优化部分注释内容，重构部分函数名更加符合其作用
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@ -51,6 +51,6 @@ public:
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void getInfo(cv::Mat &imgl, cv::Mat &imgr, cv::Mat &detBoxes, cv::Mat &info);
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std::vector<float> pic2cam(int u, int v);
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std::vector<int> muban(cv::Mat &left_image, cv::Mat &right_image, const int *coordinates);
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std::vector<cv::Mat> get_range();
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std::vector<cv::Mat> detObjectRanging();
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void horizon_estimate(cv::Mat& img, cv::Mat& bboxs,int k);
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};
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@ -1,7 +1,13 @@
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/******************** (C) COPYRIGHT 2024 UPBot **********************************
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* File Name : detection.cpp
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* Current Version : V1.0
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* Author : Rockchip & linyuehang
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* Date of Issued : 2024.01.07 zhanli@review
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* Comments : 目标检测类，负责调用瑞芯微芯片NPU进行目标检测推理
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********************************************************************************/
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#include "detection.h"
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#include <opencv2/opencv.hpp>
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unsigned char * Detection::load_data(FILE *fp, size_t ofst, size_t sz)
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{
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unsigned char *data;
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@ -1,3 +1,9 @@
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/******************** (C) COPYRIGHT 2024 UPBot **********************************
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* File Name : main.cpp
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* Current Version : V1.0
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* Date of Issued : 2024.01.96 zhanli@review
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* Comments : UPbot机器人双目目标测距算法
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********************************************************************************/
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#include <iostream>
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#include <stdio.h>
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// #include "lidar.h"
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@ -23,12 +29,18 @@ Ranging r(12, 640, 480);
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std::queue<std::vector<cv::Mat>> frameInfo;
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std::mutex g_mutex;
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void *ranging(void *args) // ranging线程
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/**---------------------------------------------------------------------
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* Function : RangingNodeTask
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* 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
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* Author : hongchuyuan
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* Date : 2023/12/13 zhanli@review 719901725@qq.com
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*---------------------------------------------------------------------**/
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void *RangingNodeTask(void *args)
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{
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while (true)
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{
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// std::cout<<" ************ enter ranging *********** "<<std::endl;
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std::vector<cv::Mat> result = r.get_range();
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std::vector<cv::Mat> result = r.detObjectRanging();
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g_mutex.lock();
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for (uchar i = 0; i < frameInfo.size(); i++) // 只保存当前最新的图片帧信息
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frameInfo.pop();
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@ -40,11 +52,10 @@ void *ranging(void *args) // ranging线程
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int main(int argc, char **argv)
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{
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pthread_t tids[1]; // 执行ranging线程
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int ret = pthread_create(&tids[0], NULL, ranging, NULL);
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int ret = pthread_create(&tids[0], NULL, RangingNodeTask, NULL);
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while(1){
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usleep(150000);
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}
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return 0;
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}
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@ -1,3 +1,10 @@
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/******************** (C) COPYRIGHT 2024 UPBot **********************************
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* File Name : ranging.cpp
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* Current Version : V1.0
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* Author : Rockchip & linyuehang
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* Date of Issued : 2024.01.07 zhanli@review
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* 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
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********************************************************************************/
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#include <iostream>
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#include <stdio.h>
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#include "ranging.h"
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@ -297,8 +304,9 @@ Ranging::Ranging(int index, int imgw, int imgh) : //初始化
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auto imgSize = Size(imgw, imgh);
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Mat r1(3, 3, CV_64F), r2(3, 3, CV_64F), p1(3, 4, CV_64F), p2(3, 4, CV_64F);
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// 立体校正
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stereoRectify(cam_matrix_left.t(), distortion_l, cam_matrix_right.t(), distortion_r,
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imgSize, rotate.t(), trans, r1, r2, p1, p2, q);//立体校正
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imgSize, rotate.t(), trans, r1, r2, p1, p2, q);
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// 计算无畸变和修正转换映射
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initUndistortRectifyMap(cam_matrix_left.t(), distortion_l, r1, p1, imgSize, CV_32F, mapX1, mapX2);
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@ -309,8 +317,13 @@ Ranging::Ranging(int index, int imgw, int imgh) : //初始化
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std::cout<< " ******************* CAMERA initialization ********************" << std::endl;
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}
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std::vector<Mat> Ranging::get_range()
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/**---------------------------------------------------------------------
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* Function : detObjectRanging
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* Description : 摄像头帧读取、目标检测以及目标测距任务
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* Author : hongchuyuan
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* Date : 2023/12/13 zhanli@review 719901725@qq.com
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*---------------------------------------------------------------------**/
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std::vector<Mat> Ranging::detObjectRanging()
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{
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double rang_old, rang_now;
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@ -378,7 +391,7 @@ std::vector<Mat> Ranging::get_range()
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// }
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}
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// 存储测距信息，存储格式：距离d，宽w，高h，角度α
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// 存储测距信息，存储格式：距离d，宽w，高h，角度alpha
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Mat info(detect_result_group.count, 4, CV_32F);
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// 如果有检测目标
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@ -386,7 +399,7 @@ std::vector<Mat> Ranging::get_range()
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{
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// getInfo()修改为calObjectRanging()
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// 在这里测量目标的距离并存储到info中
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// 优化: 这个地方重复的将左右视图转换为灰度图，浪费CPU的算力
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// 优化:这个地方重复的将左右视图转换为灰度图，浪费CPU的算力
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getInfo(lframe, rframe, detBoxes, info);
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//show stereo distance
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