_inf);
// cout<<"readsth"<<endl;
// std::cout<<"R_Hero_HP_robo:"<<robo_inf.R_Hero_HP<<std::endl;
out_robo_inf.my_color.store(robo_inf.my_color);
// std::cout<<"R_Hero_HP_output:"<<out_robo_inf.R_Hero_HP<<std::endl;
// atomic<uint16_t> out_robo_inf.R_Hero_HP(robo_inf.R_Hero_HP.load());
// out_robo_inf.R_Hero_HP.store(robo_inf.R_Hero_HP);
// out_robo_inf.R_Engineer_HP.store(robo_inf.R_Engineer_HP);
// out_robo_inf.R_Infantry3_HP.store(robo_inf.R_Infantry3_HP);
// out_robo_inf.R_Infantry4_HP.store(robo_inf.R_Infantry4_HP);
// out_robo_inf.R_Infantry5_HP.store(robo_inf.R_Infantry5_HP);
// out_robo_inf.R_Sentry_HP.store(robo_inf.R_Sentry_HP);
// out_robo_inf.R_Outpost_HP.store(robo_inf.R_Outpost_HP);
// out_robo_inf.R_Base_HP.store(robo_inf.R_Base_HP);
// //sdfas
// out_robo_inf.B_Hero_HP.store(robo_inf.B_Hero_HP);
// out_robo_inf.B_Engineer_HP.store(robo_inf.B_Engineer_HP);
// out_robo_inf.B_Infantry3_HP.store(robo_inf.B_Infantry3_HP);
// out_robo_inf.B_Infantry4_HP.store(robo_inf.B_Infantry4_HP);
// out_robo_inf.B_Infantry5_HP.store(robo_inf.B_Infantry5_HP);
// out_robo_inf.B_Sentry_HP.store(robo_inf.B_Sentry_HP);
// out_robo_inf.B_Outpost_HP.store(robo_inf.B_Outpost_HP);
// out_robo_inf.B_Base_HP.store(robo_inf.B_Base_HP);
// std::cout<<"out_robo_inf_color:"<<out_robo_inf.my_color<<std::endl;
// std::cout<<"R_Infantry3_HP:"<<out_robo_inf.R_Infantry3_HP<<std::endl;
// std::cout<<"R_Infantry4_HP:"<<out_robo_inf.R_Infantry4_HP<<std::endl;
// std::cout<<"R_Infantry5_HP:"<<out_robo_inf.R_Infantry5_HP<<std::endl;
// std::cout<<"R_Infantry5_HP:"<<out_robo_inf.R_Sentry_HP<<std::endl;
// std::cout<<"R_Outpost_HP:"<<out_robo_inf.R_Outpost_HP<<std::endl;
// std::cout<<"R_Base_HP:"<<out_robo_inf.R_Base_HP<<std::endl;
// std::cout<<"B_Hero_HP:"<<out_robo_inf.B_Hero_HP<<std::endl;
// std::cout<<"B_Engineer_HP:"<<out_robo_inf.B_Engineer_HP<<std::endl;
// std::cout<<"B_Infantry3_HP:"<<out_robo_inf.B_Infantry3_HP<<std::endl;
// std::cout<<"B_Infantry4_HP:"<<out_robo_inf.B_Infantry4_HP<<std::endl;
// std::cout<<"B_Infantry5_HP:"<<out_robo_inf.B_Infantry5_HP<<std::endl;
// std::cout<<"B_Sentry_HP:"<<out_robo_inf.B_Sentry_HP<<std::endl;
// std::cout<<"B_Outpost_HP:"<<out_robo_inf.B_Outpost_HP<<std::endl;
// std::cout<<"B_Base_HP:"<<out_robo_inf.B_Base_HP<<std::endl;
}
std::this_thread::sleep_for(1ms);
} catch (const std::exception &e) {
static int serial_read_excepted_times{0};
if (serial_read_excepted_times++ > 3) {
std::this_thread::sleep_for(10000ms);
fmt::print("[{}] read serial excepted to many times, sleep 10s.\n",
idntifier_red);
serial_read_excepted_times = 0;
}
fmt::print("[{}] serial exception: {}\n",
idntifier_red, e.what());
std::this_thread::sleep_for(1000ms);
}
}
// void drawMap(cv::Mat frame,cv::Mat rm_map,int count_num)
// {
// cvui::image(frame, 20, 20, rm_map);
// rectangle(rm_map,Rect(37,260,40,210),Scalar(0,255,0),2);//敌方飞坡区域
// rectangle(rm_map,Rect(82,310,42,50),Scalar(0,255,0),2);//敌方大能量机关击打区域
// rectangle(rm_map,Rect(390,20,42,50),Scalar(0,255,0),2);//敌方飞镖区域
// circle(rm_map,Point(410,90),18,Scalar(255,0,0),-1);
// circle(rm_map,Point(150,340),18,Scalar(255,0,0),-1);
// circle(rm_map,Point(92,480),18,Scalar(255,0,0),-1);
// // int r_Hero_HP=out_robo_inf.R_Hero_HP.load();
// output_HP();
// cvui::printf(frame, 695, 830, 1.3, 0xFFFFFF, "Red:");//红方各兵种、模块血量，蓝方下同
// cvui::printf(frame, 695, 870, 0.9, 0xFFFFFF, "R1:%d/500",HP_info.R_Hero_HP);//英雄
// cvui::printf(frame, 695, 900, 0.9, 0xFFFFFF, "R2:%d/500",HP_info.R_Engineer_HP);//工程
// cvui::printf(frame, 695, 930, 0.9, 0xFFFFFF, "R3:%d/500",HP_info.R_Infantry3_HP);//步兵3
// cvui::printf(frame, 695, 960, 0.9, 0xFFFFFF, "R4:%d/500",HP_info.R_Infantry4_HP);//步兵4
// cvui::printf(frame, 695, 990, 0.9, 0xFFFFFF, "R5:%d/500",HP_info.R_Infantry5_HP);//步兵5
// cvui::printf(frame, 695, 1020, 0.9, 0xFFFFFF, "R7:%d/600",HP_info.R_Sentry_HP);//哨兵
// cvui::printf(frame, 695, 1080, 0.9, 0xFFFFFF, "---------");
// cvui::printf(frame, 695, 1110, 0.9, 0xFFFFFF, "RO:%d/1500",HP_info.R_Outpost_HP);//前哨站
// cvui::printf(frame, 695, 1140, 0.9, 0xFFFFFF, "RB:%d/5000",HP_info.R_Base_HP);//基地
// //______________________________________________
// cvui::printf(frame, 1080, 830, 1.3, 0xFFFFFF, "Blue:");
// cvui::printf(frame, 1080, 870, 0.9, 0xFFFFFF, "B1:%d/500",HP_info.B_Hero_HP);
// cvui::printf(frame, 1080, 900, 0.9, 0xFFFFFF, "B2:%d/500",HP_info.B_Engineer_HP);
// cvui::printf(frame, 1080, 930, 0.9, 0xFFFFFF, "B3:%d/500",HP_info.B_Infantry3_HP);
// cvui::printf(frame, 1080, 960, 0.9, 0xFFFFFF, "B4:%d/500",HP_info.B_Infantry4_HP);
// cvui::printf(frame, 1080, 990, 0.9, 0xFFFFFF, "B5:%d/500",HP_info.B_Infantry5_HP);
// cvui::printf(frame, 1080, 1020, 0.9, 0xFFFFFF, "B7:%d/600",HP_info.B_Sentry_HP);
// cvui::printf(frame, 1080, 1080, 0.9, 0xFFFFFF, "---------");
// cvui::printf(frame, 1080, 1110, 0.9, 0xFFFFFF, "BO:%d/1500",HP_info.B_Outpost_HP);
// cvui::printf(frame, 1080, 1140, 0.9, 0xFFFFFF, "BB:%d/5000",HP_info.B_Base_HP);
// }
// void warning_Lights(cv::Mat rm_map,int count_num,int x,int y)
// {
// // circle(rm_map,Point(x,y),18,Scalar(255,0,0),-1);
// if((sin((count_num*3.1415926)*16/180))>0)//||(sin((count_num*3.1415926*0.5)/180))<-0.5
// {
// circle(rm_map,Point(x,y),18,Scalar(255,0,0),-1);
// // sleep(1);
// }
// else {
// circle(rm_map,Point(x,y),18,Scalar(0,0,255),-1);
// // count_num = 2;
// }
// }
// bool fly_or_engery(int point_x,int point_y,cv::Rect rect)
// {
// if(point_x>rect.x&&point_x<rect.x+rect.width&&point_y>rect.y&&point_y<rect.y+rect.height)
// {
// return true;
// }else
// {
// return false;
// }
// }
std::string getCurrentTimeStr()
{
time_t t = time(NULL);
char ch[64] = {0};
char result[100] = {0};
strftime(ch, sizeof(ch) - 1, "%Y-%m-%d--%H:%M:%S", localtime(&t));
sprintf(result, "%s", ch);
return std::string(result);
}
// static std::vector<std::string> cmdline_broadcast_code;
// void SetProgramOption(int argc, const char *argv[]) {
// cmdline::parser cmd;
// cmd.add<std::string>("code", 'c', "Register device broadcast code", false);
// cmd.add("log", 'l', "Save the log file");
// cmd.add("help", 'h', "Show help");
// cmd.parse_check(argc, const_cast<char **>(argv));
// if (cmd.exist("code")) {
// std::string sn_list = cmd.get<std::string>("code");
// printf("Register broadcast code: %s\n", sn_list.c_str());
// size_t pos = 0;
// cmdline_broadcast_code.clear();
// while ((pos = sn_list.find("&")) != std::string::npos) {
// cmdline_broadcast_code.push_back(sn_list.substr(0, pos));
// sn_list.erase(0, pos + 1);
// }
// cmdline_broadcast_code.push_back(sn_list);
// }
// if (cmd.exist("log")) {
// printf("Save the log file.\n");
// SaveLoggerFile();
// }
// return;
// }
TRTModule model("/home/joyce/workplace/rm/2022/code/KCf/asset/model-opt-3.onnx");
//color_id:0-blue,1-red
void armor(cv::Mat frame,RoboCmd &robo_cmd,const cv::Scalar colors[4],int INDEX,char my_color)
{
std::array<double, 4> q;
double timestamp = 0.0;
std::vector<armor_data> data_armor;
// // const auto& [img, q, timestamp] = sensor_sub.pop();
auto detections = model(frame);
armor_data armor;
// /* publish detection results */
// int new_color=
//串口发送
// robo_cmd.is_left.store(1);
// robo_cmd.is_left.store(2.0);
// cout<<"my_color_armor:"<<my_color-'0'<<endl;
// cout<<"main_turn_angle:"<<robo_cmd.turn_angle<<endl;
// cv::Rect rect_fly(37,260,180,180);
// cv::Rect rect_energy(230,310,180,180);
/* show detections */
if(!detections.empty()) {
// cv::Mat im2show = img.clone();
// for (const auto &b: detections) {
for (int i = 0; i < detections.size(); i++) {
//从串口收到的我方颜色：1-blue,0-red
//模型返回的识别颜色：1-red,0-blue
//所以要模型返回的颜色变量值==从串口收到的我方变量值才能做到“我是蓝色，只识别红色不识别蓝色”
if(detections[i].color_id==(my_color-'0'))
{
cv::line(frame, detections[i].pts[0], detections[i].pts[1], colors[1], 6);
cv::line(frame, detections[i].pts[1], detections[i].pts[2], colors[1], 6);
cv::line(frame, detections[i].pts[2], detections[i].pts[3], colors[1], 6);
cv::line(frame, detections[i].pts[3], detections[i].pts[0], colors[1], 6);
cv::putText(frame, std::to_string(detections[i].tag_id), detections[i].pts[0], cv::FONT_HERSHEY_SIMPLEX, 1, colors[detections[i].color_id]);
}
armor.color_id = detections[i].color_id;
armor.tag_id = detections[i].tag_id;
armor.pts[0] = detections[i].pts[0];
armor.pts[1] = detections[i].pts[1];
armor.pts[2] = detections[i].pts[2];
armor.pts[3] = detections[i].pts[3];
armor.confidence = detections[i].confidence;
armor.img_center_dist = getDistance((detections[i].pts[0] + detections[i].pts[3]) * 0.5, cv::Point(frame.cols * 0.5, frame.rows * 0.5 + 100));
// robo_cmd.is_left.store(180);
//-------------------------------//
// && detections[i].tag_id != 2
// cout<<"point:("<<detections[i].pts[0]<<","<<detections[i].pts[1]<<")"<<endl;
cout<<"color[id]:"<<detections[i].color_id<<endl;
for(int j=0;j<4;j++)
{
if(INDEX==1)
{
robo_cmd.is_left.store(1);
}else{
robo_cmd.is_left.store(2);
}
// std::thread uart_write_thread(uartWriteThread, serial, std::ref(robo_cmd));
// uart_write_thread.detach();
// if (serial_.returnReceiceColor() != detections[i].color_id && detections[i].confidence > 0.5 )
// {
// data_armor.push_back(armor);
// }
}
}
}
}
/*
*关于串口：1、使用c++11相关的新串口库。2、因为建立了收发信息对应的多线程，因此要去了解原子的坑。
3、在收信息时可能要写18条store（避免线程互斥的操作，接受之后用于处理数据），所以要用指针遍历结构体，用for。
robo_inf.yaw_angle.store(robo_inf_uart_temp.yaw_angle);
4、cmake相关不用单独写一个CMakeList，直接添加到总CMakeList即可。
*/
int main ()
{
// VideoCapture capture("/home/joyce/视频/闸门闪烁/闸门闪烁6.gif");
//无法与相机共同开启使用
// SetProgramOption(argc, argv);
// LdsLidar& read_lidar = LdsLidar::GetInstance();
// int ret = read_lidar.InitLdsLidar(cmdline_broadcast_code);
// if (!ret) {
// printf("Init lds lidar success!\n");
// } else {
// printf("Init lds lidar fail!\n");
// }
// printf("Start discovering device.\n");
// std::this_thread::sleep_for(std::chrono::seconds(100));
// read_lidar.DeInitLdsLidar();
// printf("Livox lidar demo end!\n");
//--------------------------------------------------------------------
RoboInf robo_inf;
RoboCmd robo_cmd;
int mycolor;
// auto streamer_ptr = std::make_shared<nadjieb::MJPEGStreamer>();
// streamer_ptr->start(8080);
// robo_cmd.is_left=2;
// robo_cmd.turn_angle=2.0;
auto serial = std::make_shared<RoboSerial>("/dev/ttyUSB0", 115200);
std::thread uart_read_thread(uartReadThread, serial, std::ref(robo_inf));
uart_read_thread.detach();
std::thread uart_write_thread(uartWriteThread, serial, std::ref(robo_cmd));
uart_write_thread.detach();
// cout<<"??????????????????????????????"<<endl;
// std::cout<<"main_my_color:"<<out_robo_inf.my_color.load()<<std::endl;
// if(out_robo_inf.my_color==0)
// {
// out_robo_inf.my_color=RED;
// cout<<"zeor"<<endl;
// }else
// {
// // out_robo_inf.my_color=BLUE;
// cout<<"one"<<endl;
// }
// std::cout<<"R_Hero_HP:"<<robo_inf.R_Hero_HP<<std::endl;
// std::cout<<"R_Engineer_HP:"<<robo_inf.R_Engineer_HP<<std::endl;
// std::cout<<"R_Infantry3_HP:"<<robo_inf.R_Infantry3_HP<<std::endl;
// std::cout<<"R_Infantry4_HP:"<<robo_inf.R_Infantry4_HP<<std::endl;
// std::cout<<"R_Infantry5_HP:"<<robo_inf.R_Infantry5_HP<<std::endl;
// std::cout<<"R_Infantry5_HP:"<<robo_inf.R_Sentry_HP<<std::endl;
// std::cout<<"R_Outpost_HP:"<<robo_inf.R_Outpost_HP<<std::endl;
// std::cout<<"R_Base_HP:"<<robo_inf.R_Base_HP<<std::endl;
//————————————————————————————————————————————————————
int change=1;
int change_map=1;
//视频录制
string video_file="/home/joyce/workplace/rm/2022/code/";
// cout<<sin((30*3.1415926)/180)<<endl;
#if SLOPE_FLYING_RECORD == 1
string record_date="";
record_date=getCurrentTimeStr();
VideoWriter vw;
vw.open(video_file+"darts-"+record_date+".avi",VideoWriter::fourcc('M', 'J', 'P', 'G'),30,Size(1280,800));
#endif
#if DARTS_OPEN_RECORD == 1
string record_date_1="";
record_date_1=getCurrentTimeStr();
VideoWriter vw1;
vw1.open(video_file+"radar-"+record_date_1+".avi",VideoWriter::fourcc('M', 'J', 'P', 'G'),30,Size(1280,800));
#endif
//——————————————————————————————————
// TRTModule model("/home/joyce/workplace/rm/2022/code/KCf/asset/model-opt-3.onnx");
// uart::SerialPort serial_ = uart::SerialPort("/home/joyce/workplace/rm/2022/KCf/configs/serial/uart_serial_config.xml");
basic_pnp::PnP pnp_ = basic_pnp::PnP("/home/joyce/workplace/rm/2022/KCf/configs/camera/mv_camera_config_555.xml",
"/home/joyce/workplace/rm/2022/KCf/configs/angle_solve/basic_pnp_config.xml");
mindvision::VideoCapture* mv_capture_ = new mindvision::VideoCapture(
mindvision::CameraParam(0, mindvision::RESOLUTION_1280_X_800, mindvision::EXPOSURE_20000),3);
cv::VideoCapture cap_ = cv::VideoCapture(3);
mindvision::VideoCapture* mv_capture_1 = new mindvision::VideoCapture(
mindvision::CameraParam(0, mindvision::RESOLUTION_1280_X_800, mindvision::EXPOSURE_20000),4);
cv::VideoCapture cap_1 = cv::VideoCapture(4);
VideoCapture cap0(0);
VideoCapture cap1(2);
cap0.set(CAP_PROP_FRAME_WIDTH,640);
cap0.set(CAP_PROP_FRAME_HEIGHT,480);
cap0.set(cv::CAP_PROP_AUTO_EXPOSURE, 0.25); // where 0.25 means "manual exposure, manual iris"
cap0.set(CAP_PROP_EXPOSURE, 50);
cap0.set(CAP_PROP_BRIGHTNESS,90);
cap1.set(CAP_PROP_FRAME_WIDTH,640);
cap1.set(CAP_PROP_FRAME_HEIGHT,480);
cap1.set(cv::CAP_PROP_AUTO_EXPOSURE, 0.25); // where 0.25 means "manual exposure, manual iris"
cap1.set(CAP_PROP_EXPOSURE, 50);
cap1.set(CAP_PROP_BRIGHTNESS,90);
Mat background,foreground,foreground_BW;
Mat mid_filer; //中值滤波法后的照片
Mat frame_0;
// Mat rm_map_bule=imread("/home/joyce/workplace/rm/2022/code/rm-map-bule.png");
// Mat rm_map_red=imread("/home/joyce/workplace/rm/2022/code/rm-map-red.png");
Mat result;
int count_num=0;
// static int count_num=0;
ROI roi;
// cap_.set(cv::CAP_PROP_FRAME_WIDTH, 1280);
// cap_.set(cv::CAP_P ROP_FRAME_HEIGHT, 800);
// cap_.set(cv::CAP_PROP_AUTO_EXPOSURE,1);
// cap_.set(cv::CAP_PROP_EXPOSURE, 800);
// int fps = 0, fps_count = 0;
// auto t1 = system_clock::now();
// int cnt_useless = -1;
cv::Mat img;//装甲板
cv::Mat img1;//飞镖.
cv::Mat img2;//装甲板
cv::Mat img3;//飞镖.
// cv::Mat frame = cv::Mat(900, 1500, CV_8UC3);
const cv::Scalar colors[4] = {{255, 0, 0}, {0, 0, 255}, {0, 255, 0}, {255, 255, 255}};
// const double fx = 1755.8568155966806899;
// const double fy = 1756.0870281269756106;
// const double cx = 649.2466252010661947;
// const double cy = 487.2552385352113333;
float yaw_angle;
float last_yaw_angle;
float enemy_robot_v;
float forecast_dist;
int compensate_w;
std::vector<cv::Point2f> target_2d;
Mat element = getStructuringElement(MORPH_RECT,Size(9,9));
// namedWindow("Radar picture",WINDOW_NORMAL);
// setWindowProperty("Radar picture", WND_PROP_FULLSCREEN, WINDOW_FULLSCREEN);
// cvui::image(frame, 20, 20, rm_map_bule);
// cv::imshow("map", rm_map_bule);
// cv::namedWindow(WINDOW_NAME,WINDOW_NORMAL);
// cvui::init("WINDOW_NAME");
while (true)
{
// 记录起始的时钟周期数
double time = (double)getTickCount();
cap0>>img2;
// cout<<"cap0:"<<cap0.isOpened()<<endl;
cap1>>img3;
// frame = cv::Scalar(49, 52, 49);
// armor(mv_capture_,img,cap_,
// serial_,colors,
// pnp_, yaw_angle, last_yaw_angle, enemy_robot_v,
// forecast_dist,compensate_w,time,0);
// imshow("0",img);
// darts_Door(mv_capture_1,img1,cap_1,
// count_num,mid_filer,background,frame_0,foreground,
// foreground_BW, element);
if (
mv_capture_->isindustryimgInput()
&&
mv_capture_1->isindustryimgInput()
)
{
img = mv_capture_->image();
img1=mv_capture_1->image();
} else {
cap_.read(img);
cap_1.read(img1);
}
if (
(!img1.empty()
)
||
(!img.empty())
)
{
//_______________地图阵营选择，默认我方颜色在下方__________________//
// if(change_map==1)//地图阵营切换
// {
// rm_map=rm_map_red;
// drawMap(frame,rm_map,count_num);
// }else if(change_map==2)
// {
// rm_map=rm_map_bule;
// drawMap(frame,rm_map,count_num);
// }
// if (cvui::button(frame, 20, 1100, "red",1)) //我方阵营选择按钮：红方
// {
// change_map=1;
// }
// if (cvui::button(frame, 180, 1100, "blue",1)) //我方阵营选择按钮：蓝方
// {
// change_map=2;
// }
//______________________________视频录制______________________________//
#if SLOPE_FLYING_RECORD == 1
vw.write(img);
#endif
#if DARTS_OPEN_RECORD == 1
vw1.write(img1);
#endif
//——————————————————————————————
// count_num=count_num+1;
// cv::imshow("0", img);
// darts_roi=img(Rect((img.cols/2)-20,(img.rows/2)-20,140,140));
// rectangle(img, Rect((img.cols/2)-20,(img.rows/2)-20,140,140), Scalar(255, 255, 0), 2); //在原图像上画出矩形
// GaussianBlur(darts_roi, darts_roi, Size(5, 5), 1, 1);
// // imshow("darts_roi",darts_roi);
// cvtColor( darts_roi,mid_filer, COLOR_RGB2GRAY );
// if(count_num==1)
// {
// background=mid_filer.clone();
// frame_0=background;
// }
// else
// {
// background=frame_0;
// }
// absdiff(mid_filer,background,foreground);//用帧差法求前景
// threshold( foreground, foreground_BW, 120, 255 , 0 );//二值化通常设置为50 255
// // dilate(foreground_BW,foreground_BW,element);