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Commit 69be566

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creeper5820creeper5820
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fix: better lightbar detect roi
1 parent b77f01b commit 69be566

2 files changed

Lines changed: 47 additions & 39 deletions

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‎src/kernel/auto_aim.cpp‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -82,9 +82,9 @@ struct AutoAim::Impl {
8282
auto result = identifier.sync_identify(*image);
8383
if (!result.has_value()) continue;
8484

85-
// for (const auto& roi : result->areas) {
86-
// visual.draw_later(roi);
87-
// }
85+
for (const auto& roi : result->areas) {
86+
visual.draw_later(roi);
87+
}
8888
visual.draw_later(result->armors);
8989
visual.draw_later(result->green_light);
9090

‎src/kernel/identifier.cpp‎

Lines changed: 44 additions & 36 deletions
Original file line numberDiff line numberDiff line change
@@ -82,8 +82,8 @@ struct Identifier::Impl {
8282
const auto y = result.green_light->y;
8383

8484
const auto pred = [=](const Armor2d& armor) {
85-
const auto is_building
86-
= (armor.genre == ArmorGenre::OUTPOST) || (armor.genre == ArmorGenre::BASE);
85+
const auto is_building =
86+
(armor.genre == ArmorGenre::OUTPOST) || (armor.genre == ArmorGenre::BASE);
8787
return is_building && armor.bl.y < 1. * y;
8888
};
8989
std::erase_if(detected, pred);
@@ -92,12 +92,8 @@ struct Identifier::Impl {
9292

9393
// 邻侧灯条：单装甲板机器人 → 扩展 ROI + 识别
9494
{
95-
constexpr auto kHorizontalCoeff = 2.5;
96-
constexpr auto kVerticalConstant = 40;
97-
constexpr auto kGap = 10;
98-
99-
const auto& mat = src.details().mat;
100-
const auto image_bounds = cv::Rect2i { 0, 0, mat.cols, mat.rows };
95+
const auto& mat = src.details().mat;
96+
const auto bounds = cv::Rect2i { 0, 0, mat.cols, mat.rows };
10197

10298
for (const auto& [genre, armors] : robots) {
10399
if (armors.size() != 1) continue;
@@ -107,64 +103,76 @@ struct Identifier::Impl {
107103
const auto max_x = std::max({ armor.tl.x, armor.tr.x, armor.br.x, armor.bl.x });
108104
const auto min_y = std::min({ armor.tl.y, armor.tr.y, armor.br.y, armor.bl.y });
109105
const auto max_y = std::max({ armor.tl.y, armor.tr.y, armor.br.y, armor.bl.y });
110-
const auto width = std::abs(armor.tr.x - armor.tl.x);
111106

112-
const auto h_extend = static_cast<int>(width * kHorizontalCoeff);
113-
const auto top = static_cast<int>(min_y - kVerticalConstant);
114-
const auto height = static_cast<int>(max_y - min_y + 2 * kVerticalConstant);
107+
const auto aw = std::abs(max_x - min_x);
108+
const auto ah = std::abs(max_y - min_y);
109+
110+
const auto top = static_cast<int>(min_y - ah * 2.);
111+
const auto gap = static_cast<int>(aw * 1.0);
115112

116-
const auto camp = armor_color2camp_color(armor.color);
113+
const auto rh = static_cast<int>(aw * 2.5);
114+
const auto rw = static_cast<int>(aw * 1.5);
117115

116+
const auto point = [](auto x, auto y) {
117+
return cv::Point2i {
118+
static_cast<int>(std::round(x)),
119+
static_cast<int>(std::round(y)),
120+
};
121+
};
118122
const auto rois = std::array {
119-
cv::Rect2i { static_cast<int>(min_x) - h_extend - kGap, top, h_extend, height },
120-
cv::Rect2i { static_cast<int>(max_x) + kGap, top, h_extend, height },
123+
cv::Rect2i { point(min_x - 1. * gap - 1. * rw, top), cv::Size2i { rw, rh } },
124+
cv::Rect2i { point(max_x + 1. * gap - 0. * rw, top), cv::Size2i { rw, rh } },
121125
};
122-
for (const auto& roi : rois) {
123126

124-
const auto clipped = roi & image_bounds;
127+
for (const auto& roi : rois) {
128+
const auto clipped = roi & bounds;
125129
if (clipped.width <= 0 || clipped.height <= 0) continue;
126130

127131
result.areas.push_back(clipped);
128132

129133
auto finder = LightbarFinder { };
130134
{
135+
const auto camp = armor_color2camp_color(armor.color);
136+
131137
finder.input.source = mat(clipped).clone();
132138
finder.input.color = camp;
133139
if (!finder.solve()) continue;
134140
}
135141
{ // 长度筛选
136-
const auto armor_length
137-
= std::hypot(armor.tl.x - armor.bl.x, armor.tl.y - armor.bl.y);
138-
const auto detected_length = std::hypot(
139-
finder.result.upper.x - finder.result.lower.x,
140-
finder.result.upper.y - finder.result.lower.y);
142+
const auto armor_length =
143+
std::hypot(armor.tl.x - armor.bl.x, armor.tl.y - armor.bl.y);
144+
const auto detected_length =
145+
std::hypot(finder.result.upper.x - finder.result.lower.x,
146+
finder.result.upper.y - finder.result.lower.y);
141147
if (std::abs(detected_length - armor_length) / armor_length > 0.2) continue;
142148
}
143149
{ // 角度筛选
144-
const auto armor_direction
145-
= cv::Point2d { armor.tl.x - armor.bl.x, armor.tl.y - armor.bl.y };
150+
const auto armor_direction =
151+
cv::Point2d { armor.tl.x - armor.bl.x, armor.tl.y - armor.bl.y };
146152
const auto detected_direction = cv::Point2d {
147153
static_cast<double>(finder.result.upper.x - finder.result.lower.x),
148154
static_cast<double>(finder.result.upper.y - finder.result.lower.y),
149155
};
150156
const auto armor_angle = std::atan2(armor_direction.y, armor_direction.x);
151-
const auto detected_angle
152-
= std::atan2(detected_direction.y, detected_direction.x);
153-
const auto angle_diff
154-
= std::abs(util::normalize_angle(detected_angle - armor_angle));
157+
const auto detected_angle =
158+
std::atan2(detected_direction.y, detected_direction.x);
159+
const auto angle_diff =
160+
std::abs(util::normalize_angle(detected_angle - armor_angle));
155161
if (angle_diff > util::deg2rad(20.0)) continue;
156162
}
157163
result.lightbars.push_back({
158164
.genre = genre,
159165
.color = armor.color,
160-
.upper = Point2d {
161-
static_cast<double>(finder.result.upper.x + clipped.x),
162-
static_cast<double>(finder.result.upper.y + clipped.y),
163-
},
164-
.lower = Point2d {
165-
static_cast<double>(finder.result.lower.x + clipped.x),
166-
static_cast<double>(finder.result.lower.y + clipped.y),
167-
},
166+
.upper =
167+
Point2d {
168+
static_cast<double>(finder.result.upper.x + clipped.x),
169+
static_cast<double>(finder.result.upper.y + clipped.y),
170+
},
171+
.lower =
172+
Point2d {
173+
static_cast<double>(finder.result.lower.x + clipped.x),
174+
static_cast<double>(finder.result.lower.y + clipped.y),
175+
},
168176
});
169177
}
170178
}

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