AI模型部署边缘设备的奇妙之旅：视觉巡线 原创

#include <lockzhiner_vision_module/edit/edit.h>
#include <iostream>
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/opencv.hpp>
#include <lockzhiner_vision_module/periphery/usart/usart.h>

int main(int argc, char *argv[])
{
    // 设置串口波特率为115200
    lockzhiner_vision_module::periphery::USART1 usart;
    if (!usart.Open(115200))
    {
        std::cout << "Failed to open usart." << std::endl;
        return 1;
    }
    // 设置默认摄像头分辨率
    int width = 640;
    int height = 480;

    // 如果命令行参数提供了宽度和高度，则使用它们
    if (argc == 3)
    {
        width = std::stoi(argv[1]);
        height = std::stoi(argv[2]);
    }

    // 初始化编辑模块并尝试连接设备
    lockzhiner_vision_module::edit::Edit edit;
    if (!edit.StartAndAcceptConnection())
    {
        std::cerr << "Error: Failed to start and accept connection." << std::endl;
        return EXIT_FAILURE;
    }
    std::cout << "Device connected successfully." << std::endl;

    cv::VideoCapture cap;
    cap.set(cv::CAP_PROP_FRAME_WIDTH, width);
    cap.set(cv::CAP_PROP_FRAME_HEIGHT, height);
    cap.open(0);
    // 获取实际的帧尺寸
    double frameWidth = cap.get(cv::CAP_PROP_FRAME_WIDTH);
    double frameHeight = cap.get(cv::CAP_PROP_FRAME_HEIGHT);
    std::cout << "Frame size: " << frameWidth << "x" << frameHeight << std::endl;

    // 定义ROI区域
    cv::Rect roi_rect(100, 400, 440, 80);

    while (true)
    {
        cv::Mat temp_mat;
        cap >> temp_mat; // 获取新的一帧
        if (temp_mat.empty())
        {
            std::cerr << "Warning: Couldn't read a frame from the camera." << std::endl;
            continue;
        }

        // 提取ROI区域，并转换到HSV色彩空间
        cv::Mat roi_image = temp_mat(roi_rect);
        cv::cvtColor(roi_image, roi_image, cv::COLOR_BGR2HSV); // 注意原代码中是RGB2HSV，应改为BGR2HSV

        // 创建黑白掩膜
        cv::Scalar lower_black(0, 0, 0);
        cv::Scalar upper_black(180, 100, 60);
        cv::Mat mask;
        cv::inRange(roi_image, lower_black, upper_black, mask);

        // 应用掩膜
        cv::Mat res;
        cv::bitwise_and(roi_image, roi_image, res, mask);

        // 计算图像矩并找到质心
        cv::Moments m = cv::moments(mask, false);
        double cx = m.m10 / (m.m00 + 1e-6); // 防止除以零
        double cy = m.m01 / (m.m00 + 1e-6);

        // 在原始图像上绘制ROI边框和质心位置
        cv::rectangle(temp_mat, roi_rect, cv::Scalar(255, 0, 0), 2);                                                                         // 绘制ROI边框
        cv::circle(temp_mat, cv::Point(static_cast<int>(cx + roi_rect.x), static_cast<int>(cy + roi_rect.y)), 5, cv::Scalar(0, 255, 0), -1); // 绿色圆点表示质心位置

        // 输出质心的X坐标
        std::cout << "Centroid X: " << cx + roi_rect.x << std::endl;

        std::string prefix = "x:";
        std::ostringstream stream;
        stream << prefix << (cx + roi_rect.x) << "\r\n";
        std::string result = stream.str();
        if (!usart.Write(result))
        {
            std::cout << "Failed to send data." << std::endl;
        }
        // 将当前帧发送到编辑模块打印
        if (!edit.Print(temp_mat))
        {
            std::cerr << "Error: Failed to print to edit module." << std::endl;
            break;
        }
    }

    return EXIT_SUCCESS;
}
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float PID_Calc(PidTypeDef *pid, float ref, float set)
{
    if (pid == NULL)
    {
        return 0.0f;
    }

    pid->error[2] = pid->error[1];
    pid->error[1] = pid->error[0];
    pid->set = set;
    pid->fdb = ref;
    pid->error[0] = set - ref;

    if (pid->mode == PID_POSITION)
    {
        pid->Pout = pid->Kp * pid->error[0];
        pid->Iout += pid->Ki * pid->error[0];
        pid->Dbuf[2] = pid->Dbuf[1];
        pid->Dbuf[1] = pid->Dbuf[0];
        pid->Dbuf[0] = (pid->error[0] - pid->error[1]);
        pid->Dout = pid->Kd * pid->Dbuf[0];
        LimitMax(pid->Iout, pid->max_iout);
        pid->out = pid->Pout + pid->Iout + pid->Dout;
        LimitMax(pid->out, pid->max_out);
    }
    else if (pid->mode == PID_DELTA)
    {
        pid->Pout = pid->Kp * (pid->error[0] - pid->error[1]);
        pid->Iout = pid->Ki * pid->error[0];
        pid->Dbuf[2] = pid->Dbuf[1];
        pid->Dbuf[1] = pid->Dbuf[0];
        pid->Dbuf[0] = (pid->error[0] - 2.0f * pid->error[1] + pid->error[2]);
        pid->Dout = pid->Kd * pid->Dbuf[0];
        pid->out += pid->Pout + pid->Iout + pid->Dout;
        LimitMax(pid->out, pid->max_out);
    }

    return pid->out;
}

void UserControl()
{
    WheelControl wheelControls[WHEELS_COUNT];
    float vx = 0; // X方向线速度，单位：m/s
    float vy = 0; // Y方向线速度，单位：m/s
    float w = 0;  // 角速度，单位：rad/s

    CtrolInit();

    for (;;)
    {
        // PID_Calc(&PWMPid[0], x, 320);
        // PID_Calc(&PWMPid[0], x, 320);
        if (FirstRec == 1)
        {
            // 检测用
            // PID_Calc(&PWMPid[2], x, 240);
            // PID_Calc(&PWMPid[1], s, 10000);
            // calculateWheelPWMSpeeds(-PWMPid[1].out, vy, PWMPid[2].out, wheelControls);
            // 循迹用
            PID_Calc(&PWMPid[2], x, 240);
            calculateWheelPWMSpeeds(-5, vy, PWMPid[2].out, wheelControls);

            // 设置方向GPIO
            LzGpioSetVal(GPIO0_PA5, wheelControls[0].direction); // 右前
            LzGpioSetVal(GPIO0_PA3, wheelControls[3].direction); // 右后
            LzGpioSetVal(GPIO0_PA1, wheelControls[2].direction); // 左后
            LzGpioSetVal(GPIO0_PA0, wheelControls[1].direction); // 左前

            // 启动PWM
            IoTPwmStart(RU_B4, wheelControls[0].pwm, 1000); // 右前
            IoTPwmStart(RD_B6, wheelControls[3].pwm, 1000); // 右后
            IoTPwmStart(LD_C7, wheelControls[2].pwm, 1000); // 左后
            IoTPwmStart(LU_C3, wheelControls[1].pwm, 1000); // 左前
        }

        LOS_Msleep(1);
    }
}
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