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RobotKernal-UESTC
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优化部分注释内容，重构部分函数名更加符合其作用

LRD_Develop
詹力 2024-01-07 00:19:48 +08:00
parent ce2f195559
commit 326173660f
4 changed files with 42 additions and 12 deletions
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2
Code/RK3588/stereo_yolo/rknpu2/examples/rknn_yolov5_demo/include/ranging.h
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@ -51,6 +51,6 @@ public:
void getInfo(cv::Mat &imgl, cv::Mat &imgr, cv::Mat &detBoxes, cv::Mat &info);
std::vector<float> pic2cam(int u, int v);
std::vector<int> muban(cv::Mat &left_image, cv::Mat &right_image, const int *coordinates);
std::vector<cv::Mat> get_range();
std::vector<cv::Mat> detObjectRanging();
void horizon_estimate(cv::Mat& img, cv::Mat& bboxs,int k);
};

8
Code/RK3588/stereo_yolo/rknpu2/examples/rknn_yolov5_demo/src/detection.cc
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@ -1,7 +1,13 @@
/******************** (C) COPYRIGHT 2024 UPBot **********************************
* File Name : detection.cpp
* Current Version : V1.0
* Author : Rockchip & linyuehang
* Date of Issued : 2024.01.07 zhanli@review
* Comments : 目标检测类，负责调用瑞芯微芯片NPU进行目标检测推理
********************************************************************************/
#include "detection.h"
#include <opencv2/opencv.hpp>
unsigned char * Detection::load_data(FILE *fp, size_t ofst, size_t sz)
{
unsigned char *data;

19
Code/RK3588/stereo_yolo/rknpu2/examples/rknn_yolov5_demo/src/main.cpp
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@ -1,3 +1,9 @@
/******************** (C) COPYRIGHT 2024 UPBot **********************************
* File Name : main.cpp
* Current Version : V1.0
* Date of Issued : 2024.01.96 zhanli@review
* Comments : UPbot机器人双目目标测距算法
********************************************************************************/
#include <iostream>
#include <stdio.h>
// #include "lidar.h"
@ -23,12 +29,18 @@ Ranging r(12, 640, 480);
std::queue<std::vector<cv::Mat>> frameInfo;
std::mutex g_mutex;
void *ranging(void *args) // ranging线程
/**---------------------------------------------------------------------
* Function : RangingNodeTask
* Description : 双目测距节点任务，完成摄像头帧读取、目标检测以及目标测距任务
* Author : hongchuyuan
* Date : 2023/12/13 zhanli@review 719901725@qq.com
*---------------------------------------------------------------------**/
void *RangingNodeTask(void *args)
{
while (true)
{
// std::cout<<" ************ enter ranging *********** "<<std::endl;
std::vector<cv::Mat> result = r.get_range();
std::vector<cv::Mat> result = r.detObjectRanging();
g_mutex.lock();
for (uchar i = 0; i < frameInfo.size(); i++) // 只保存当前最新的图片帧信息
frameInfo.pop();
@ -40,11 +52,10 @@ void *ranging(void *args) // ranging线程
int main(int argc, char **argv)
{
pthread_t tids[1]; // 执行ranging线程
int ret = pthread_create(&tids[0], NULL, ranging, NULL);
int ret = pthread_create(&tids[0], NULL, RangingNodeTask, NULL);
while(1){
usleep(150000);
}
return 0;
}

21
Code/RK3588/stereo_yolo/rknpu2/examples/rknn_yolov5_demo/src/ranging.cpp
View File

@ -1,3 +1,10 @@
/******************** (C) COPYRIGHT 2024 UPBot **********************************
* File Name : ranging.cpp
* Current Version : V1.0
* Author : Rockchip & linyuehang
* Date of Issued : 2024.01.07 zhanli@review
* Comments : 双目摄像头目标测距算法，需要依赖OpenCV以及目标检测模块
********************************************************************************/
#include <iostream>
#include <stdio.h>
#include "ranging.h"
@ -297,8 +304,9 @@ Ranging::Ranging(int index, int imgw, int imgh) : //初始化
auto imgSize = Size(imgw, imgh);
Mat r1(3, 3, CV_64F), r2(3, 3, CV_64F), p1(3, 4, CV_64F), p2(3, 4, CV_64F);
// 立体校正
stereoRectify(cam_matrix_left.t(), distortion_l, cam_matrix_right.t(), distortion_r,
imgSize, rotate.t(), trans, r1, r2, p1, p2, q);//立体校正
imgSize, rotate.t(), trans, r1, r2, p1, p2, q);
// 计算无畸变和修正转换映射
initUndistortRectifyMap(cam_matrix_left.t(), distortion_l, r1, p1, imgSize, CV_32F, mapX1, mapX2);
@ -309,8 +317,13 @@ Ranging::Ranging(int index, int imgw, int imgh) : //初始化
std::cout<< " ******************* CAMERA initialization ********************" << std::endl;
}
std::vector<Mat> Ranging::get_range()
/**---------------------------------------------------------------------
* Function : detObjectRanging
* Description : 摄像头帧读取、目标检测以及目标测距任务
* Author : hongchuyuan
* Date : 2023/12/13 zhanli@review 719901725@qq.com
*---------------------------------------------------------------------**/
std::vector<Mat> Ranging::detObjectRanging()
{
double rang_old, rang_now;
@ -378,7 +391,7 @@ std::vector<Mat> Ranging::get_range()
// }
}
// 存储测距信息，存储格式：距离d，宽w，高h，角度α
// 存储测距信息，存储格式：距离d，宽w，高h，角度alpha
Mat info(detect_result_group.count, 4, CV_32F);
// 如果有检测目标