Master

lecture3/homework/CMakeLists.txt

@@ -9,7 +9,7 @@ message(STATUS "--------------------CMAKE_BUILD_TYPE: ${CMAKE_BUILD_TYPE}-------
 find_package(OpenCV REQUIRED)
 find_package(fmt REQUIRED)
 find_package(Eigen3 REQUIRED)
-# find_package(spdlog REQUIRED)
+find_package(spdlog REQUIRED)
 find_package(yaml-cpp REQUIRED)
 # find_package(nlohmann_json REQUIRED)
 set(OpenVINO_DIR "/opt/intel/openvino_2024.6.0/runtime/cmake/")

lecture3/homework/io/my_camera.cpp

@@ -0,0 +1,95 @@
+#include "my_camera.hpp"
+#include <iostream>
+
+myCamera::myCamera() 
+    : _handle_(nullptr),
+      _wait_msec_(100),
+      _is_grabbing_(false),
+      _is_device_opened_(false),
+      _is_handle_created_(false) {
+    int ret = MV_CC_EnumDevices(MV_USB_DEVICE, &_device_list_);
+}
+
+myCamera::~myCamera() {
+    if (_is_grabbing_) {
+        int ret = MV_CC_StopGrabbing(_handle_);
+        if (ret == MV_OK) {
+            _is_grabbing_ = false;
+        }
+    }
+
+    if (_is_device_opened_) {
+        int ret = MV_CC_CloseDevice(_handle_);
+        if (ret == MV_OK){
+            _is_device_opened_ = false;
+        }
+    }
+
+    if (_is_handle_created_) {
+        int ret = MV_CC_DestroyHandle(_handle_);
+        if (ret == MV_OK){
+            _handle_ = nullptr;
+            _is_handle_created_ = false;
+        }
+    }
+}
+
+cv::Mat myCamera::_transfer_frame_(MV_FRAME_OUT& raw) {
+    cv::Mat img(cv::Size(raw.stFrameInfo.nWidth, raw.stFrameInfo.nHeight), CV_8U, raw.pBufAddr);
+    MV_CC_PIXEL_CONVERT_PARAM cvt_param;
+    cvt_param.nWidth = raw.stFrameInfo.nWidth;
+    cvt_param.nHeight = raw.stFrameInfo.nHeight;
+    cvt_param.pSrcData = raw.pBufAddr;
+    cvt_param.nSrcDataLen = raw.stFrameInfo.nFrameLen;
+    cvt_param.enSrcPixelType = raw.stFrameInfo.enPixelType;
+    cvt_param.pDstBuffer = img.data;
+    cvt_param.nDstBufferSize = img.total() * img.elemSize();
+    cvt_param.enDstPixelType = PixelType_Gvsp_BGR8_Packed;
+    auto pixel_type = raw.stFrameInfo.enPixelType;
+    cv::cvtColor(img, img, _type_map_.at(pixel_type));
+    return img;
+}
+
+bool myCamera::read(cv::Mat& frame) {
+    if (_device_list_.nDeviceNum == 0) {
+        return false;
+    }
+
+    if (!_is_handle_created_) {
+        int ret = MV_CC_CreateHandle(&_handle_, _device_list_.pDeviceInfo[0]);
+        if (ret != MV_OK) {
+            return false;
+        }
+        _is_handle_created_ = true;
+    }
+
+    if (!_is_device_opened_) {
+        int ret = MV_CC_OpenDevice(_handle_);
+        if (ret != MV_OK) {
+            return false;
+        }
+        _is_device_opened_ = true;
+        int ret_param = 0;
+        ret_param = MV_CC_SetEnumValue(_handle_, "BalanceWhiteAuto", MV_BALANCEWHITE_AUTO_CONTINUOUS);
+        ret_param = MV_CC_SetEnumValue(_handle_, "ExposureAuto", MV_EXPOSURE_AUTO_MODE_OFF);
+        ret_param = MV_CC_SetEnumValue(_handle_, "GainAuto", MV_GAIN_MODE_OFF);
+        ret_param = MV_CC_SetFloatValue(_handle_, "ExposureTime", 10000);
+        ret_param = MV_CC_SetFloatValue(_handle_, "Gain", 20);
+        ret_param = MV_CC_SetFrameRate(_handle_, 60);
+    }
+
+    if (!_is_grabbing_) {
+        int ret = MV_CC_StartGrabbing(_handle_);
+        if (ret != MV_OK) {
+            return false;
+        }
+        _is_grabbing_ = true;
+    }
+    int ret = MV_CC_GetImageBuffer(_handle_, &_raw_frame_, _wait_msec_);
+    if (ret != MV_OK) {
+        return false;
+    }
+    frame = _transfer_frame_(_raw_frame_);
+    ret = MV_CC_FreeImageBuffer(_handle_, &_raw_frame_);
+    return true;
+}

lecture3/homework/io/my_camera.hpp

@@ -0,0 +1,30 @@
+#ifndef MY_CAMERA_HPP
+#define MY_CAMERA_HPP
+
+#include "io/hikrobot/include/MvCameraControl.h"
+#include <opencv2/opencv.hpp>
+#include <unordered_map>
+
+class myCamera {
+public:
+    myCamera();
+    ~myCamera();
+    bool read(cv::Mat& frame);
+private:
+    void* _handle_;
+    MV_CC_DEVICE_INFO_LIST _device_list_;
+    MV_FRAME_OUT _raw_frame_;
+    unsigned int _wait_msec_;
+    bool _is_grabbing_;
+    bool _is_device_opened_;
+    bool _is_handle_created_;
+    const std::unordered_map<MvGvspPixelType, cv::ColorConversionCodes> _type_map_ = {
+        {PixelType_Gvsp_BayerGR8, cv::COLOR_BayerGR2RGB},
+        {PixelType_Gvsp_BayerRG8, cv::COLOR_BayerRG2RGB},
+        {PixelType_Gvsp_BayerGB8, cv::COLOR_BayerGB2RGB},
+        {PixelType_Gvsp_BayerBG8, cv::COLOR_BayerBG2RGB}
+    };
+    cv::Mat _transfer_frame_(MV_FRAME_OUT& raw);
+};
+
+#endif

lecture3/homework/main.cpp

@@ -1,27 +1,41 @@
+#include <iostream>
+#include <opencv2/opencv.hpp>
 #include "io/my_camera.hpp"
 #include "tasks/yolo.hpp"
-#include "opencv2/opencv.hpp"
+#include "tasks/armor.hpp"
 #include "tools/img_tools.hpp"
 
-int main()
-{
-    // 初始化相机、yolo类
-
-    // while (1) {
-        // 调用相机读取图像
+int main() {
+    myCamera camera;
+    auto_aim::YOLO yolo("./configs/yolo.yaml");
+    cv::Mat frame;
+    std::list<auto_aim::Armor> armors;
+    int frame_count = 0;
 
+    while (true) {
+        if (!camera.read(frame)) {
+            cv::waitKey(1000);
+            continue;
+        }
 
-        // 调用yolo识别装甲板
+        armors = yolo.detect(frame, frame_count);
+        frame_count++;
 
+        for (const auto& armor : armors) {
+            std::vector<cv::Point> armor_points;
+            for (const auto& pt : armor.points) {
+                armor_points.emplace_back(cv::Point(static_cast<int>(pt.x), static_cast<int>(pt.y)));
+            }
+            tools::draw_points(frame, armor_points, cv::Scalar(0, 0, 255), 2);
+        }
 
+        cv::imshow("Camera-YOLO Armor Detection", frame);
 
-        // 显示图像
-        // cv::resize(img, img , cv::Size(640, 480));
-        // cv::imshow("img", img);
-        // if (cv::waitKey(0) == 'q') {
-        //     // break;
-        // }
-    // }
+        if (cv::waitKey(1) == 27) {
+            break;
+        }
+    }
 
+    cv::destroyAllWindows();
     return 0;
-}
+}

lecture3/part1/main.cpp

@@ -3,17 +3,26 @@ using namespace std;
 
 class Material
 {
-
+    public:
+        Material(){
+            printf("Material Default Constructor!\n");
+        };
+        void print(){
+            printf("This is a Material Object!\n");
+        };
+        ~Material(){
+            printf("Material Destuctor!\n");
+        };
 };
 
-// int main()
-// {
-//     cout << "--- 构造函数 ---" << endl;
-//     Material m;
+int main()
+{
+    cout << "--- 构造函数 ---" << endl;
+    Material m;
 
-//     cout << "\n--- print函数 ---" << endl;
-//     m.print();
+    cout << "\n--- print函数 ---" << endl;
+    m.print();
 
-//     cout << "\n--- 自动进行析构函数 ---" << endl;
-//     return 0;
-// }
+    cout << "\n--- 自动进行析构函数 ---" << endl;
+    return 0;
+}

lecture3/part2/main.cpp

@@ -3,17 +3,30 @@ using namespace std;
 
 class Material
 {
-
+public:
+        Material(){
+            printf("Material Default Constructor!\n");
+        };
+        void print(){
+            printf("This is a Material Object!\n");
+            count_++;
+        };
+        ~Material(){
+            printf("Material Destuctor!It has been read %d times\n",count_);
+        };
+private:
+        int count_=0;
 };
 
-// int main()
-// {
-//     cout << "--- 构造函数 ---" << endl;
-//     Material m;
+int main()
+{
+    cout << "--- 构造函数 ---" << endl;
+    Material m;
+    Material n;
 
-//     cout << "\n--- print函数 ---" << endl;
-//     m.print();
+    cout << "\n--- print函数 ---" << endl;
+    m.print();
 
-//     cout << "\n--- 自动进行析构函数 ---" << endl;
-//     return 0;
-// }
+    cout << "\n--- 自动进行析构函数 ---" << endl;
+    return 0;
+}

lecture4/class/src/main.cpp

@@ -22,12 +22,12 @@ static const double ARMOR_WIDTH = 0.135;     // 装甲板宽度  单位：米
 // 对于我们而言，也就是装甲板坐标系下4个点的坐标。
 // 请你填写下面的 object_points:
 
-// static const std::vector<cv::Point3f> object_points {
-//     {          ,           , 0 },  // 点 1
-//     {          ,           , 0 },  // 点 2
-//     {          ,           , 0 },  // 点 3
-//     {          ,           , 0 }   // 点 4
-// };
+static const std::vector<cv::Point3f> object_points {
+    {-ARMOR_WIDTH/2,-LIGHTBAR_LENGTH/2, 0 },  // 点 1
+    {ARMOR_WIDTH/2,-LIGHTBAR_LENGTH/2, 0 },  // 点 2
+    {ARMOR_WIDTH/2,LIGHTBAR_LENGTH/2, 0 },  // 点 3
+    {-ARMOR_WIDTH/2,LIGHTBAR_LENGTH/2, 0 }   // 点 4
+};
 
 // 提示：
 // - 装甲板坐标系是三维的坐标系，但是四个点都在 z 坐标为 0 的平面上，所以已经为你填写了四个 0 。
@@ -61,7 +61,7 @@ int main(int argc, char *argv[])
             // 对于我们而言，也就是 照片上 装甲板 4个点的坐标。
             // 请你填写下面的 img_points:
             //
-            // std::vector<cv::Point2f> img_points{ , , , };
+            std::vector<cv::Point2f> img_points{armor.left.top,armor.right.top,armor.right.bottom,armor.left.bottom};
             //
             // 提示：
             // - 看看 Armor 结构体有哪些成员。
@@ -77,7 +77,7 @@ int main(int argc, char *argv[])
             // rvec 和 tvec 用于存储 solvePnP 输出的结果。
             // 你需要在下面填写 输入给 solvePnP 的参数：
             //
-            // cv::solvePnP(, , , , rvec, tvec);
+            cv::solvePnP(object_points,img_points,camera_matrix,distort_coeffs, rvec, tvec);
             //
             // #########################################################
 
@@ -87,8 +87,8 @@ int main(int argc, char *argv[])
             // 现在，draw_text 只打印 0.0
             // 请你改写下面draw_text的参数，把解得的 tvec 和 rvec 打印出来
             //
-            tools::draw_text(img, fmt::format("tvec:  x{: .2f} y{: .2f} z{: .2f}", 0.0, 0.0, 0.0), cv::Point2f(10, 60), 1.7, cv::Scalar(0, 255, 255), 3);
-            tools::draw_text(img, fmt::format("rvec:  x{: .2f} y{: .2f} z{: .2f}", 0.0, 0.0, 0.0), cv::Point2f(10, 120), 1.7, cv::Scalar(0, 255, 255), 3);
+            tools::draw_text(img, fmt::format("tvec:  x{: .2f} y{: .2f} z{: .2f}", tvec.at<double>(0),tvec.at<double>(1),tvec.at<double>(2)), cv::Point2f(10, 60), 1.7, cv::Scalar(0, 255, 255), 3);
+            tools::draw_text(img, fmt::format("rvec:  x{: .2f} y{: .2f} z{: .2f}", rvec.at<double>(0),rvec.at<double>(1),rvec.at<double>(2)), cv::Point2f(10, 120), 1.7, cv::Scalar(0, 255, 255), 3);
             //
             // 提示：
             // - 使用 tvec.at<double>(0)，可以得到一个double变量，它是tvec中首个元素的值。
@@ -100,7 +100,12 @@ int main(int argc, char *argv[])
             // 使用 cv::Rodrigues ，把 rvec 旋转向量转换为 rmat 旋转矩阵。
             // 再使用反三角函数，把旋转矩阵 rmat 中的元素转化为欧拉角，并在画面上显示。
             //
-            tools::draw_text(img, fmt::format("euler angles:  yaw{: .2f} pitch{: .2f} roll{: .2f}", 0.0, 0.0, 0.0), cv::Point2f(10, 180), 1.7, cv::Scalar(0, 255, 255), 3);
+            cv::Mat rmat;
+            cv::Rodrigues(rvec,rmat);
+            double yaw=atan2(rmat.at<double>(0,2),rmat.at<double>(2,2));
+            double pitch=-asin(rmat.at<double>(1,2));
+            double roll=atan2(rmat.at<double>(1,0),rmat.at<double>(1,1));
+            tools::draw_text(img, fmt::format("euler angles:  yaw{: .2f} pitch{: .2f} roll{: .2f}",yaw,pitch,roll), cv::Point2f(10, 180), 1.7, cv::Scalar(0, 255, 255), 3);
             //
             // 提示：
             // - cv::Mat 的下标从0开始，而不是1。

lecture4/homework/io/CMakeLists.txt

@@ -12,5 +12,5 @@ elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "aarch64")
 else()
   message(FATAL_ERROR "Unsupported architecture: ${CMAKE_HOST_SYSTEM_PROCESSOR}!")
 endif()
-target_link_libraries(io MvCameraControl MVSDK usb-1.0)
+target_link_libraries(io MvCameraControl usb-1.0)