diff --git a/include/DepthProcessor.hpp b/include/DepthProcessor.hpp index e634b8a..3105b91 100644 --- a/include/DepthProcessor.hpp +++ b/include/DepthProcessor.hpp @@ -1,6 +1,7 @@ #pragma once #include "opencv2/core/core.hpp" +#include #include #include @@ -35,17 +36,17 @@ typedef PointCloud PointCloudXYZ; class DepthProcessor{ private: - cv::Mat imgRGB; cv::Mat imgDepth; // or pointCloud detect by lidar - - cv::Mat obstacle; // [dis, cls, maby size] - public: + //控制显示和打印 + bool bPrintObjs = false; + bool bViewRGB = false; + bool bViewCloud = false; + //点云显示对象 visualization::PCLVisualizer::Ptr pcdViewer; - visualization::PCLVisualizer::Ptr tmpViewer; - cv::Mat mK; // camera intrinsic or external parameters between camera and lidar + //最近物体信息 double dist, max_x, max_y, min_x, min_y; std::string label; @@ -53,27 +54,13 @@ public: PointCloudXYZ::Ptr cloud; //相机参数 double fx, fy, cx, cy; - //深度阈值，单位米 - double minDepth, maxDepth; - //过滤孤立点的阈值/ - int thre_count; - double radius; - //过滤通行区域的阈值 - double thre_low_x, thre_high_x, thre_low_y, thre_high_y; - - //地面高度阈值 - double thre_ground; //相机初始化高度 float camHigh; - - //判断物体的点云个数阈值、半径阈值 - int thre_ponit_count, thre_point_radius; - float ground_height; - DepthProcessor(const std::string file_path, const cv::Mat tmp_mk); + DepthProcessor(); bool obstacleDetect(const cv::Mat depthMat, const Eigen::Affine3f& transform); - PointCloudXYZ::Ptr depth2Cloud(PointCloudXYZ::Ptr oriCloud, const cv::Mat depthMat, int startRow, int endRow); + PointCloudXYZ::Ptr depth2Cloud(const cv::Mat depthMat, int startRow, int endRow); bool camHighInit(const cv::Mat depthMat, const Eigen::Affine3f& transform); static PointCloudXYZ::Ptr downsampling(const PointCloudXYZ::Ptr& pointCloud, float leaf); @@ -83,59 +70,7 @@ public: static void calHistogram(const PointCloudXYZ::Ptr& pointCloud, float& maxY, std::vector>& histogram); static void radiusSearch(const PointCloudXYZ::Ptr& pointCloud, const PointXYZ& queryPoint, const float& radius, std::vector& indResults); - PointCloudXYZ::Ptr delGround_else(const PointCloudXYZ::Ptr& pointCloud, std::vector index); - - void RadiusOutlierFilter(const PointCloudXYZ::Ptr &pcd_cloud0); - - void load_config(const string filepath); - - void ConditionFilter(const double &ground); double IOU(double max_x1,double min_x1,double max_y1,double min_y1,double max_x2,double min_x2,double max_y2,double min_y2); void calHistogramZ(const PointCloudXYZ::Ptr &pointCloud, std::vector>& histogram); - - bool obstacleRecognize(cv::Mat boxes); - cv::Mat getObstacle(); -}; - -//用作深度转点云的 多线程并行操作 -class Depth2cloud : public cv::ParallelLoopBody{ - public: - cv::Mat depthMat; - PointCloudXYZ::Ptr _cloud; - Depth2cloud(cv::Mat mat, PointCloudXYZ::Ptr cloud):depthMat(mat), _cloud(cloud){}; - - virtual void operator()(const cv::Range& range) const override{ - PointCloudXYZ::Ptr tmpcloud(new PointCloudXYZ); - int col = depthMat.cols; - cv::Mat image = depthMat.clone(); - image.convertTo(image, CV_32FC1); - - for(int i=range.start;i(i, j); - // 忽略深度值小于320mm的点 - if (depth <= 320) - continue; - - // 计算三维坐标 - double X = (j - 322.771) * depth / 388.588 / 1000; - if(X > 0.5 || X < -0.5) - continue; - double Y = (i - 236.947) * depth / 388.588 / 1000; - double Z = depth / 1000; - - // 创建点云点并设置坐标 - PointXYZ point; - point.x = X; - point.y = Y; - point.z = Z; - - // 将点添加到点云中 - tmpcloud->push_back(point); - } - } - *_cloud = *tmpcloud; - } -}; +}; \ No newline at end of file diff --git a/objs/DepthProcessor.cpp.mk b/objs/DepthProcessor.cpp.mk new file mode 100644 index 0000000..0fa967d --- /dev/null +++ b/objs/DepthProcessor.cpp.mk @@ -0,0 +1,2287 @@ +objs/DepthProcessor.cpp.o: src/DepthProcessor.cpp \ + /usr/include/stdc-predef.h /usr/include/c++/7/iostream \ + /usr/include/aarch64-linux-gnu/c++/7/bits/c++config.h \ + /usr/include/aarch64-linux-gnu/c++/7/bits/os_defines.h \ + /usr/include/features.h /usr/include/aarch64-linux-gnu/sys/cdefs.h \ + /usr/include/aarch64-linux-gnu/bits/wordsize.h \ + 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/usr/include/aarch64-linux-gnu/bits/siginfo-consts-arch.h \ + /usr/include/aarch64-linux-gnu/bits/types/sigval_t.h \ + /usr/include/aarch64-linux-gnu/bits/types/sigevent_t.h \ + /usr/include/aarch64-linux-gnu/bits/sigevent-consts.h \ + /usr/include/aarch64-linux-gnu/bits/sigaction.h \ + /usr/include/aarch64-linux-gnu/bits/sigcontext.h \ + /usr/include/aarch64-linux-gnu/asm/sigcontext.h \ + /usr/include/linux/types.h /usr/include/aarch64-linux-gnu/asm/types.h \ + /usr/include/asm-generic/types.h /usr/include/asm-generic/int-ll64.h \ + /usr/include/aarch64-linux-gnu/asm/bitsperlong.h \ + /usr/include/asm-generic/bitsperlong.h /usr/include/linux/posix_types.h \ + /usr/include/linux/stddef.h \ + /usr/include/aarch64-linux-gnu/asm/posix_types.h \ + /usr/include/asm-generic/posix_types.h \ + /usr/include/aarch64-linux-gnu/bits/types/stack_t.h \ + /usr/include/aarch64-linux-gnu/sys/ucontext.h \ + /usr/include/aarch64-linux-gnu/sys/procfs.h \ + /usr/include/aarch64-linux-gnu/sys/time.h \ + /usr/include/aarch64-linux-gnu/sys/user.h \ + /usr/include/aarch64-linux-gnu/bits/sigstack.h \ + /usr/include/aarch64-linux-gnu/bits/ss_flags.h \ + /usr/include/aarch64-linux-gnu/bits/types/struct_sigstack.h \ + /usr/include/aarch64-linux-gnu/bits/sigthread.h \ + /usr/include/aarch64-linux-gnu/sys/file.h /usr/include/fcntl.h \ + /usr/include/aarch64-linux-gnu/bits/fcntl.h \ + /usr/include/aarch64-linux-gnu/bits/fcntl-linux.h \ + /usr/include/aarch64-linux-gnu/bits/types/struct_iovec.h \ + /usr/include/linux/falloc.h /usr/include/errno.h \ + /usr/include/aarch64-linux-gnu/bits/errno.h /usr/include/linux/errno.h \ + /usr/include/aarch64-linux-gnu/asm/errno.h \ + /usr/include/asm-generic/errno.h /usr/include/asm-generic/errno-base.h \ + /usr/include/pthread.h /usr/include/sched.h \ + /usr/include/aarch64-linux-gnu/bits/sched.h \ + /usr/include/aarch64-linux-gnu/bits/cpu-set.h /usr/include/time.h \ + /usr/include/aarch64-linux-gnu/bits/time.h \ + /usr/include/aarch64-linux-gnu/bits/timex.h \ + /usr/include/aarch64-linux-gnu/bits/types/struct_tm.h \ + /usr/include/aarch64-linux-gnu/bits/types/struct_itimerspec.h \ + /usr/include/aarch64-linux-gnu/bits/setjmp.h /usr/include/c++/7/iostream \ + /usr/include/c++/7/ostream /usr/include/c++/7/ios \ + /usr/include/c++/7/iosfwd /usr/include/c++/7/bits/stringfwd.h \ + /usr/include/c++/7/bits/memoryfwd.h /usr/include/c++/7/bits/postypes.h \ + /usr/include/c++/7/cwchar /usr/include/wchar.h \ + /usr/include/aarch64-linux-gnu/bits/wchar.h \ + /usr/include/aarch64-linux-gnu/bits/types/wint_t.h \ + /usr/include/aarch64-linux-gnu/bits/types/mbstate_t.h \ + /usr/include/c++/7/exception /usr/include/c++/7/bits/exception.h \ + /usr/include/c++/7/bits/exception_ptr.h \ + /usr/include/c++/7/bits/exception_defines.h \ + /usr/include/c++/7/bits/cxxabi_init_exception.h \ + /usr/include/c++/7/typeinfo /usr/include/c++/7/bits/hash_bytes.h \ + /usr/include/c++/7/new /usr/include/c++/7/bits/nested_exception.h \ + /usr/include/c++/7/bits/move.h /usr/include/c++/7/bits/concept_check.h \ + /usr/include/c++/7/type_traits /usr/include/c++/7/bits/char_traits.h \ + /usr/include/c++/7/bits/stl_algobase.h \ + /usr/include/c++/7/bits/functexcept.h \ + /usr/include/c++/7/bits/cpp_type_traits.h \ + /usr/include/c++/7/ext/type_traits.h \ + /usr/include/c++/7/ext/numeric_traits.h \ + /usr/include/c++/7/bits/stl_pair.h \ + /usr/include/c++/7/bits/stl_iterator_base_types.h \ + /usr/include/c++/7/bits/stl_iterator_base_funcs.h \ + /usr/include/c++/7/debug/assertions.h \ + /usr/include/c++/7/bits/stl_iterator.h \ + /usr/include/c++/7/bits/ptr_traits.h /usr/include/c++/7/debug/debug.h \ + /usr/include/c++/7/bits/predefined_ops.h /usr/include/c++/7/cstdint \ + /usr/lib/gcc/aarch64-linux-gnu/7/include/stdint.h /usr/include/stdint.h \ + /usr/include/aarch64-linux-gnu/bits/stdint-uintn.h \ + /usr/include/c++/7/bits/localefwd.h \ + /usr/include/aarch64-linux-gnu/c++/7/bits/c++locale.h \ + /usr/include/c++/7/clocale /usr/include/locale.h \ + /usr/include/aarch64-linux-gnu/bits/locale.h /usr/include/c++/7/cctype \ + /usr/include/ctype.h /usr/include/c++/7/bits/ios_base.h \ + /usr/include/c++/7/ext/atomicity.h \ + /usr/include/aarch64-linux-gnu/c++/7/bits/gthr.h \ + /usr/include/aarch64-linux-gnu/c++/7/bits/gthr-default.h \ + /usr/include/aarch64-linux-gnu/c++/7/bits/atomic_word.h \ + /usr/include/c++/7/bits/locale_classes.h /usr/include/c++/7/string \ + /usr/include/c++/7/bits/allocator.h \ + /usr/include/aarch64-linux-gnu/c++/7/bits/c++allocator.h \ + /usr/include/c++/7/ext/new_allocator.h \ + /usr/include/c++/7/bits/ostream_insert.h \ + /usr/include/c++/7/bits/cxxabi_forced.h \ + /usr/include/c++/7/bits/stl_function.h \ + /usr/include/c++/7/backward/binders.h \ + /usr/include/c++/7/bits/range_access.h \ + /usr/include/c++/7/initializer_list \ + /usr/include/c++/7/bits/basic_string.h \ + /usr/include/c++/7/ext/alloc_traits.h \ + /usr/include/c++/7/bits/alloc_traits.h \ + /usr/include/c++/7/ext/string_conversions.h /usr/include/c++/7/cstdio \ + /usr/include/c++/7/cerrno /usr/include/c++/7/bits/functional_hash.h \ + /usr/include/c++/7/bits/basic_string.tcc \ + /usr/include/c++/7/bits/locale_classes.tcc \ + /usr/include/c++/7/system_error \ + /usr/include/aarch64-linux-gnu/c++/7/bits/error_constants.h \ + /usr/include/c++/7/stdexcept /usr/include/c++/7/streambuf \ + /usr/include/c++/7/bits/streambuf.tcc \ + /usr/include/c++/7/bits/basic_ios.h \ + /usr/include/c++/7/bits/locale_facets.h /usr/include/c++/7/cwctype \ + /usr/include/wctype.h /usr/include/aarch64-linux-gnu/bits/wctype-wchar.h \ + /usr/include/aarch64-linux-gnu/c++/7/bits/ctype_base.h \ + /usr/include/c++/7/bits/streambuf_iterator.h \ + /usr/include/aarch64-linux-gnu/c++/7/bits/ctype_inline.h \ + /usr/include/c++/7/bits/locale_facets.tcc \ + /usr/include/c++/7/bits/basic_ios.tcc \ + /usr/include/c++/7/bits/ostream.tcc /usr/include/c++/7/istream \ + /usr/include/c++/7/bits/istream.tcc include/likely.h \ + include/serialport.h /usr/include/termios.h \ + /usr/include/aarch64-linux-gnu/bits/termios.h diff --git a/objs/uart-ctrl.cpp.mk b/objs/uart-ctrl.cpp.mk new file mode 100644 index 0000000..b93005f --- /dev/null +++ b/objs/uart-ctrl.cpp.mk @@ -0,0 +1,155 @@ +objs/uart-ctrl.cpp.o: src/uart-ctrl.cpp /usr/include/stdc-predef.h \ + /usr/include/stdio.h \ + /usr/include/aarch64-linux-gnu/bits/libc-header-start.h \ + /usr/include/features.h /usr/include/aarch64-linux-gnu/sys/cdefs.h \ + /usr/include/aarch64-linux-gnu/bits/wordsize.h \ + /usr/include/aarch64-linux-gnu/bits/long-double.h \ + /usr/include/aarch64-linux-gnu/gnu/stubs.h \ + /usr/include/aarch64-linux-gnu/gnu/stubs-lp64.h \ + /usr/lib/gcc/aarch64-linux-gnu/7/include/stddef.h \ + /usr/include/aarch64-linux-gnu/bits/types.h \ + /usr/include/aarch64-linux-gnu/bits/typesizes.h \ + /usr/include/aarch64-linux-gnu/bits/types/__FILE.h \ + /usr/include/aarch64-linux-gnu/bits/types/FILE.h \ + /usr/include/aarch64-linux-gnu/bits/libio.h \ + /usr/include/aarch64-linux-gnu/bits/_G_config.h \ + /usr/include/aarch64-linux-gnu/bits/types/__mbstate_t.h \ + /usr/lib/gcc/aarch64-linux-gnu/7/include/stdarg.h \ + /usr/include/aarch64-linux-gnu/bits/stdio_lim.h \ + /usr/include/aarch64-linux-gnu/bits/sys_errlist.h /usr/include/fcntl.h \ + /usr/include/aarch64-linux-gnu/bits/fcntl.h \ + /usr/include/aarch64-linux-gnu/bits/fcntl-linux.h \ + /usr/include/aarch64-linux-gnu/bits/types/struct_iovec.h \ + /usr/include/linux/falloc.h \ + /usr/include/aarch64-linux-gnu/bits/types/struct_timespec.h \ + /usr/include/aarch64-linux-gnu/bits/stat.h /usr/include/endian.h \ + /usr/include/aarch64-linux-gnu/bits/endian.h \ + /usr/include/aarch64-linux-gnu/bits/byteswap.h \ + /usr/include/aarch64-linux-gnu/bits/byteswap-16.h \ + /usr/include/aarch64-linux-gnu/bits/uintn-identity.h \ + /usr/include/string.h \ + /usr/include/aarch64-linux-gnu/bits/types/locale_t.h \ + /usr/include/aarch64-linux-gnu/bits/types/__locale_t.h \ + /usr/include/strings.h /usr/include/c++/7/stdlib.h \ + /usr/include/c++/7/cstdlib \ + /usr/include/aarch64-linux-gnu/c++/7/bits/c++config.h \ + /usr/include/aarch64-linux-gnu/c++/7/bits/os_defines.h \ + /usr/include/aarch64-linux-gnu/c++/7/bits/cpu_defines.h \ + /usr/include/stdlib.h /usr/include/aarch64-linux-gnu/bits/waitflags.h \ + /usr/include/aarch64-linux-gnu/bits/waitstatus.h \ + /usr/include/aarch64-linux-gnu/bits/floatn.h \ + /usr/include/aarch64-linux-gnu/bits/floatn-common.h \ + /usr/include/aarch64-linux-gnu/sys/types.h \ + /usr/include/aarch64-linux-gnu/bits/types/clock_t.h \ + /usr/include/aarch64-linux-gnu/bits/types/clockid_t.h \ + /usr/include/aarch64-linux-gnu/bits/types/time_t.h \ + /usr/include/aarch64-linux-gnu/bits/types/timer_t.h \ + /usr/include/aarch64-linux-gnu/bits/stdint-intn.h \ + /usr/include/aarch64-linux-gnu/sys/select.h \ + /usr/include/aarch64-linux-gnu/bits/select.h \ + /usr/include/aarch64-linux-gnu/bits/types/sigset_t.h \ + /usr/include/aarch64-linux-gnu/bits/types/__sigset_t.h \ + /usr/include/aarch64-linux-gnu/bits/types/struct_timeval.h \ + /usr/include/aarch64-linux-gnu/sys/sysmacros.h \ + /usr/include/aarch64-linux-gnu/bits/sysmacros.h \ + /usr/include/aarch64-linux-gnu/bits/pthreadtypes.h \ + /usr/include/aarch64-linux-gnu/bits/thread-shared-types.h \ + /usr/include/aarch64-linux-gnu/bits/pthreadtypes-arch.h \ + /usr/include/alloca.h /usr/include/aarch64-linux-gnu/bits/stdlib-float.h \ + /usr/include/c++/7/bits/std_abs.h \ + /usr/include/aarch64-linux-gnu/sys/times.h /usr/include/termios.h \ + /usr/include/aarch64-linux-gnu/bits/termios.h \ + /usr/include/aarch64-linux-gnu/sys/ttydefaults.h /usr/include/unistd.h \ + /usr/include/aarch64-linux-gnu/bits/posix_opt.h \ + /usr/include/aarch64-linux-gnu/bits/environments.h \ + /usr/include/aarch64-linux-gnu/bits/confname.h \ + /usr/include/aarch64-linux-gnu/bits/getopt_posix.h \ + /usr/include/aarch64-linux-gnu/bits/getopt_core.h \ + /usr/include/aarch64-linux-gnu/sys/ioctl.h \ + /usr/include/aarch64-linux-gnu/bits/ioctls.h \ + /usr/include/aarch64-linux-gnu/asm/ioctls.h \ + /usr/include/asm-generic/ioctls.h /usr/include/linux/ioctl.h \ + /usr/include/aarch64-linux-gnu/asm/ioctl.h \ + /usr/include/asm-generic/ioctl.h \ + /usr/include/aarch64-linux-gnu/bits/ioctl-types.h \ + /usr/include/c++/7/iostream /usr/include/c++/7/ostream \ + /usr/include/c++/7/ios /usr/include/c++/7/iosfwd \ + /usr/include/c++/7/bits/stringfwd.h /usr/include/c++/7/bits/memoryfwd.h \ + /usr/include/c++/7/bits/postypes.h /usr/include/c++/7/cwchar \ + /usr/include/wchar.h /usr/include/aarch64-linux-gnu/bits/wchar.h \ + /usr/include/aarch64-linux-gnu/bits/types/wint_t.h \ + /usr/include/aarch64-linux-gnu/bits/types/mbstate_t.h \ + /usr/include/c++/7/exception /usr/include/c++/7/bits/exception.h \ + /usr/include/c++/7/bits/exception_ptr.h \ + /usr/include/c++/7/bits/exception_defines.h \ + /usr/include/c++/7/bits/cxxabi_init_exception.h \ + /usr/include/c++/7/typeinfo /usr/include/c++/7/bits/hash_bytes.h \ + /usr/include/c++/7/new /usr/include/c++/7/bits/nested_exception.h \ + /usr/include/c++/7/bits/move.h /usr/include/c++/7/bits/concept_check.h \ + /usr/include/c++/7/type_traits /usr/include/c++/7/bits/char_traits.h \ + /usr/include/c++/7/bits/stl_algobase.h \ + /usr/include/c++/7/bits/functexcept.h \ + /usr/include/c++/7/bits/cpp_type_traits.h \ + /usr/include/c++/7/ext/type_traits.h \ + /usr/include/c++/7/ext/numeric_traits.h \ + /usr/include/c++/7/bits/stl_pair.h \ + /usr/include/c++/7/bits/stl_iterator_base_types.h \ + /usr/include/c++/7/bits/stl_iterator_base_funcs.h \ + /usr/include/c++/7/debug/assertions.h \ + /usr/include/c++/7/bits/stl_iterator.h \ + /usr/include/c++/7/bits/ptr_traits.h /usr/include/c++/7/debug/debug.h \ + /usr/include/c++/7/bits/predefined_ops.h /usr/include/c++/7/cstdint \ + /usr/lib/gcc/aarch64-linux-gnu/7/include/stdint.h /usr/include/stdint.h \ + /usr/include/aarch64-linux-gnu/bits/stdint-uintn.h \ + /usr/include/c++/7/bits/localefwd.h \ + /usr/include/aarch64-linux-gnu/c++/7/bits/c++locale.h \ + /usr/include/c++/7/clocale /usr/include/locale.h \ + /usr/include/aarch64-linux-gnu/bits/locale.h /usr/include/c++/7/cctype \ + /usr/include/ctype.h /usr/include/c++/7/bits/ios_base.h \ + /usr/include/c++/7/ext/atomicity.h \ + /usr/include/aarch64-linux-gnu/c++/7/bits/gthr.h \ + /usr/include/aarch64-linux-gnu/c++/7/bits/gthr-default.h \ + /usr/include/pthread.h /usr/include/sched.h \ + /usr/include/aarch64-linux-gnu/bits/sched.h \ + /usr/include/aarch64-linux-gnu/bits/cpu-set.h /usr/include/time.h \ + /usr/include/aarch64-linux-gnu/bits/time.h \ + /usr/include/aarch64-linux-gnu/bits/timex.h \ + /usr/include/aarch64-linux-gnu/bits/types/struct_tm.h \ + /usr/include/aarch64-linux-gnu/bits/types/struct_itimerspec.h \ + /usr/include/aarch64-linux-gnu/bits/setjmp.h \ + /usr/include/aarch64-linux-gnu/c++/7/bits/atomic_word.h \ + /usr/include/c++/7/bits/locale_classes.h /usr/include/c++/7/string \ + /usr/include/c++/7/bits/allocator.h \ + /usr/include/aarch64-linux-gnu/c++/7/bits/c++allocator.h \ + /usr/include/c++/7/ext/new_allocator.h \ + /usr/include/c++/7/bits/ostream_insert.h \ + /usr/include/c++/7/bits/cxxabi_forced.h \ + /usr/include/c++/7/bits/stl_function.h \ + /usr/include/c++/7/backward/binders.h \ + /usr/include/c++/7/bits/range_access.h \ + /usr/include/c++/7/initializer_list \ + /usr/include/c++/7/bits/basic_string.h \ + /usr/include/c++/7/ext/alloc_traits.h \ + /usr/include/c++/7/bits/alloc_traits.h \ + /usr/include/c++/7/ext/string_conversions.h /usr/include/c++/7/cstdio \ + /usr/include/c++/7/cerrno /usr/include/errno.h \ + /usr/include/aarch64-linux-gnu/bits/errno.h /usr/include/linux/errno.h \ + /usr/include/aarch64-linux-gnu/asm/errno.h \ + /usr/include/asm-generic/errno.h /usr/include/asm-generic/errno-base.h \ + /usr/include/c++/7/bits/functional_hash.h \ + /usr/include/c++/7/bits/basic_string.tcc \ + /usr/include/c++/7/bits/locale_classes.tcc \ + /usr/include/c++/7/system_error \ + /usr/include/aarch64-linux-gnu/c++/7/bits/error_constants.h \ + /usr/include/c++/7/stdexcept /usr/include/c++/7/streambuf \ + /usr/include/c++/7/bits/streambuf.tcc \ + /usr/include/c++/7/bits/basic_ios.h \ + /usr/include/c++/7/bits/locale_facets.h /usr/include/c++/7/cwctype \ + /usr/include/wctype.h /usr/include/aarch64-linux-gnu/bits/wctype-wchar.h \ + /usr/include/aarch64-linux-gnu/c++/7/bits/ctype_base.h \ + /usr/include/c++/7/bits/streambuf_iterator.h \ + /usr/include/aarch64-linux-gnu/c++/7/bits/ctype_inline.h \ + /usr/include/c++/7/bits/locale_facets.tcc \ + /usr/include/c++/7/bits/basic_ios.tcc \ + /usr/include/c++/7/bits/ostream.tcc /usr/include/c++/7/istream \ + /usr/include/c++/7/bits/istream.tcc src/../include/dyp-a05/uart-ctrl.h diff --git a/objs/yolo.cu.mk b/objs/yolo.cu.mk new file mode 100644 index 0000000..a16908a --- /dev/null +++ b/objs/yolo.cu.mk @@ -0,0 +1,422 @@ +objs/yolo.cu.o : src/yolo.cu \ + /usr/include/stdc-predef.h \ + /usr/local/cuda-10.2/include/cuda_runtime.h \ + /usr/local/cuda-10.2/include/crt/host_config.h \ + /usr/include/features.h \ + /usr/include/aarch64-linux-gnu/sys/cdefs.h \ + /usr/include/aarch64-linux-gnu/bits/wordsize.h \ + /usr/include/aarch64-linux-gnu/bits/long-double.h \ + /usr/include/aarch64-linux-gnu/gnu/stubs.h \ + /usr/include/aarch64-linux-gnu/gnu/stubs-lp64.h \ + /usr/local/cuda-10.2/include/builtin_types.h \ + /usr/local/cuda-10.2/include/device_types.h \ + /usr/local/cuda-10.2/include/crt/host_defines.h \ + /usr/local/cuda-10.2/include/driver_types.h \ + /usr/local/cuda-10.2/include/vector_types.h \ + /usr/lib/gcc/aarch64-linux-gnu/7/include-fixed/limits.h \ + /usr/lib/gcc/aarch64-linux-gnu/7/include-fixed/syslimits.h \ + /usr/include/limits.h \ + /usr/include/aarch64-linux-gnu/bits/libc-header-start.h \ + /usr/include/aarch64-linux-gnu/bits/posix1_lim.h \ + 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/usr/include/opencv4/opencv2/flann/params.h \ + /usr/include/opencv4/opencv2/flann/any.h \ + /usr/include/c++/7/iostream \ + /usr/include/opencv4/opencv2/flann/saving.h \ + /usr/include/opencv4/opencv2/flann/nn_index.h \ + /usr/include/opencv4/opencv2/flann/result_set.h \ + /usr/include/c++/7/set \ + /usr/include/c++/7/bits/stl_set.h \ + /usr/include/c++/7/bits/stl_multiset.h \ + /usr/include/opencv4/opencv2/flann/all_indices.h \ + /usr/include/opencv4/opencv2/flann/kdtree_index.h \ + /usr/include/opencv4/opencv2/flann/dynamic_bitset.h \ + /usr/include/opencv4/opencv2/flann/dist.h \ + /usr/include/opencv4/opencv2/flann/heap.h \ + /usr/include/opencv4/opencv2/flann/allocator.h \ + /usr/include/opencv4/opencv2/flann/random.h \ + /usr/include/opencv4/opencv2/flann/kdtree_single_index.h \ + /usr/include/opencv4/opencv2/flann/kmeans_index.h \ + /usr/include/opencv4/opencv2/flann/logger.h \ + /usr/include/opencv4/opencv2/flann/composite_index.h \ + /usr/include/opencv4/opencv2/flann/linear_index.h \ + /usr/include/opencv4/opencv2/flann/hierarchical_clustering_index.h \ + /usr/include/opencv4/opencv2/flann/lsh_index.h \ + /usr/include/opencv4/opencv2/flann/lsh_table.h \ + /usr/include/c++/7/iomanip \ + /usr/include/c++/7/locale \ + /usr/include/c++/7/bits/locale_facets_nonio.h \ + /usr/include/aarch64-linux-gnu/c++/7/bits/time_members.h \ + /usr/include/aarch64-linux-gnu/c++/7/bits/messages_members.h \ + /usr/include/libintl.h \ + /usr/include/c++/7/bits/codecvt.h \ + /usr/include/c++/7/bits/locale_facets_nonio.tcc \ + /usr/include/c++/7/bits/locale_conv.h \ + /usr/include/c++/7/bits/quoted_string.h \ + /usr/include/c++/7/unordered_map \ + /usr/include/c++/7/bits/hashtable.h \ + /usr/include/c++/7/bits/hashtable_policy.h \ + /usr/include/c++/7/bits/unordered_map.h \ + /usr/include/opencv4/opencv2/flann/autotuned_index.h \ + /usr/include/opencv4/opencv2/flann/ground_truth.h \ + /usr/include/opencv4/opencv2/flann/index_testing.h \ + /usr/include/opencv4/opencv2/flann/timer.h \ + /usr/include/opencv4/opencv2/flann/sampling.h \ + /usr/include/opencv4/opencv2/highgui.hpp \ + /usr/include/opencv4/opencv2/imgcodecs.hpp \ + /usr/include/opencv4/opencv2/videoio.hpp \ + /usr/include/opencv4/opencv2/imgproc.hpp \ + /usr/include/opencv4/opencv2/ml.hpp \ + /usr/include/opencv4/opencv2/ml/ml.inl.hpp \ + /usr/include/opencv4/opencv2/objdetect.hpp \ + /usr/include/opencv4/opencv2/objdetect/detection_based_tracker.hpp \ + /usr/include/opencv4/opencv2/photo.hpp \ + /usr/include/opencv4/opencv2/stitching.hpp \ + /usr/include/opencv4/opencv2/stitching/warpers.hpp \ + /usr/include/opencv4/opencv2/stitching/detail/warpers.hpp \ + /usr/include/opencv4/opencv2/core/cuda.hpp \ + /usr/include/opencv4/opencv2/core/cuda_types.hpp \ + /usr/include/opencv4/opencv2/core/cuda.inl.hpp \ + /usr/include/opencv4/opencv2/stitching/detail/warpers_inl.hpp \ + /usr/include/opencv4/opencv2/stitching/detail/matchers.hpp \ + /usr/include/opencv4/opencv2/stitching/detail/motion_estimators.hpp \ + /usr/include/opencv4/opencv2/stitching/detail/util.hpp \ + /usr/include/c++/7/list \ + /usr/include/c++/7/bits/stl_list.h \ + /usr/include/c++/7/bits/list.tcc \ + /usr/include/opencv4/opencv2/stitching/detail/util_inl.hpp \ + /usr/include/c++/7/queue \ + /usr/include/c++/7/deque \ + /usr/include/c++/7/bits/stl_deque.h \ + /usr/include/c++/7/bits/deque.tcc \ + /usr/include/c++/7/bits/stl_queue.h \ + /usr/include/opencv4/opencv2/stitching/detail/camera.hpp \ + /usr/include/opencv4/opencv2/stitching/detail/exposure_compensate.hpp \ + /usr/include/opencv4/opencv2/stitching/detail/seam_finders.hpp \ + /usr/include/opencv4/opencv2/stitching/detail/blenders.hpp \ + /usr/include/opencv4/opencv2/video.hpp \ + /usr/include/opencv4/opencv2/video/tracking.hpp \ + /usr/include/opencv4/opencv2/video/background_segm.hpp diff --git a/src/DepthProcessor.cpp b/src/DepthProcessor.cpp index cb67b34..e80fe0a 100644 --- a/src/DepthProcessor.cpp +++ b/src/DepthProcessor.cpp @@ -7,8 +7,6 @@ #include // #include - - // 使用Eigen的Geometry模块处理3d运动 #include #include @@ -20,15 +18,12 @@ #include #include #include -#include //条件滤波器头文件 #include //直通滤波器头文件 -#include //半径滤波器头文件 #include //统计滤波器头文件 #include //体素滤波器头文件 #include #include #include -#include #include #include #include @@ -36,7 +31,6 @@ #include #include "../include/DepthProcessor.hpp" -#include "DepthProcessor.hpp" #include #include #include @@ -48,7 +42,8 @@ bool point_cmp(PointXYZ a, PointXYZ b){ } //将深度图转换为点云 -PointCloudXYZ::Ptr DepthProcessor::depth2Cloud(PointCloudXYZ::Ptr oriCloud, const cv::Mat depthMat, int startRow, int endRow){ +PointCloudXYZ::Ptr DepthProcessor::depth2Cloud(const cv::Mat depthMat, int startRow, int endRow){ + PointCloudXYZ::Ptr tmpCloud(new PointCloudXYZ); int height = depthMat.rows; endRow = std::min(height, endRow); @@ -75,11 +70,11 @@ PointCloudXYZ::Ptr DepthProcessor::depth2Cloud(PointCloudXYZ::Ptr oriCloud, cons point.z = Z; // 将点添加到点云中 - oriCloud->push_back(point); + tmpCloud->push_back(point); } } - return oriCloud; + return tmpCloud; } // 先统计Y轴的直方图，初筛出可能包含地面的点（若Y轴坐标太小或点数太少则可能未观测到地面） @@ -130,7 +125,6 @@ PointCloudXYZ::Ptr DepthProcessor::delGround(const PointCloudXYZ::Ptr& pointClou // 分割点云 seg.segment(*inliers, *coefficients); - //std::cout << "coefficients" << std::endl; // 创建提取器对象 ExtractIndices extract; @@ -180,24 +174,6 @@ void DepthProcessor::calHistogram(const PointCloudXYZ::Ptr &pointCloud, float& m } } -//半径滤波，排除噪声点、坏点 -void DepthProcessor::RadiusOutlierFilter(const PointCloudXYZ::Ptr &pcd_cloud0){ - //创建滤波器 - RadiusOutlierRemoval radiusoutlier; - //设置输入点云 - radiusoutlier.setInputCloud(pcd_cloud0); - //设置半径,在该范围内找临近点 - double radius = 0.1; - radiusoutlier.setRadiusSearch(radius); - //设置查询点的邻域点集数，小于该阈值的删除 - int thre_count = 10; - radiusoutlier.setMinNeighborsInRadius(thre_count); - PointCloudXYZ::Ptr cloud_after_Radius ( new PointCloudXYZ ); - radiusoutlier.filter(*cloud_after_Radius); - std::cout << "cloud_after_Radius:" << cloud->points.size() <::Ptr range_cond(new ConditionAnd()); - - // 添加条件，例如：删除 x 坐标在某个范围内的点 - range_cond->addComparison(FieldComparison::ConstPtr(new FieldComparison("y", ComparisonOps::GT, ground - thre_ground))); - range_cond->addComparison(FieldComparison::ConstPtr(new FieldComparison("y", ComparisonOps::LT, ground))); - - // 创建条件滤波器 - ConditionalRemoval condrem; - condrem.setCondition(range_cond); - condrem.setInputCloud(cloud); - condrem.setKeepOrganized(false); // 设置为 false 表示保持点云的结构 - condrem.filter(*cloud); - -} - //最近邻搜索或半径搜索，返回的是点云的索引 void DepthProcessor::radiusSearch(const PointCloudXYZ::Ptr& pointCloud, const PointXYZ& queryPoint, const float& radius, std::vector& indResults){ // 创建最近邻搜索对象 @@ -245,52 +203,6 @@ void DepthProcessor::radiusSearch(const PointCloudXYZ::Ptr& pointCloud, const Po kdtree.radiusSearch(queryPoint, radius, indResults, pointDistances); } -//加载配置文件 -void DepthProcessor::load_config(const string filepath){ - cv::FileStorage fsSettings(filepath, cv::FileStorage::READ); - - if(!fsSettings.isOpened()) - { - cerr << "Failed to open settings file at: " << filepath << endl; - exit(-1); - } - - fx = fsSettings["fx"]; - fy = fsSettings["fy"]; - cx = fsSettings["cx"]; - cy = fsSettings["cy"]; - minDepth = fsSettings["minDepth"]; - maxDepth = fsSettings["maxDepth"]; - thre_count = fsSettings["thre_count"]; - radius = fsSettings["radius"]; - thre_low_x = fsSettings["thre_low_x"]; - thre_high_x = fsSettings["thre_high_x"]; - thre_low_y = fsSettings["thre_low_y"]; - thre_high_y = fsSettings["thre_high_y"]; - thre_ponit_count = fsSettings["thre_ponit_count"]; - thre_point_radius = fsSettings["thre_point_radius"]; -} - -//检测物体的类别，返回是否有检测的标签 -bool DepthProcessor::obstacleRecognize(cv::Mat boxes){ - if (boxes.cols < 4) - { - std::cout << "boxes col nums error" << std::endl; - return false; - } - for(int i = 0; i < boxes.rows; i++){ - double rate = IOU(max_x,min_x,max_y,min_y,boxes.at(i,0),boxes.at(i,1),boxes.at(i,2),boxes.at(i,3)); - if(rate >= 0.8){ - label = ""; - return true; - } - } - return false; -} - -cv::Mat DepthProcessor::getObstacle(){ - -} //相机初始化 bool DepthProcessor::camHighInit(const cv::Mat depthMat, const Eigen::Affine3f& transform){ @@ -298,8 +210,7 @@ bool DepthProcessor::camHighInit(const cv::Mat depthMat, const Eigen::Affine3f& imgDepth = depthMat.clone(); imgDepth.convertTo(imgDepth, CV_32FC1); - PointCloudXYZ::Ptr tmpCloud(new PointCloudXYZ); - PointCloudXYZ::Ptr oriCloud = depth2Cloud(tmpCloud, depthMat, 0, depthMat.rows); + PointCloudXYZ::Ptr oriCloud = depth2Cloud(depthMat, 0, depthMat.rows); PointCloudXYZ::Ptr cloudLeft = axisFilter(oriCloud, -1.5, 0, "x", false); PointCloudXYZ::Ptr cloudRight = axisFilter(oriCloud, 0, 1.5, "x", false); @@ -375,10 +286,12 @@ bool DepthProcessor::camHighInit(const cv::Mat depthMat, const Eigen::Affine3f& camHigh = sum / histogram[max_n].size(); //myx } - pcdViewer->updatePointCloud(cloud, "cloud1"); - pcdViewer->updatePointCloud(TCloud, "cloud2"); - pcdViewer->spinOnce(5); - + if(bViewCloud){ + pcdViewer->updatePointCloud(cloud, "cloud1"); + pcdViewer->updatePointCloud(TCloud, "cloud2"); + pcdViewer->spinOnce(5); + } + //判断地面高度合理性 if(camHigh < 1.5 && camHigh > 0.5) return true; @@ -393,8 +306,7 @@ bool DepthProcessor::obstacleDetect(const cv::Mat depthMat, const Eigen::Affine3 imgDepth.convertTo(imgDepth, CV_32FC1); //深度图转点云 - PointCloudXYZ::Ptr c(new PointCloudXYZ); - PointCloudXYZ::Ptr oriCloud = depth2Cloud(c, depthMat, 0, depthMat.rows); + PointCloudXYZ::Ptr oriCloud = depth2Cloud(depthMat, 0, depthMat.rows); //下采样减少点数量 PointCloudXYZ::Ptr cloudLeft = axisFilter(oriCloud, -1.5, 0, "x", false); @@ -484,8 +396,7 @@ bool DepthProcessor::obstacleDetect(const cv::Mat depthMat, const Eigen::Affine3 //通过半径聚类结果判断最近点是否是障碍物 radiusSearch(cloud, pointZ, 0.1, tmp_index); - if(tmp_index.size() < /*thre_ponit_count*/ 60){ - //TODO:认为这个点不是物体上的点，做一些剔除操作 + if(tmp_index.size() < 60){ tmp_outersindex.push_back(temp_outerindex); count++; continue; @@ -540,10 +451,12 @@ bool DepthProcessor::obstacleDetect(const cv::Mat depthMat, const Eigen::Affine3 } } - pcdViewer->updatePointCloud(otherCloud, "cloud1"); - pcdViewer->updatePointCloud(nearestCloud, "cloud2"); - pcdViewer->spinOnce(5); - + if(bViewCloud){ + pcdViewer->updatePointCloud(otherCloud, "cloud1"); + pcdViewer->updatePointCloud(nearestCloud, "cloud2"); + pcdViewer->spinOnce(5); + } + return haveObstacle; } @@ -593,25 +506,24 @@ void DepthProcessor::calHistogramZ(const PointCloudXYZ::Ptr &pointCloud, std::ve } } -DepthProcessor::DepthProcessor(const std::string file_path, const cv::Mat tmp_mk){ - mK = tmp_mk; - +DepthProcessor::DepthProcessor(){ cloud = PointCloudXYZ::Ptr(new PointCloudXYZ); - pcdViewer = visualization::PCLVisualizer::Ptr (new visualization::PCLVisualizer("Point Cloud Viewer")); - // 设置背景颜色 - pcdViewer->setBackgroundColor(0, 0, 0); - // 添加坐标轴 - pcdViewer->addCoordinateSystem(1.0); - - pcdViewer->addPointCloud(cloud, "cloud1"); - pcdViewer->addPointCloud(cloud, "cloud2"); - // 设置第二个点云的颜色为色 - pcdViewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR, 1.0, 0.0, 0.0, "cloud2"); - // 设置点云大小 - // pcdViewer->setPointCloudRenderingProperties(visualization::PCL_VISUALIZER_POINT_SIZE, 2, "cloud2"); + if(bViewCloud){ + pcdViewer = visualization::PCLVisualizer::Ptr (new visualization::PCLVisualizer("Point Cloud Viewer")); + // 设置背景颜色 + pcdViewer->setBackgroundColor(0, 0, 0); + // 添加坐标轴 + pcdViewer->addCoordinateSystem(1.0); + + pcdViewer->addPointCloud(cloud, "cloud1"); + pcdViewer->addPointCloud(cloud, "cloud2"); + // 设置第二个点云的颜色为色 + pcdViewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR, 1.0, 0.0, 0.0, "cloud2"); + } } +//点云下采样 PointCloudXYZ::Ptr DepthProcessor::downsampling(const PointCloudXYZ::Ptr& pointCloud, float leaf){ // 创建 VoxelGrid 滤波器对象 VoxelGrid vg; @@ -624,49 +536,3 @@ PointCloudXYZ::Ptr DepthProcessor::downsampling(const PointCloudXYZ::Ptr& pointC // 保存下采样后的点云 return filteredCloud; } - -//另一个去除地面的方法 -PointCloudXYZ::Ptr DepthProcessor::delGround_else(const PointCloudXYZ::Ptr &pointCloud, std::vector index) -{ - // 创建分割器对象 - SACSegmentation seg; - seg.setOptimizeCoefficients(true); - - // 设置分割模型类型（平面模型） - seg.setModelType(SACMODEL_PLANE); - // 设置方法类型（RANSAC） - seg.setMethodType(SAC_RANSAC); - // 设置最大迭代次数和拟合阈值(点到平面的垂直距离) - seg.setMaxIterations(2000); - seg.setDistanceThreshold(0.1); - // 输入点云 - seg.setInputCloud(cloud); - - // 创建存储模型系数的对象 - ModelCoefficients::Ptr coefficients(new ModelCoefficients); - - // 创建存储内点索引的对象 - PointIndices::Ptr inliers(new PointIndices); - inliers->indices = index; - - // 分割点云 - seg.segment(*inliers, *coefficients); - - // 创建提取器对象 - ExtractIndices extract; - - // 设置提取器输入点云 - extract.setInputCloud(cloud); - - // 设置提取器的内点索引 - extract.setIndices(inliers); - - // 设置提取器的标志，为 true 表示提取非内点，即删除地面 - extract.setNegative(true); - - // 提取非地面点 - PointCloudXYZ::Ptr no_ground_cloud(new PointCloudXYZ); - extract.filter(*no_ground_cloud); - - return no_ground_cloud; -} diff --git a/src/Yolo.cpp b/src/Yolo.cpp index eac031f..3a2dfb5 100644 --- a/src/Yolo.cpp +++ b/src/Yolo.cpp @@ -7,6 +7,7 @@ using namespace std; +//权重文件放在workspace目录下 const string& engine_file = "best.transd.engine"; const char * Yolo::cocoLabels[] = {"person", "bicycle", "motorcycle", "bus", "fire hydrant", @@ -23,11 +24,11 @@ BoxArray Yolo::detect(cv::Mat colorMat){ if (detector == nullptr) { std::cout << "Yolo is not work !!!" << std::endl; } - BoxArray objs = detector->forward(cvimg(colorMat));//返回一个包含检测到的目标的对象数组objs - + //返回一个包含检测到的目标的对象数组objs + BoxArray objs = detector->forward(cvimg(colorMat)); + //遍历检测到的目标数组 objs 中的每个目标并绘制 for (Box &obj : objs) { const char* name = cocoLabels[obj.classLabel]; - //std::cout << "////////////cocoLabels[obj.classLabel]////////////////////" << name << std::endl; std::string caption = cv::format("%s", name); cv::rectangle(colorMat, cv::Point(obj.left, obj.top), cv::Point(obj.right, obj.bottom), cv::Scalar(0, 255, 0), 1); diff --git a/src/infer.cu b/src/infer.cu index 5387f0e..2123527 100644 --- a/src/infer.cu +++ b/src/infer.cu @@ -207,15 +207,7 @@ class __native_nvinfer_logger : public ILogger { } else if (severity == Severity::kERROR) { INFO("NVInfer: %s", msg); } - // else if (severity == Severity::kWARNING) { - // INFO("NVInfer: %s", msg); - // } - // else if (severity == Severity::kINFO) { - // INFO("NVInfer: %s", msg); - // } - // else { - // INFO("%s", msg); - // } + } }; static __native_nvinfer_logger gLogger; diff --git a/src/main.cpp b/src/main.cpp index 63b27dc..c4978f3 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -1,9 +1,3 @@ -///摄像头 -#include // Include RealSense Cross Platform API -#include -#include "example.hpp" - -#include #include #include #include @@ -41,34 +35,25 @@ #include #include #include -#include //条件滤波器头文件 #include //直通滤波器头文件 -#include //半径滤波器头文件 #include //统计滤波器头文件 #include //体素滤波器头文件 #include #include #include - #include -// boost.format 字符串处理 -//#include - #include "Yolo.hpp" #include "DepthProcessor.hpp" #include "IMUProcessor.hpp" - // 语音 -#include #include #include #include #include "serialport.h" #include #include -using namespace std; // 超声波 #include "../include/dyp-a05/sonar_driver.h" @@ -79,6 +64,10 @@ using namespace std; // 蜂鸣器 #include #include + + +using namespace std; + /* Private variables ---------------------------------------------------------*/ static int addr = 0; static int error = 0; @@ -106,28 +95,20 @@ static unsigned char rx_buffer[RX_BUFFER_MAX]; static double Distance[4] = {0, 0, 0, 0}; std::string port = "/dev/ultrasound"; -/*初始化参数定义*/ -int ini = 0; -int initial_times = 10; -bool initial = false; +/*超声波参数定义*/ double max_wrong =2.5; double min_wrong =0.25; -double dis0[10]; -double dis1[10]; bool end_this_program = false; -// 差值 -double dis0_d = 0.0; -double dis1_d = 0.0; // 差值阈值 -double Thr = 0.5; +double Thr = 0.85; // 播报选择 static int voice_status = 0; std::mutex mtx; -bool ToPlay = false; -int distt; -bool isObjectt; +bool to_play = false; +double dist_global; +bool is_object_global = false; // declare void play_voice(string); @@ -182,93 +163,11 @@ map Objects = { {"toilet", 0x5f}, {"tv", 0x60}, {"refrigerator", 0x61}, - {"object", 0x6e}, // 待增物体todo }; // 播报函数 -// 10->16进制，conver使用 -char tenTo16(int i){ - char output = 'a' ; - switch(i){ - case 1: output = 0x01; break; - case 2: output = 0x02; break; - case 3: output = 0x03; break; - case 4: output = 0x04; break; - case 5: output = 0x05; break; - case 6: output = 0x06; break; - case 7: output = 0x07; break; - case 8: output = 0x08; break; - case 9: output = 0x09; break; - case 0: output = 0x0e; break; - } - return output; -} - -// 待传输数组，结合距离和物体，未用 -void conver(char out[], double dis, string obj){ - // todo 四舍五入一下 0.29->0.3 - int ge = -1,shi=-1,bai=-1,qian=-1, dian= -1, dian2 = -1;; - //char out[] = {0x8b}; - //auto *beg = begin(out); - int p = 0; - //printf("qian: %d,bai:%d,shi:%d,ge:%d,dian:%d\n",qian,bai,shi,ge,dian); - //将距离转为十六进制 - if(dis >= 1000){ - qian = (int)dis/1000; - bai = (int)dis/100%10; - shi = (int)dis/10%10; - ge = (int)dis%10; - }else if(dis >= 100){ - bai = (int)dis/100; - shi = (int)dis/10%10; - ge = (int)dis%10; - }else if(dis >= 10){ - shi = (int)dis/10; - ge = (int)dis%10; - }else if(dis >=1){ - ge = (int)dis%10; - }else{ - ge = 0; - } - dian = (int)(dis*10)%10; - dian2 = (int)(dis*100)%10; - //printf("qian: %d,bai:%d,shi:%d,ge:%d,dian:%d\n",qian,bai,shi,ge,dian); - if(qian != -1){ - out[p++] = tenTo16(qian); - out[p++] = 0x0c; - out[p++] = tenTo16(bai); - out[p++] = 0x0b; - out[p++] = tenTo16(shi); - out[p++] = 0x0a; - }else if(bai != -1){ - out[p++] = tenTo16(bai); - out[p++] = 0x0b; - out[p++] = tenTo16(shi); - out[p++] = 0x0a; - }else if(shi != -1){ - out[p++] = tenTo16(shi); - out[p++] = 0x0a; - } - // 个位数 - out[p++] = tenTo16(ge); - // 点数 - out[p++] = 0x0d; - // 小数点后一位 - out[p++] = tenTo16(dian); - // 小数点后两位 - out[p++] = tenTo16(dian2); - - //printf("p:%d, out[0]:%x\n",p,out[1]); - //将string转换成对应的十六进制 - auto iter = Objects.find(obj); - if(iter != Objects.end()){ - out[p++] = iter->second; - } - - //return out; -} // 串口发送起始120，十六进制78 bool serial_com(char n16){ @@ -293,8 +192,7 @@ bool serial_com(char n16){ int msg_len = strlen(serial_sendmsg); int send_nbyte = serialport.sendnPort(pPort,const_cast(serial_sendmsg),msg_len); if (send_nbyte > 0) { - // 收到数据 - printf("Send: [%d] ... [OK]\n", send_nbyte); + // 收到数据 return true; } @@ -331,13 +229,11 @@ bool serial_com(string object){ if(iter != Objects.end()){ serial_sendmsg[0] = iter->second; } - // conver(serial_sendmsg, Distance, object); int msg_len = strlen(serial_sendmsg); int send_nbyte = serialport.sendnPort(pPort,const_cast(serial_sendmsg),msg_len); if (send_nbyte > 0) { - // todo... - fprintf(stdout, "Send: [%d] %s... [OK]\n", send_nbyte, serial_sendmsg); + // fprintf(stdout, "Send: [%d] %s... [OK]\n", send_nbyte, serial_sendmsg); return true; } return false; @@ -362,10 +258,10 @@ bool serial_com(set objects){ int send_size = 50; char serial_sendmsg[send_size] = {0x02}; - // conver(serial_sendmsg, distance, object); + int p=0; for(auto e: objects){ - // Objects + // 从全局Object找set中的object auto iter = Objects.find(e); if(iter != Objects.end()){ // 找到 @@ -376,15 +272,12 @@ bool serial_com(set objects){ int msg_len = strlen(serial_sendmsg); int send_nbyte = serialport.sendnPort(pPort,const_cast(serial_sendmsg),msg_len); if (send_nbyte > 0) { - // todo... - fprintf(stdout, "Send: [%d] %s... [OK]\n", send_nbyte, serial_sendmsg); return true; } return false; } - // 串口接收函数 void serial_receive(char response_buf[]){ SerialPort serialport; @@ -415,9 +308,7 @@ void serial_receive(char response_buf[]){ response_buf[receive_nbyte] = '\0'; break; } - // if (receive_nbyte == 0) break; } - // fprintf(stdout, "Receive: [%d] %s... [OK]\n", receive_nbyte, response_buf); } // 为了剔除类别中不属于检测出的类别 @@ -468,7 +359,7 @@ void ultrasound_play(){ if(fdcom > 0) { uart_set(fdcom, &portinfo); - printf("fdcom:%d重启成功！！！！！！！！！！\n", fdcom); + printf("fdcom:%d重启成功!!!!!!!\n", fdcom); } continue; } @@ -483,19 +374,17 @@ void ultrasound_play(){ Distance[1] = double(data_merge(rx_buffer[3], rx_buffer[4]))/1000; Distance[2] = double(data_merge(rx_buffer[5], rx_buffer[6]))/1000; Distance[3] = double(data_merge(rx_buffer[7], rx_buffer[8]))/1000; - // std::cout<<"Distance[0]:"<min_wrong)) || ((Distance[1] <= Thr)&&(Distance[1]>min_wrong))){ // 定义全局变量 { - std::cout<<"Distance[0]:"< 0.5){ + }else if(is_object_global && dist_global > 0.5){ GPIO::output(output_pin, GPIO::HIGH); usleep(100000);// 300000 GPIO::output(output_pin, GPIO::LOW); - usleep(300000); + usleep(400000); + } + else { + GPIO::output(output_pin, GPIO::LOW); + usleep(100000); } - else GPIO::output(output_pin, GPIO::LOW); } GPIO::cleanup(); } +// 配置PWM IO口驱动蜂鸣器 +const map output_pins{ + {"JETSON_XAVIER", 18}, {"JETSON_NANO", 33}, {"JETSON_NX", 33}, + {"CLARA_AGX_XAVIER", 18}, {"JETSON_TX2_NX", 32}, {"JETSON_ORIN", 18}, + {"JETSON_ORIN_NX", 33}, {"JETSON_ORIN_NANO", 33}, +}; + +int get_output_pin() +{ + if (output_pins.find(GPIO::model) == output_pins.end()) + { + cerr << "PWM not supported on this board\n"; + terminate(); + } + + return output_pins.at(GPIO::model); +} + int main(){ + rs2::log_to_console(RS2_LOG_SEVERITY_ERROR); // 声明 RealSense 管道，封装实际设备和传感器 rs2::pipeline cameraPipe, imuPipe; - // 使用推荐的默认配置开始流式传输 - // 默认视频配置包含深度流和色彩流 - // 如果设备能够流式传输 IMU 数据，则默认启用陀螺仪和加速计 + // 使用推荐的默认配置开始流式传输,深度流和色彩流 rs2::config cameraCfg, imuCfg; - // IMU数据流设置帧率会报错，或是帧率设置过大？ imuCfg.enable_stream(rs2_stream::RS2_STREAM_ACCEL, rs2_format::RS2_FORMAT_MOTION_XYZ32F); imuCfg.enable_stream(rs2_stream::RS2_STREAM_GYRO, rs2_format::RS2_FORMAT_MOTION_XYZ32F); // Declare object that handles camera pose calculations IMUProcessor imuProcessor; + + //处理惯性测量单元 (IMU) 传感器数据 rs2::pipeline_profile imuProfile = imuPipe.start(imuCfg, [&](rs2::frame frame) { - // Cast the frame that arrived to motion frame + // 将到达的帧转换为motion_frame auto motion = frame.as(); - // If casting succeeded and the arrived frame is from gyro stream if (motion && motion.get_profile().stream_type() == RS2_STREAM_GYRO && motion.get_profile().format() == RS2_FORMAT_MOTION_XYZ32F) { - // Get the timestamp of the current frame + //获取当前帧的时间戳 double ts = motion.get_timestamp(); - // Get gyro measures + //从motion_frame对象中获取陀螺仪数据 rs2_vector gyroData = motion.get_motion_data(); - // Call function that computes the angle of motion based on the retrieved measures + //传入陀螺仪数据和时间戳,对陀螺仪数据进行处理 imuProcessor.process_gyro(gyroData, ts); } - // If casting succeeded and the arrived frame is from accelerometer stream if (motion && motion.get_profile().stream_type() == RS2_STREAM_ACCEL && motion.get_profile().format() == RS2_FORMAT_MOTION_XYZ32F) { - // Get accelerometer measures + //从motion_frame对象中获取加速度计数据 rs2_vector accelData = motion.get_motion_data(); - // Call function that computes the angle of motion based on the retrieved measures + //对加速度计数据进行处理 imuProcessor.process_accel(accelData); } }); - + //启用了颜色相机流和深度相机流 cameraCfg.enable_stream(rs2_stream::RS2_STREAM_COLOR, 640, 480, rs2_format::RS2_FORMAT_BGR8, 30); cameraCfg.enable_stream(rs2_stream::RS2_STREAM_DEPTH, 640, 480, rs2_format::RS2_FORMAT_Z16, 30); - rs2::pipeline_profile cameraProfile = cameraPipe.start(cameraCfg); // 创建一个对齐模块 @@ -657,9 +564,7 @@ int main(){ // 创建yolov8 Yolo yoloV8("/home/jetson/tmp/obstacle-detection-new1/workspace/best.transd.engine"); // 创建点云处理器 - string cfgPath = ""; - cv::Mat mK(4, 4, CV_32F); - DepthProcessor depthProcessor(cfgPath, mK); + DepthProcessor depthProcessor; depthProcessor.fx = 388.588; depthProcessor.fy = 388.588; depthProcessor.cx = 322.771; @@ -693,16 +598,10 @@ int main(){ transform.rotate(Eigen::AngleAxisf(-theta.x, Eigen::Vector3f::UnitZ()) * Eigen::AngleAxisf(0, Eigen::Vector3f::UnitY()) * Eigen::AngleAxisf(theta.z + PI_FL/2, Eigen::Vector3f::UnitX())); - + //初始化成功次数 int init_count = 0; + //初始化地面高度计算值 float tmp_height = 0; - // 关闭蜂鸣器 - int output_pin_ = 13; - GPIO::setmode(GPIO::BCM); - //signal(SIGINT, signalHandler); - GPIO::setup(output_pin_, GPIO::OUT, GPIO::LOW); - GPIO::output(output_pin_, GPIO::LOW); - //相机初始化 10次 while(true){ if(!depthProcessor.camHighInit(depthMat, transform)){ @@ -732,27 +631,19 @@ int main(){ std::cout << "相机初始化:" << depthProcessor.camHigh << std::endl; - // 超声波模块参数初始化 - for(int i = 0 ; i < initial_times; i++)// 先初始化数组里的数为0 - { - dis0[i] = 0.0; - dis1[i] = 0.0; - } - // 创建超声波线程 std::thread ultrasonicThread(ultrasound_play); ultrasonicThread.detach(); + // 播报所有物体 + std::thread playAllClassThread(play_all_class); + playAllClassThread.detach(); // 创建蜂鸣器线程 std::thread BeeThread(Bee); BeeThread.detach(); - // // classes - std::thread playAllClassThread(play_all_class); - playAllClassThread.detach(); // 相机主循环 - while(true) { - + auto start = std::chrono::high_resolution_clock::now(); //等待来自摄像机的下一组图像 rs2::frameset allFrames = cameraPipe.wait_for_frames(); float3 theta = imuProcessor.get_theta(); @@ -765,8 +656,6 @@ int main(){ // 检查是否成功获取数据 if (depthFrame && colorFrame) { - auto start = std::chrono::high_resolution_clock::now(); - // 将深度图像转换为cv::Mat类型 int widthD = depthFrame.get_width(); int heightD = depthFrame.get_height(); @@ -791,10 +680,11 @@ int main(){ isObject = depthProcessor.obstacleDetect(depthMat, transform); if(isObject) { - isObjectt = true; - distt = depthProcessor.dist; + is_object_global = true; + dist_global = depthProcessor.dist; } - else isObjectt = false; + else is_object_global = false; + } catch (const std::exception& e) { std::cerr << "Caught exception: " << e.what() << std::endl; @@ -803,7 +693,8 @@ int main(){ // YOLOv8分割+检测 BoxArray objs = yoloV8.detect(colorMat); - + // 因为所有可视化都是在main.cpp里，直接在main.cpp中定义一个全局变量 + // 来控制是否可视化就行，不可视化的话 if(isObject) { cv::rectangle(colorMat, cv::Point(depthProcessor.min_x, depthProcessor.min_y), cv::Point(depthProcessor.max_x, depthProcessor.max_y), @@ -818,10 +709,13 @@ int main(){ classes.clear(); } // 输出识别框信息 - for(Box &obj : objs) { - cout << yoloV8.cocoLabels[obj.classLabel] << " "; + if(depthProcessor.bPrintObjs){ + for(Box &obj : objs) { + cout << yoloV8.cocoLabels[obj.classLabel] << " "; + } + cout << endl; } - cout << endl; + for(Box &obj : objs) { float depth = 0; int i = 0; @@ -829,14 +723,6 @@ int main(){ int objWidth = obj.right - obj.left; int objHeight = obj.bottom - obj.top; cv::resize(mask, mask, cv::Size(objWidth, objHeight)); - // 进行腐蚀操作 - cv::erode(mask, mask, kernel); - - // 将掩码绘制到RGB图像上 - //cv::Rect roi(obj.left, obj.top, obj_width, obj_height); - //cv::Mat maskColor; - //cv::cvtColor(mask, maskColor, cv::COLOR_GRAY2BGR); - //maskColor.copyTo(colorMat(roi)); for(int x = 0; x < objWidth; x++){ for(int y = 0 ;y < objHeight; y++){ @@ -853,7 +739,7 @@ int main(){ if(isObject){ if (depthProcessor.max_x > obj.left && depthProcessor.min_x < obj.right - && depthProcessor.max_y > obj.top && depthProcessor.min_y < obj.bottom){ + && depthProcessor.max_y > obj.top && depthProcessor.min_y < obj.bottom){ double rate = depthProcessor.IOU(depthProcessor.max_x, depthProcessor.min_x, depthProcessor.max_y, depthProcessor.min_y, obj.right, obj.left, obj.bottom, obj.top); if(rate >= 0.3){ @@ -873,20 +759,7 @@ int main(){ } } - // if(/*isObject && */isLabel){ - // // if(abs(depthProcessor.dist - depth) > 0.2){ - // // isLabel = false; - - // // std::cout << " depthProcessor.dist = " << depthProcessor.dist << " depth =" << depth << std::endl; - // // } - - // // else - // if(tmp_depth > depth){ - // tmp_depth = depth; - // std::cout << "something near" <(endTime - startTime); - // 语音播报,间隔大于等于秒在进行下一次 + + // 语音播报,间隔大于等于7秒在进行下一次 if(duration.count() >= 7 || count == 1){ - if(ToPlay){ + if(to_play){ // 超声波播报 - std::cout << std::endl << "************************有障碍物;dis0_d: " << dis0_d << "|| dis1_d: " << dis1_d << std::endl; - // play_voice("object"); - // Bee(300000); - // 回置全局变量 - // ToPlay = false; voice_status = 0; startTime = std::chrono::high_resolution_clock::now(); count++; @@ -913,8 +782,6 @@ int main(){ // 相机播报 if(isObject && isLabel){ isLabel = false; - std::cout << std::endl; - std::cout << "前方" << depthProcessor.dist << "米存在" << label << std::endl; { voice_status = 1; } @@ -923,8 +790,6 @@ int main(){ startTime = std::chrono::high_resolution_clock::now(); count++; }else if(isObject){ - std::cout << std::endl; - std::cout << "前方" << depthProcessor.dist << "米有障碍物"<< std::endl; { voice_status = 2; } @@ -942,14 +807,15 @@ int main(){ count = 2; } - cv::imshow("RGB Image", colorMat); - if (cv::waitKey(5) == 27) break; - auto end = std::chrono::high_resolution_clock::now(); - auto duration_test = std::chrono::duration_cast(end - start).count(); - std::cout << "Time taken: " << duration_test << " microseconds" << std::endl; + if(depthProcessor.bViewRGB){ + cv::imshow("RGB Image", colorMat); + if (cv::waitKey(5) == 27) break; + } } - } - + + // pwm.stop(); + GPIO::cleanup(); return 0; } + diff --git a/src/serialport.cpp b/src/serialport.cpp index e60bc56..0425f9b 100644 --- a/src/serialport.cpp +++ b/src/serialport.cpp @@ -25,14 +25,13 @@ int wait_flag = noflag; SerialPort::Port_INFO *SerialPort::readyPort(int id, Port_INFO *pPort) { pthread_mutex_init(&pPort->mt,NULL); - /*Ubuntu����� + /*Ubuntu虚拟机 *sudo gpasswd --add zhaojq dialout *logout - *����open /dev/ttyS0Ȩ�� + *开启open /dev/ttyS0权限 */ sprintf(pPort->name,"/dev/voice"); - // pPort->name = "/dev/voice"; - /*A8������*/ + /*A8开发板*/ //sprintf(pPort->name,"/dev/s3c2410_serial%d",id); pPort->fd = open(pPort->name, O_RDWR | O_NOCTTY | O_NDELAY); @@ -55,13 +54,13 @@ int SerialPort::cleanPort(Port_INFO *pPort) return 0; } -/*c_cflag:����ģʽ��־,ָ���ն�Ӳ��������Ϣ - * CLOCAL:����,����Ե��ƽ������·״̬,�����豸�DZ������� - * CREAD:����,�����ý���װ��,���Խ����ַ� +/* c_cflag:控制模式标志,指定终端硬件控制信息 + * CLOCAL:设置,则忽略调制解调器线路状态,即该设备是本地连接 + * CREAD:设置,则启用接收装置,可以接收字符 */ int SerialPort::setPortSpeed(Port_INFO *pPort, int port_speed) { - /*tcgetattr:���ڻ�ȡ�ն���صIJ���*/ + /*tcgetattr:用于获取终端相关的参数*/ if(unlikely(tcgetattr(pPort->fd,&pPort->ntm) != 0)) { fprintf(stderr, "Set Serial [%s] Speed Error... [FAIL]\n",pPort->name); return -1; @@ -98,15 +97,15 @@ int SerialPort::setPortSpeed(Port_INFO *pPort, int port_speed) fprintf(stderr, "Unsupported Port Speed... [FAIL]\n"); return -1; } - /*�������벨����*/ + /*设置输入波特率*/ cfsetispeed(&pPort->ntm, speed); - /*�������������*/ + /*设置输出波特率*/ cfsetospeed(&pPort->ntm, speed); pPort->ntm.c_cflag |= (CLOCAL | CREAD); //Enable the receiver and set local mode - /*tcsetattr:���������ն���صIJ��� - * TCSANOW:�������ݴ�����Ͼ������ı����� - * TCSADRAIN:�ȴ��������ݴ�����ϲŸı����� - * TCSAFLUSH:�����������������Ÿı����� + /* tcsetattr:用于设置终端相关的参数 + * TCSANOW:不等数据传输完毕就立即改变属性 + * TCSADRAIN:等待所有数据传输完毕才改变属性 + * TCSAFLUSH:清空输入输出缓冲区才改变属性 */ tcsetattr(pPort->fd,TCSANOW,&pPort->ntm); // fprintf(stdout, "Set SerialPort Speed:[%d]... [OK]\n", port_speed); @@ -115,20 +114,20 @@ int SerialPort::setPortSpeed(Port_INFO *pPort, int port_speed) /* *c_cflag: - * CSIZE:�ֽڴ�С����,ָ�����ͺͽ��յ�ÿ���ֽڵ�λ��(���Ȳ�������żУ��λ).ȡֵ��ΧΪCS5,CS6,CS7,CS8 - * PARENB:������ż�ԵIJ����ͼ��.����,�������ַ�������żλ,�������ַ�ִ����ż��У�� - * PARODD:����,������������ַ�����ż�Զ�����;����Ϊż - * CSTOPB:��������ֹͣλ;����Ϊһ��ֹͣλ - * CRTSCTS:ʹ��RTS/CTS������ - *c_iflag:����ģʽ��־,�����ն����뷽ʽ - * INPCK:����,��������żУ��������;���������� - *c_oflag:���ģʽ��־,�����ն������ʽ - * OPOST:����,��ִ��ʵ�ֶ����������� - *c_lflag:����ģʽ��־,�����ն˱༭���� - * ICANON:ʹ�ñ�׼����ģʽ - * ECHO:����,�������ַ����͵��ն��豸 - * ECHOE:�ɼ������� - * ISIG:����,������INTR,OUIT,SUSPʱ,������Ӧ�ź� + * CSIZE:字节大小屏蔽,指明发送和接收的每个字节的位数(长度不包括奇偶校验位).取值范围为CS5,CS6,CS7,CS8 + * PARENB:控制奇偶性的产生和检测.设置,则对输出字符产生奇偶位,对输入字符执行奇偶性校验 + * PARODD:设置,则输出和输入字符的奇偶性都是奇;否则为偶 + * CSTOPB:设置两个停止位;否则为一个停止位 + * CRTSCTS:使用RTS/CTS流控制 + *c_iflag:输入模式标志,控制终端输入方式 + * INPCK:设置,则输入奇偶校验起作用;否则不起作用 + *c_oflag:输出模式标志,控制终端输出方式 + * OPOST:设置,则执行实现定义的输出处理 + *c_lflag:本地模式标志,控制终端编辑功能 + * ICANON:使用标准输入模式 + * ECHO:设置,则将输入字符回送到终端设备 + * ECHOE:可见擦除符 + * ISIG:设置,则当输入INTR,OUIT,SUSP时,产生相应信号 */ int SerialPort::setPortParity(Port_INFO *pPort,int databits,int parity,int stopbits) { @@ -137,7 +136,7 @@ int SerialPort::setPortParity(Port_INFO *pPort,int databits,int parity,int stopb return -1; } pPort->ntm.c_cflag &= ~CSIZE; - /*��������λ*/ + /*设置数据位*/ switch (databits) { case 7: @@ -150,23 +149,23 @@ int SerialPort::setPortParity(Port_INFO *pPort,int databits,int parity,int stopb fprintf(stderr, "Unsupported Port Data bits... [FAIL]\n"); return -1; } - /*������żУ��λ*/ + /*设置奇偶校验位*/ switch (parity) { - /*No parity ����żУ��λ*/ + /*No parity 无奇偶校验位*/ case 'n': case 'N': pPort->ntm.c_cflag &= ~PARENB; /* Clear parity enable */ pPort->ntm.c_iflag &= ~INPCK; /* Enable parity checking */ break; - /*Odd parity ��У��*/ + /*Odd parity 奇校验*/ case 'o': case 'O': pPort->ntm.c_cflag |= (PARODD | PARENB); pPort->ntm.c_iflag |= INPCK; /* Disnable parity checking */ break; - /*Even parity żУ��*/ + /*Even parity 偶校验*/ case 'e': case 'E': pPort->ntm.c_cflag |= PARENB; /* Enable parity */ @@ -182,7 +181,7 @@ int SerialPort::setPortParity(Port_INFO *pPort,int databits,int parity,int stopb fprintf(stderr, "Unsupported Port Parity... [FAIL]\n"); return -1; } - /*����ֹͣλ*/ + /*设置停止位*/ switch (stopbits) { case 1: @@ -198,15 +197,15 @@ int SerialPort::setPortParity(Port_INFO *pPort,int databits,int parity,int stopb pPort->ntm.c_cflag &= ~CRTSCTS; // disable hardware flow control pPort->ntm.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG); /*Input*/ pPort->ntm.c_oflag &= ~OPOST; - /*tcflush:����ն�δ��ɵ�����/����������� - * TCIFLUSH:ˢ��������� - * TCOFLUSH:ˢ��������� - * TCIOFLUSH:ˢ������/������� + /* tcflush:清空终端未完成的输入/输出请求及数据 + * TCIFLUSH:刷清输入队列 + * TCOFLUSH:刷清输出队列 + * TCIOFLUSH:刷清输入/输出队列 */ tcflush(pPort->fd, TCIFLUSH); - /*�ȴ�ʱ��(�ٺ���)*/ + /*等待时间(百毫秒)*/ pPort->ntm.c_cc[VTIME] = 5; - /*�ȴ�����С�ֽ���*/ + /*等待的最小字节数*/ pPort->ntm.c_cc[VMIN] = 1; tcsetattr(pPort->fd,TCSANOW,&pPort->ntm); // fprintf(stdout, "Set SerialPort Data bits:[%d], Parity:[%c], Stop bits:[%d]... [OK]\n", databits, parity, stopbits); @@ -278,14 +277,14 @@ int SerialPort::signal_recvnPort(Port_INFO *pPort,char *pbuf,int size) // saio.sa_flags = 0; // saio.sa_restorer = NULL; /* - *Ӧ�ò������첽֪ͨ: - *���豸��дʱ,�豸������������һ���źŸ��ں�,��֪�ں������ݿɶ�,������������֮ǰ,������������� + *应用层启用异步通知: + *当设备可写时,设备驱动函数发送一个信号给内核,告知内核有数据可读,在条件不满足之前,并不会造成阻塞 */ - //���ö��źŵĴ�����������,SIGIO:�ļ�������׼������,���Կ�ʼ��������/������� + //设置对信号的处理操作程序,SIGIO:文件描述符准备就绪,可以开始进行输入/输出操作 // sigaction(SIGIO, &saio, NULL); - //ָ��һ��������Ϊ�ļ���"����" + //指定一个进程作为文件的"属主" // fcntl(pPort->fd, F_SETOWN, getpid ()); - //���豸�ļ�������FASYNC��־ + //在设备文件中添加FASYNC标志 // int f_flags = fcntl(pPort->fd, F_GETFL); // fcntl(pPort->fd, F_SETFL, f_flags|FASYNC); @@ -324,7 +323,7 @@ int SerialPort::lockPort(Port_INFO *pPort) if(unlikely(pPort->fd < 0)) { return 1; } - /*LOCK_EX:������������*/ + /*LOCK_EX:建立互斥锁定*/ return flock(pPort->fd,LOCK_EX); } @@ -333,6 +332,6 @@ int SerialPort::unlockPort(Port_INFO *pPort) if(unlikely(pPort->fd < 0)) { return 1; } - /*LOCK_UN������ļ�����*/ + /*LOCK_UN：解除文件锁定*/ return flock(pPort->fd,LOCK_UN); } diff --git a/src/voice.cpp b/src/voice.cpp deleted file mode 100644 index e69de29..0000000 diff --git a/src/yolo.cu b/src/yolo.cu index 48f0511..5594f1e 100644 --- a/src/yolo.cu +++ b/src/yolo.cu @@ -76,7 +76,7 @@ static __host__ __device__ void affine_project(float *matrix, float x, float y, *ox = matrix[0] * x + matrix[1] * y + matrix[2]; *oy = matrix[3] * x + matrix[4] * y + matrix[5]; } - +//解码 YOLO 模型的预测输出，筛选出目标性较高的预测框，并将其转换为图像上的实际目标框 static __global__ void decode_kernel_common(float *predict, int num_bboxes, int num_classes, int output_cdim, float confidence_threshold, float *invert_affine_matrix, float *parray, @@ -125,7 +125,7 @@ static __global__ void decode_kernel_common(float *predict, int num_bboxes, int *pout_item++ = label; *pout_item++ = 1; // 1 = keep, 0 = ignore } - +//更新了类别置信度的读取位置，并添加了将预测框的位置索引存储到输出中的功能。 static __global__ void decode_kernel_v8(float *predict, int num_bboxes, int num_classes, int output_cdim, float confidence_threshold, float *invert_affine_matrix, float *parray, @@ -171,7 +171,7 @@ static __global__ void decode_kernel_v8(float *predict, int num_bboxes, int num_ *pout_item++ = 1; // 1 = keep, 0 = ignore *pout_item++ = position; } - +//计算两个矩形框（bounding box）之间 Intersection over Union (IoU) static __device__ float box_iou(float aleft, float atop, float aright, float abottom, float bleft, float btop, float bright, float bbottom) { float cleft = max(aleft, bleft); @@ -186,7 +186,7 @@ static __device__ float box_iou(float aleft, float atop, float aright, float abo float b_area = max(0.0f, bright - bleft) * max(0.0f, bbottom - btop); return c_area / (a_area + b_area - c_area); } - +//CUDA 核函数，用于执行快速非最大抑制（Fast Non-Maximum Suppression，NMS）算法，用于过滤重叠的检测框并保留置信度较高的框 static __global__ void fast_nms_kernel(float *bboxes, int MAX_IMAGE_BOXES, float threshold) { int position = (blockDim.x * blockIdx.x + threadIdx.x); int count = min((int)*bboxes, MAX_IMAGE_BOXES); @@ -211,7 +211,7 @@ static __global__ void fast_nms_kernel(float *bboxes, int MAX_IMAGE_BOXES, float } } } - +//计算 CUDA 核函数执行所需的网格维度（grid dimensions）和块维度（block dimensions） static dim3 grid_dims(int numJobs) { int numBlockThreads = numJobs < GPU_BLOCK_THREADS ? numJobs : GPU_BLOCK_THREADS; return dim3(((numJobs + numBlockThreads - 1) / (float)numBlockThreads)); @@ -220,7 +220,7 @@ static dim3 grid_dims(int numJobs) { static dim3 block_dims(int numJobs) { return numJobs < GPU_BLOCK_THREADS ? numJobs : GPU_BLOCK_THREADS; } - +//根据不同的类型选择调用不同的 CUDA 核函数 static void decode_kernel_invoker(float *predict, int num_bboxes, int num_classes, int output_cdim, float confidence_threshold, float nms_threshold, float *invert_affine_matrix, float *parray, int MAX_IMAGE_BOXES, @@ -242,7 +242,7 @@ static void decode_kernel_invoker(float *predict, int num_bboxes, int num_classe block = block_dims(MAX_IMAGE_BOXES); checkKernel(fast_nms_kernel<<>>(parray, MAX_IMAGE_BOXES, nms_threshold)); } - +//用于执行仿射变换、双线性插值和归一化操作 static __global__ void warp_affine_bilinear_and_normalize_plane_kernel( uint8_t *src, int src_line_size, int src_width, int src_height, float *dst, int dst_width, int dst_height, uint8_t const_value_st, float *warp_affine_matrix_2_3, Norm norm) { @@ -324,7 +324,7 @@ static __global__ void warp_affine_bilinear_and_normalize_plane_kernel( *pdst_c1 = c1; *pdst_c2 = c2; } - +//CUDA 来处理图像数据,生成掩码图像 static void warp_affine_bilinear_and_normalize_plane(uint8_t *src, int src_line_size, int src_width, int src_height, float *dst, int dst_width, int dst_height, float *matrix_2_3, @@ -337,7 +337,7 @@ static void warp_affine_bilinear_and_normalize_plane(uint8_t *src, int src_line_ src, src_line_size, src_width, src_height, dst, dst_width, dst_height, const_value, matrix_2_3, norm)); } - +//用于生成掩码图像 static __global__ void decode_single_mask_kernel(int left, int top, float *mask_weights, float *mask_predict, int mask_width, int mask_height, unsigned char *mask_out, @@ -365,7 +365,7 @@ static __global__ void decode_single_mask_kernel(int left, int top, float *mask_ float alpha = 1.0f / (1.0f + exp(-cumprod)); mask_out[dy * out_width + dx] = alpha * 255; } - +//用了之前核函数decode_single_mask_kernel 来生成掩码图像 static void decode_single_mask(float left, float top, float *mask_weights, float *mask_predict, int mask_width, int mask_height, unsigned char *mask_out, int mask_dim, int out_width, int out_height, cudaStream_t stream) { @@ -394,7 +394,7 @@ const char *type_name(Type type) { return "Unknow"; } } - +//AffineMatrix 结构体，用于存储仿射变换的矩阵 struct AffineMatrix { float i2d[6]; // image to dst(network), 2x3 matrix float d2i[6]; // dst to image, 2x3 matrix diff --git a/workspace/pro b/workspace/pro index 0ea5b4b..0b26c93 100644 Binary files a/workspace/pro and b/workspace/pro differ diff --git a/workspace/yolov8n-seg.transd.engine b/workspace/yolov8n-seg.transd.engine deleted file mode 100644 index 83d78fc..0000000 Binary files a/workspace/yolov8n-seg.transd.engine and /dev/null differ