1minist-8.onnx增加了opencv_onnx_inferrinng.hpp文件

.vscode/launch.json

@@ -8,7 +8,7 @@
     {
 
         "name": "(gdb) Launch", /* 配置名称，将会在启动配置的下拉菜单中显⽰ */
-        "preLaunchTask": "build", /* 调试前执⾏ 'build'选项 */
+        // "preLaunchTask": "build", /* 调试前执⾏ 'build'选项 */
         "type": "cppdbg", /* 配置类型，这⾥只能为cppdbg */
         "request": "launch",/**/
         "program": "${workspaceFolder}/run.o", /*选择要调试的⽂件路径*/

.vscode/tasks.json

@@ -7,11 +7,11 @@
 		"command": "/usr/bin/g++", /* 这⾥填写你的编译器地址 */
 		"args": [
 			/* 类似与qt的Pro⽂件⾥开始的那⼏句 */
-			"-Ofast",
-			"-march=native",
-			"-flto",
-			"-frename-registers",
-			"-std=c++11",// 静态链接
+			// "-Ofast",
+			// "-march=native",
+			// "-flto",
+			// "-frename-registers",
+			"-std=c++14",// 静态链接
 			"-static-libgcc",
 			"-lpthread",
 
@@ -31,6 +31,7 @@
 			"-I","${workspaceFolder}/module/RM_Buff/Target",
 			"-I","${workspaceFolder}/module/RM_Buff",
 			"-I","${workspaceFolder}/module/top_detect",
+			"-I","${workspaceFolder}/module/orc",
 			"-I","${workspaceFolder}/base",
 			"-I","/usr/local/include",
 			"-I","/usr/local/include/opencv4",
@@ -52,6 +53,7 @@
 			"${workspaceFolder}/module/RM_Buff/Target/Target.cpp",
 			"${workspaceFolder}/module/RM_Buff/RM_Buff.cpp",
 			"${workspaceFolder}/module/top_detect/top.cpp",
+			"${workspaceFolder}/module/orc/orc.cpp",
 			"${workspaceFolder}/base/connector.cpp",
 			"${workspaceFolder}/user/main.cpp",/* ${workspaceFolder}表⽰路径从当前项⽬⽂件夹开始 */
 			"-o", /* 编译输出⽂件的存放路径 */

base/connector.cpp

@@ -5,6 +5,7 @@ Connector::Connector() {}
 Connector::~Connector() {}
 
 void Connector::run() {
+  model module_("mnist-8.onnx");
   while (true) {
     if (mv_capture_.isindustryimgInput()) {
       src_img_ = mv_capture_.image();
@@ -40,7 +41,7 @@ void Connector::run() {
       mv_capture_.cameraReleasebuff();
       armor_.free_Memory();
       // usleep(1);
-      if (cv::waitKey(1) == 'q') {
+      if (cv::waitKey(0) == 'q') {
         return;
       }
     }

base/connector.hpp

@@ -6,19 +6,28 @@
 #include "module/RM_Buff/RM_Buff.hpp"
 #include "module/angle_solve/rm_solve_pnp.hpp"
 #include "module/armor/rm_armor.hpp"
+
+
 class Connector {
  private:
   cv::Mat src_img_;
-  mv_camera::RM_VideoCapture mv_capture_ =
+
+  mv_camera::RM_VideoCapture mv_capture_ =//初始相机的结构体
       mv_camera::RM_VideoCapture(mv_camera::CameraParam(
-          1, mv_camera::RESOLUTION_1280_X_800, mv_camera::EXPOSURE_600));
+         1, mv_camera::RESOLUTION_1280_X_800, mv_camera::EXPOSURE_600));
+
   armor::RM_ArmorDetector armor_ =
       armor::RM_ArmorDetector("module/armor/armor_config.xml");
+
   serial_port::SerialPort serial_ =
       serial_port::SerialPort("devices/serial/serial_config.xml");
+
   buff::RM_Buff buff_ = buff::RM_Buff("module/RM_Buff/Config/buff_config.xml");
+
   cv::VideoCapture cap_ =
-      cv::VideoCapture("/home/xx/下载/视频/效果图/camera_MaxBuff18.avi");
+      cv::VideoCapture("/home/sms/VIDEO/camera_MaxBuff15.avi");
+
+
 
  public:
   void run();

module/armor/armor_config.xml

@@ -64,6 +64,10 @@
 <V_BLUE_MIN>30</V_BLUE_MIN>
 <V_BLUE_MAX>255</V_BLUE_MAX>
 
+
+
+
+
 <!--~~~~~~~~~~~~~~ 1 图像处理部分 1 ~~~~~~~~~~~~~~-->
 
 <!--~~~~~~~~~~~~~~ 2 灯条查找部分 2 ~~~~~~~~~~~~~~--> 

module/armor/rm_armor.cpp

@@ -26,7 +26,10 @@ RM_ArmorDetector::RM_ArmorDetector(std::string _armor_config) {
     fs_armor["S_BLUE_MAX"] >> image_config_.s_blue_max;
     fs_armor["V_BLUE_MIN"] >> image_config_.v_blue_min;
     fs_armor["V_BLUE_MAX"] >> image_config_.v_blue_max;
+
+
   }
+
   fs_armor["LIGHT_DRAW"] >> light_config_.light_draw;
   fs_armor["LIGHT_EDTI"] >> light_config_.light_edit;
   fs_armor["LIGHT_RATIO_W_H_MIN"] >> light_config_.ratio_w_h_min;
@@ -57,6 +60,8 @@ RM_ArmorDetector::RM_ArmorDetector(std::string _armor_config) {
 
   std::cout << "装甲板参数初始化成功" << std::endl;
   std::cout << "💚💚💚💚💚💚💚💚💚💚💚💚" << std::endl;
+
+
 }
 
 /**
@@ -162,8 +167,9 @@ bool RM_ArmorDetector::find_Light() {
  * @return false 无法得到装甲板
  */
 serial_port::Write_Data RM_ArmorDetector::run_Armor(
-    cv::Mat &_src_img, serial_port::Receive_Data _receive_data) {
+    cv::Mat &_src_img, serial_port::Receive_Data _receive_data ) {
   //图像处理
+  frame = _src_img.clone();
   run_Image(_src_img, _receive_data.my_color);
   draw_img_ = _src_img;
   if (find_Light()) {
@@ -180,6 +186,9 @@ serial_port::Write_Data RM_ArmorDetector::run_Armor(
 
       if (armor_config_.armor_draw == 1 || light_config_.light_draw == 1 ||
           armor_config_.armor_edit == 1 || light_config_.light_edit == 1) {
+         cv::putText(draw_img_,to_string( pnp_.returnDepth()),
+                                  cv::Point(50,100),cv::FONT_HERSHEY_SIMPLEX,1,
+                                  cv::Scalar(0,255,255),1,cv::LINE_AA);
         imshow("armor_draw_img", draw_img_);
         draw_img_ = cv::Mat::zeros(_src_img.size(), CV_8UC3);
       }
@@ -191,6 +200,7 @@ serial_port::Write_Data RM_ArmorDetector::run_Armor(
   }
   if (armor_config_.armor_draw == 1 || light_config_.light_draw == 1 ||
       armor_config_.armor_edit == 1 || light_config_.light_edit == 1) {
+
     imshow("armor_draw_img", draw_img_);
     draw_img_ = cv::Mat::zeros(_src_img.size(), CV_8UC3);
   }
@@ -199,6 +209,79 @@ serial_port::Write_Data RM_ArmorDetector::run_Armor(
                         pnp_.returnYawAngle(), cv::Point(0, 0)),
       pnp_.returnPitchAngle(), pnp_.returnDepth(), armor_.size(), 0);
 }
+
+
+
+/*********number*********************/
+
+cv::Mat RM_ArmorDetector::Save_ROI(cv::Rect input_rect , cv::Mat img_input)
+{
+  cv::Point Point_t;int width_ ,height_;
+  Point_t.x = input_rect.x + 10;
+  Point_t.y = input_rect.y  - 30;
+  width_ = input_rect.width -20;
+  height_ = input_rect.height +50;
+if(Point_t.x < 0)
+{
+  Point_t.x  = 0 ;
+}
+if(Point_t.y < 0)
+{
+  Point_t.y = 0;
+}
+if(Point_t.x+width_ > img_input.cols)
+{
+    width_ = img_input.cols - abs(Point_t.x);
+}
+if(Point_t.y+height_ > img_input.rows)
+{
+  height_ = img_input.rows - abs(Point_t.y);
+}
+
+return img_input(cv::Rect(Point_t,cv::Size(width_,height_)));
+
+}
+
+
+bool RM_ArmorDetector::NumberOrc()
+{
+
+    cv::namedWindow("数字number");
+    cv::createTrackbar("h_min_num", "数字number",&OrcCtrl_.num_cfg_.h_min_num,
+                       255, NULL);
+    cv::createTrackbar("s_min_num", "数字number",
+                       &OrcCtrl_.num_cfg_.s_min_num, 255, NULL);
+    cv::createTrackbar("v_min_num", "数字number",
+                       &OrcCtrl_.num_cfg_.v_min_num, 255, NULL);
+
+    cv::createTrackbar("CONFIDENT", "数字number",
+                       &OrcCtrl_.num_cfg_.Confident, 5000, NULL);//置信度
+    cv::createTrackbar("kernel_size", "数字number",
+                       &OrcCtrl_.num_cfg_.kennerl_size, 10, NULL);//置信度
+
+    cv::Mat Number_img = Save_ROI(armor_data_.armor_rect.boundingRect(),frame);
+    int k  =module_.inferring(Number_img,
+                                                                    2*OrcCtrl_.num_cfg_.kennerl_size-1,
+                                            cv::Scalar(OrcCtrl_.num_cfg_.h_min_num,OrcCtrl_.num_cfg_.s_min_num,OrcCtrl_.num_cfg_.v_min_num),
+                                            cv::Scalar(255,255,255),OrcCtrl_.num_cfg_.Confident);
+    if(OrcCtrl_.num_cfg_.switch_number == 1)
+    {
+      putText( frame, to_string(k), cv::Point(100, 100), 5,  5.0 ,cv::Scalar(0,360,360),
+                          2, cv::LINE_8, false );
+      cv::imshow("frame_number",frame);
+      cv::imshow("number",Number_img);
+    }
+
+
+      if(k  == 2)
+      {
+        return false;
+      }else{
+        return true;
+      }
+}
+
+/*********number*********************/
 /**
  * @brief 求两点之间的距离
  *
@@ -323,7 +406,7 @@ bool RM_ArmorDetector::fitting_Armor() {
  * @return true 找到了符合装甲板条件的位置
  * @return false 没找到了符合装甲板条件的位置
  */
-bool RM_ArmorDetector::light_Judge(int i, int j) {
+bool RM_ArmorDetector::light_Judge(int i, int j ) {
   armor_data_.left_light_height =
       MAX(light_[i].size.height, light_[i].size.width);
   armor_data_.left_light_width =
@@ -344,7 +427,8 @@ bool RM_ArmorDetector::light_Judge(int i, int j) {
       armor_data_.light_width_aspect <
           (armor_config_.light_width_ratio_max * 0.1) &&
       armor_data_.light_width_aspect >
-          (armor_config_.light_height_ratio_min * 0.1)) {
+          (armor_config_.light_height_ratio_min * 0.1)) 
+    {
     armor_data_.height = (armor_data_.left_light.size.height +
                           armor_data_.right_light.size.height) /
                          2;
@@ -377,12 +461,31 @@ bool RM_ArmorDetector::light_Judge(int i, int j) {
                   (armor_config_.small_armor_aspect_min * 0.1) &&
               (armor_data_.aspect_ratio < armor_config_.armor_type_th * 0.1)) {
             armor_data_.distinguish = 0;  // 小装甲板
-            return true;
+
+
+            if(NumberOrc())
+            {              
+              if(OrcCtrl_.num_cfg_.switch_number == 1)
+              {
+              cv::putText(draw_img_,"SMALL",cv::Point(50,50),cv::FONT_HERSHEY_SIMPLEX,2,
+                                      cv::Scalar(255,255,255),2,cv::LINE_AA);
+              }
+              return true;
+            }else       
+            {
+              return false;
+            }
           } else if (armor_data_.aspect_ratio >
                          (armor_config_.armor_type_th * 0.1) &&
                      armor_data_.aspect_ratio <
-                         (armor_config_.big_armor_aspect_max * 0.1)) {
-            armor_data_.distinguish = 1;  //大装甲板
+                         (armor_config_.big_armor_aspect_max * 0.1)){
+                        armor_data_.distinguish = 1;  //大装甲板
+                        NumberOrc();
+                        if(OrcCtrl_.num_cfg_.switch_number == 1)
+                        {
+                        cv::putText(draw_img_,"BIG",cv::Point(50,50),cv::FONT_HERSHEY_SIMPLEX,2,
+                                                cv::Scalar(255,255,255),2,cv::LINE_AA);
+                        }
             return true;
           }
         }

module/armor/rm_armor.hpp

@@ -8,6 +8,9 @@
 #include "module/angle_solve/rm_solve_pnp.hpp"
 #include "module/filter/filter.hpp"
 #include "module/top_detect/top.hpp"
+#include "module/orc/orc.hpp"
+#include "opencv_onnx_inferring.hpp"
+
 
 namespace armor {
 struct Armor_Data {
@@ -48,6 +51,7 @@ struct Armor_Cfg {
   int small_armor_aspect_min;
   int armor_type_th;
   int big_armor_aspect_max;
+
 };
 
 struct Light_Cfg {
@@ -88,7 +92,12 @@ struct Image_Cfg {
   int gray_edit = 0;
   int color_edit = 0;
   int method = 0;
+
+
+
 };
+
+
 /**
  * @brief 图像处理
  *
@@ -97,14 +106,23 @@ class RM_ArmorDetector {
   //装甲板
  public:
   serial_port::Write_Data run_Armor(cv::Mat &_src_img,
-                                    serial_port::Receive_Data _receive_data);
-  bool light_Judge(int i, int j);  //判断左右灯条能否组成装甲板
+                                    serial_port::Receive_Data _receive_data );
+  bool light_Judge(int i, int j );  //判断左右灯条能否组成装甲板
   int average_Color();             //计算图像颜色平均值
   bool fitting_Armor();            //拟合装甲板
   bool find_Light();               //寻找灯条
   void final_Armor();              //最优装甲板
   void free_Memory();              //释放内存
-  int motion_Direction();          //判断装甲板运动方向
+  int    motion_Direction();          //判断装甲板运动方向
+
+/****************数字*************************/
+
+  bool NumberOrc();
+ cv::Mat Save_ROI( cv::Rect input_rect , cv::Mat img_input);
+
+/****************数字*************************/
+
+
   inline Armor_Data returnFinalArmor(int _num) { return armor_[_num]; }
   inline cv::Point returnFinalArmorCenter(int _num) {
     return armor_[num].armor_rect.center;
@@ -136,6 +154,10 @@ class RM_ArmorDetector {
   Image_Cfg image_config_;
   Light_Cfg light_config_;
 
+
+  Orc::OrcNumber OrcCtrl_  = Orc::OrcNumber("module/orc/orc_config.xml");
+  model module_ = model("mnist-8.onnx");
+
   cv::Mat frame;      //原图
   cv::Mat draw_img_;  //画板
   cv::Mat gray_img_;
@@ -173,6 +195,7 @@ class RM_ArmorDetector {
   int armor_direction = 0;      // 1向右 -1 向左
   int num = 0;                  //运行次数
 
+
   //图像
  private:
   cv::Mat gray_trackbar_ = cv::Mat::zeros(1, 300, CV_8UC1);

module/orc/orc.cpp

@@ -0,0 +1,25 @@
+#include "orc.hpp"
+
+namespace Orc
+{
+    OrcNumber::OrcNumber(){}
+
+    OrcNumber::OrcNumber(std::string Orc_config_)
+    {
+        cv::FileStorage Orc_armor(Orc_config_, cv::FileStorage::READ);
+        Orc_armor["H_MIN_NUM"] >> num_cfg_.h_min_num;
+        Orc_armor["H_MAX_NUM"] >> num_cfg_.h_max_num;
+        Orc_armor["S_MIN_NUM"] >> num_cfg_.s_min_num;
+        Orc_armor["S_MAX_NUM"] >> num_cfg_.s_max_num;
+        Orc_armor["V_MIN_NUM"] >> num_cfg_.v_min_num;
+        Orc_armor["V_MAX_NUM"] >> num_cfg_.v_max_num;
+        Orc_armor["CONFIDENT"] >> num_cfg_.Confident;
+        Orc_armor["KERNEL_SIZE"] >> num_cfg_.kennerl_size;
+
+        Orc_armor["NUMBER_SWITCH"] >> num_cfg_.switch_number;
+    }
+    OrcNumber::~OrcNumber(){}
+
+
+} // namespace Orc
+