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add wust typr mpc and mutipule x

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cyy_mac
2026-03-27 03:41:42 +08:00
parent 2c64655fae
commit 7dcb53bb77
192 changed files with 29571 additions and 9 deletions
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wust_vision-main/tasks/auto_aim/debug.cpp Normal file
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#include "debug.hpp"
namespace wust_vision::auto_aim {
void drawDebugArmorContent(
cv::Mat& debug_img,
const AutoAimDebug& dbg,
std::pair<cv::Mat, cv::Mat> camera_info
) {
if (debug_img.empty()) {
std::cout << "debug_img is empty" << std::endl;
return;
}
const auto now = std::chrono::steady_clock::now();
const auto& armors = dbg.armors;
const auto& gimbal_cmd = dbg.gimbal_cmd;
const auto& target = dbg.target;
auto aim_target = dbg.aim_target;
const auto& armor_objs = dbg.armor_objs;
const cv::Rect img_rect(0, 0, debug_img.cols, debug_img.rows);
const cv::Rect roi = dbg.expanded & img_rect;
cv::rectangle(debug_img, roi, cv::Scalar(255, 255, 255), 2);
static const int next_indices[] = { 2, 0, 3, 1 };
for (size_t i = 0; i < armor_objs.size(); i++) {
const auto pts = armor_objs[i].toPts();
for (size_t j = 0; j < 4; ++j) {
const cv::Scalar color =
armor_objs[i].is_ok ? cv::Scalar(50, 255, 50) : cv::Scalar(50, 255, 255);
cv::line(debug_img, pts[j], pts[next_indices[j]], color, 2);
}
auto armorName = [](auto_aim::ArmorNumber num) {
switch (num) {
case auto_aim::ArmorNumber::SENTRY:
return "SENTRY";
case auto_aim::ArmorNumber::BASE:
return "BASE";
case auto_aim::ArmorNumber::OUTPOST:
return "OUTPOST";
case auto_aim::ArmorNumber::NO1:
return "NO1";
case auto_aim::ArmorNumber::NO2:
return "NO2";
case auto_aim::ArmorNumber::NO3:
return "NO3";
case auto_aim::ArmorNumber::NO4:
return "NO4";
case auto_aim::ArmorNumber::NO5:
return "NO5";
default:
return "UNKNOWN";
}
};
const std::string armor_str = armorName(armor_objs[i].number);
cv::putText(
debug_img,
armor_str,
pts[1] + cv::Point2f(0, 50),
cv::FONT_HERSHEY_SIMPLEX,
0.7,
cv::Scalar(0, 200, 200),
2
);
}
const std::string latency_str = fmt::format("Latency: {:.2f}ms", dbg.latency_ms);
cv::putText(
debug_img,
latency_str,
cv::Point(10, 30),
cv::FONT_HERSHEY_SIMPLEX,
0.8,
cv::Scalar(255, 255, 255),
2
);
{
// static std::deque<std::pair<Eigen::Vector3d, double>> traj3d;
// double _now =
// std::chrono::duration<double>(std::chrono::steady_clock::now().time_since_epoch()).count();
// traj3d.emplace_back(aim_target.pos, _now);
// while (!traj3d.empty() && _now - traj3d.front().second > 1.0)
// traj3d.pop_front();
aim_target.tf(dbg.T_camera_to_odom.inverse());
const auto pts = aim_target.toPts(camera_info.first, camera_info.second);
if (!pts.empty()) {
// if (traj3d.size() > 1) {
// std::vector<std::pair<cv::Point, double>> img_pts;
// for (auto& p: traj3d) {
// auto p3d_odom = p.first;
// Eigen::Vector4d p_odom(p3d_odom.x(), p3d_odom.y(), p3d_odom.z(), 1);
// Eigen::Vector4d p_camera = dbg.T_camera_to_odom.inverse() * p_odom;
// std::vector<cv::Point3f> obj;
// obj.emplace_back(p_camera.x(), p_camera.y(), p_camera.z());
// std::vector<cv::Point2f> proj;
// cv::projectPoints(
// obj,
// cv::Vec3d(0, 0, 0),
// cv::Vec3d(0, 0, 0),
// camera_info.first,
// camera_info.second,
// proj
// );
// if (!proj.empty()) {
// const auto& pt = proj[0];
// if (std::isfinite(pt.x) && std::isfinite(pt.y)) {
// img_pts.emplace_back(cv::Point(int(pt.x), int(pt.y)), p.second);
// }
// }
// }
// if (img_pts.size() >= 2) {
// double now = std::chrono::duration<double>(
// std::chrono::steady_clock::now().time_since_epoch()
// )
// .count();
// const double max_age = 1.0;
// for (size_t i = 1; i < img_pts.size(); ++i) {
// double age = now - img_pts[i].second;
// double t = std::clamp(age / max_age, 0.0, 1.0);
// int r = int(255 * (1.0 - t));
// int b = int(255 * t);
// cv::Scalar color(b, 0, r);
// cv::line(
// debug_img,
// img_pts[i - 1].first,
// img_pts[i].first,
// color,
// 2,
// cv::LINE_AA
// );
// }
// }
// }
cv::Point2f center(0.f, 0.f);
for (auto pt: pts)
center += pt;
center *= 1.0f / pts.size();
cv::Scalar color(255, 255, 255);
for (int i = 0; i < 4; i++)
cv::line(debug_img, pts[i], pts[(i + 1) % 4], color, 2);
for (int i = 4; i < 8; i++)
cv::line(debug_img, pts[i], pts[4 + (i + 1) % 4], color, 2);
for (int i = 0; i < 4; i++)
cv::line(debug_img, pts[i], pts[i + 4], color, 2);
if (gimbal_cmd.fire_advice) {
int cross_len = 60;
cv::line(
debug_img,
center + cv::Point2f(-cross_len, -cross_len),
center + cv::Point2f(+cross_len, +cross_len),
cv::Scalar(0, 0, 255),
5
);
cv::line(
debug_img,
center + cv::Point2f(-cross_len, +cross_len),
center + cv::Point2f(+cross_len, -cross_len),
cv::Scalar(0, 0, 255),
5
);
}
const double scale = 10.0;
const double v_yaw = gimbal_cmd.v_yaw;
const double v_pitch = gimbal_cmd.v_pitch;
const double dx = -scale * v_yaw;
const double dy = scale * v_pitch;
const cv::Point2f start_pt = center;
const cv::Point2f end_pt = start_pt + cv::Point2f(dx, dy);
const cv::Scalar color_x =
dbg.detect_color ? cv::Scalar(255, 50, 50) : cv::Scalar(50, 50, 255);
cv::arrowedLine(debug_img, start_pt, end_pt, color_x, 4, cv::LINE_AA, 0, 0.2);
}
}
std::vector<cv::Point2f> all_corners;
auto visualizeTargetProjection = [&](auto_aim::Target armor_target) -> auto_aim::Armors {
auto_aim::Armors armor_data;
armor_data.timestamp = armor_target.timestamp_;
if (armor_target.is_tracking) {
Eigen::Vector3d pos = armor_target.target_state_.pos();
if (pos.norm() > 0.5) {
armor_data.armors.clear();
const size_t a_n = armor_target.armor_num_;
armor_data.armors.reserve(a_n);
const auto now = wust_vl::common::utils::time_utils::now();
armor_target.predictSimple(now);
const std::vector<Eigen::Vector4d> armors_posandyaw =
armor_target.getArmorPosAndYaw();
for (size_t i = 0; i < a_n; ++i) {
const Eigen::Vector3d pos = { armors_posandyaw[i][0],
armors_posandyaw[i][1],
armors_posandyaw[i][2] };
Eigen::Vector3d euler;
euler.z() = M_PI / 2.0;
euler.y() = (armor_target.tracked_id_ == auto_aim::ArmorNumber::OUTPOST)
? -0.2618
: 0.2618;
euler.x() = armors_posandyaw[i][3];
const Eigen::Quaterniond ori =
utils::eulerToQuat(euler, utils::EulerOrder::ZYX);
armor_data.armors.emplace_back(auto_aim::Armor {
.type = armor_target.type_,
.pos = pos,
.ori = ori,
.is_ok = true,
.id = (int)(i),
});
}
}
}
return armor_data;
};
auto armor_data = visualizeTargetProjection(dbg.target);
transformArmorData(armor_data, dbg.T_camera_to_odom.inverse());
for (size_t i = 0; i < armor_data.armors.size(); ++i) {
const auto& pts = armor_data.armors[i].toPtsDebug(camera_info.first, camera_info.second);
const auto& pos = armor_data.armors[i].pos;
const auto& ori = armor_data.armors[i].ori;
const auto& id = armor_data.armors[i].id;
cv::Scalar color;
if (dbg.detect_color) {
color = cv::Scalar(255, 0, 0);
} else {
color = cv::Scalar(0, 0, 255);
}
// 绘制前表面
for (size_t j = 0; j < 4; ++j) {
cv::line(debug_img, pts[j], pts[(j + 1) % 4], color, 2);
}
// 绘制后表面
for (size_t j = 4; j < 8; ++j) {
cv::line(debug_img, pts[j], pts[4 + (j + 1) % 4], color, 2);
}
// 绘制侧边
for (size_t j = 0; j < 4; ++j) {
cv::line(debug_img, pts[j], pts[j + 4], color, 2);
}
all_corners.insert(all_corners.end(), pts.begin(), pts.end());
const Eigen::Vector3d euler = ori.toRotationMatrix().eulerAngles(2, 1, 0);
const double yaw = euler[0];
const double distance =
std::sqrt(pos.x() * pos.x() + pos.y() * pos.y() + pos.z() * pos.z());
const std::vector<std::string> info_lines = {
fmt::format("Dis: {:.1f}cm", distance * 100),
fmt::format("X: {:.2f}", pos.x()),
fmt::format("Y: {:.2f}", pos.y()),
fmt::format("Z: {:.2f}", pos.z()),
fmt::format("Yaw: {:.2f}", yaw * 180.0 / M_PI),
fmt::format("ID: {:d}", id)
};
const cv::Point2f text_org = pts[0] + cv::Point2f(0, 200);
for (int k = 0; k < info_lines.size(); ++k) {
cv::putText(
debug_img,
info_lines[k],
text_org + cv::Point2f(0, -10 - 20 * k),
cv::FONT_HERSHEY_SIMPLEX,
0.6,
cv::Scalar(50, 255, 255),
1
);
}
}
if (!all_corners.empty()) {
cv::Point2f avg(0.f, 0.f);
for (const auto& pt: all_corners)
avg += pt;
avg *= 1.0f / all_corners.size();
cv::circle(debug_img, avg, 10, cv::Scalar(50, 255, 50), -1);
const double scale = 50.0;
const double dy = scale * target.target_state_.vyaw();
const cv::Point2f start_pt = avg;
const cv::Point2f end_pt = start_pt + cv::Point2f(0, dy);
cv::arrowedLine(
debug_img,
start_pt,
end_pt,
cv::Scalar(50, 255, 50),
3,
cv::LINE_AA,
0,
0.1
);
cv::putText(
debug_img,
fmt::format("V_yaw: {:.2f}", target.target_state_.vyaw()),
avg + cv::Point2f(0, -20),
cv::FONT_HERSHEY_SIMPLEX,
1.0,
cv::Scalar(50, 255, 50),
2
);
}
std::string state_str;
state_str = auto_aim_fsm_to_string(dbg.fsm);
int baseline = 0;
cv::Size text_size = cv::getTextSize(state_str, cv::FONT_HERSHEY_SIMPLEX, 2.5, 2, &baseline);
// 保证在图像内
const int x =
std::clamp(debug_img.cols - text_size.width - 10, 0, debug_img.cols - text_size.width);
const int y = std::clamp(text_size.height + 10, text_size.height, debug_img.rows - 1);
cv::putText(
debug_img,
state_str,
{ x, y },
cv::FONT_HERSHEY_SIMPLEX,
2.5,
cv::Scalar(0, 0, 255),
2
);
const std::string id_str =
fmt::format("Attack: {}", armorNumberToString(dbg.target.tracked_id_));
const cv::Size id_size = cv::getTextSize(id_str, cv::FONT_HERSHEY_SIMPLEX, 1.6, 2, &baseline);
// 保证在图像内
const int id_x = std::clamp(debug_img.cols - 300, 0, debug_img.cols - id_size.width - 10);
const int id_y = std::clamp(150, id_size.height, debug_img.rows - 1);
cv::putText(
debug_img,
id_str,
{ id_x, id_y },
cv::FONT_HERSHEY_SIMPLEX,
1.6,
cv::Scalar(255, 0, 255),
2
);
if (gimbal_cmd.fire_advice) {
std::string fire_str = "Fire!";
cv::putText(
debug_img,
fire_str,
{ debug_img.cols / 2 - 100, 200 },
cv::FONT_HERSHEY_SIMPLEX,
2.85,
cv::Scalar(0, 0, 255),
2
);
}
const std::string gimbal_str = fmt::format(
"Pitch: {:.2f}, Yaw: {:.2f}, Enable_pitch_diff: {:.2f}, Enable_yaw_diff: {:.2f}, V_yaw: {:.2f}, V_pitch: {:.2f}",
gimbal_cmd.pitch,
gimbal_cmd.yaw,
gimbal_cmd.enable_pitch_diff,
gimbal_cmd.enable_yaw_diff,
gimbal_cmd.v_yaw,
gimbal_cmd.v_pitch
);
cv::putText(
debug_img,
gimbal_str,
{ 10, debug_img.rows - 30 },
cv::FONT_HERSHEY_SIMPLEX,
0.8,
cv::Scalar(255, 255, 0),
2
);
double scale = 100.0;
double armor_len = 0.135;
std::vector<Eigen::Vector2d> pts;
pts.reserve(armors.armors.size() + armor_data.armors.size());
auto collect_xy = [&](auto& list, bool use_target) {
for (auto& a: list)
pts.emplace_back(
use_target ? a.target_pos.x() : a.pos.x(),
use_target ? a.target_pos.y() : a.pos.y()
);
};
collect_xy(armors.armors, true);
collect_xy(armor_data.armors, false);
double max_abs_x = 1e-6, max_abs_y = 1e-6;
for (auto& p: pts) {
max_abs_x = std::max(max_abs_x, std::abs(p.x()));
max_abs_y = std::max(max_abs_y, std::abs(p.y()));
}
const double margin = 200.0;
const double cx = debug_img.cols * 0.5;
const double cy = debug_img.rows * 0.5;
scale = std::min({ (cx - margin) / max_abs_x,
(debug_img.cols - cx - margin) / max_abs_x,
(cy - margin) / max_abs_y,
(debug_img.rows - cy - margin) / max_abs_y,
550.0 });
const cv::Point2d origin(cx, cy);
auto to_img = [&](const Eigen::Vector3d& p) {
return cv::Point2d(origin.x + p.x() * scale, origin.y - p.y() * scale);
};
auto draw2dArmor = [&](const Eigen::Vector3d& pos, double yaw, const cv::Scalar& color) {
cv::Point2d C = to_img(pos);
cv::circle(debug_img, C, 3, color, -1, cv::LINE_AA);
double nx = -sin(yaw), ny = cos(yaw);
double half_len_px = armor_len * 0.5 * scale;
cv::Point2d P1(C.x + nx * half_len_px, C.y - ny * half_len_px);
cv::Point2d P2(C.x - nx * half_len_px, C.y + ny * half_len_px);
cv::line(debug_img, P1, P2, color, 2, cv::LINE_AA);
};
Eigen::Vector3d center(0, 0, 0);
if (!armor_data.armors.empty()) {
for (auto& a: armor_data.armors)
center += a.pos;
center /= armor_data.armors.size();
}
const cv::Point2d Cc = to_img(center);
if (!armor_data.armors.empty())
cv::circle(debug_img, Cc, 5, cv::Scalar(255, 0, 0), -1, cv::LINE_AA);
for (auto& a: armors.armors)
draw2dArmor(a.target_pos, a.yaw, cv::Scalar(0, 255, 255));
std::vector<cv::Point2d> data_pts;
for (auto& a: armor_data.armors) {
double yaw = a.ori.toRotationMatrix().eulerAngles(2, 1, 0)[0];
draw2dArmor(a.pos, yaw, cv::Scalar(255, 255, 255));
data_pts.push_back(to_img(a.pos));
}
for (auto& pt: data_pts)
cv::line(debug_img, Cc, pt, cv::Scalar(180, 180, 255), 1, cv::LINE_AA);
for (auto& a: armors.armors)
cv::line(debug_img, Cc, to_img(a.target_pos), cv::Scalar(0, 150, 255), 1, cv::LINE_AA);
cv::circle(
debug_img,
cv::Point2i(debug_img.cols / 2, debug_img.rows / 2),
5,
cv::Scalar(255, 255, 255),
2
);
}
void writeTargetLogToJson(const auto_aim::Target& armor_target) {
nlohmann::json j;
// -------- armor_target 部分 --------
nlohmann::json jt;
jt["type"] = armor_target.type_;
jt["tracking"] = armor_target.is_tracking;
jt["id"] = static_cast<int>(armor_target.tracked_id_);
jt["armors_num"] = armor_target.armor_num_;
const auto now = std::chrono::steady_clock::now();
const auto age_ms_t =
std::chrono::duration_cast<std::chrono::milliseconds>(now - armor_target.timestamp_)
.count();
jt["timestamp_age_ms"] = age_ms_t;
jt["position"] = { { "x", armor_target.target_state_.cx() },
{ "y", armor_target.target_state_.cy() },
{ "z", armor_target.target_state_.cz() } };
jt["velocity"] = { { "x", armor_target.target_state_.vcx() },
{ "y", armor_target.target_state_.vcy() },
{ "z", armor_target.target_state_.vcz() } };
jt["r"] = armor_target.target_state_.r();
jt["l"] = armor_target.target_state_.l();
jt["h"] = armor_target.target_state_.h();
jt["yaw"] = armor_target.target_state_.yaw();
jt["v_yaw"] = armor_target.target_state_.vyaw();
j["armor_target"] = jt;
// -------- 写文件 --------
std::ofstream file("/dev/shm/target_log.json");
if (file.is_open()) {
file << j.dump(2);
}
}
struct DebugLogs {
#define DEBUG_LOG_LIST(X) \
X(double, 100, time) \
X(double, 100, raw_yaw) \
X(double, 100, raw_pitch) \
X(double, 100, yaw) \
X(double, 100, pitch) \
X(double, 100, armor_dis) \
X(double, 100, armor_x) \
X(double, 100, armor_y) \
X(double, 100, armor_z) \
X(double, 100, armor_yaw) \
X(double, 100, ypd_y) \
X(double, 100, ypd_p) \
X(double, 100, gimbal_yaw) \
X(double, 100, gimbal_pitch) \
X(double, 100, target_v_yaw) \
X(double, 100, control_v_yaw) \
X(double, 100, control_v_pitch) \
X(double, 100, yaw_diff) \
X(double, 100, fire) \
X(double, 100, rune_dis) \
X(double, 100, fly_time) \
X(double, 100, control_a_yaw) \
X(double, 100, control_a_pitch)
#define GEN_LOG(TYPE, SIZE, NAME) LogsStream<TYPE, SIZE> NAME##_log { #NAME };
#define X(TYPE, SIZE, NAME) GEN_LOG(TYPE, SIZE, NAME)
DEBUG_LOG_LIST(X)
#undef X
void clear() {
#define X(TYPE, SIZE, NAME) NAME##_log.clear();
DEBUG_LOG_LIST(X)
#undef X
}
};
void debuglog(const AutoAimDebug& dbg_armor) {
static bool first_log = true;
static std::chrono::steady_clock::time_point start_time;
static auto_aim::Armor last_armor_;
static double last_armor_yaw_ = 0.0;
static double last_ypd_y_ = 0.0;
static double last_ypd_p_ = 0.0;
static double last_distance_ = 0.0;
static DebugLogs log;
static GimbalCmd last_cmd_;
static double rune_dis = 0.0;
if (first_log) {
start_time = std::chrono::steady_clock::now();
first_log = false;
}
const auto now = std::chrono::steady_clock::now();
const auto_aim::Armors& armors = dbg_armor.armors;
const double t = std::chrono::duration<double>(now - start_time).count();
const auto_aim::Target& target = dbg_armor.target;
writeTargetLogToJson(target);
double armor_yaw = 0.0, ypd_y = 0.0, ypd_p = 0.0, armor_distance = 0.0;
if (!armors.armors.empty()) {
std::vector<auto_aim::Armor> ok_armors;
for (const auto& armor: armors.armors) {
if (armor.number != auto_aim::ArmorNumber::OUTPOST)
ok_armors.push_back(armor);
}
if (!ok_armors.empty()) {
const auto_aim::Armor& min_armor = *std::min_element(
ok_armors.begin(),
ok_armors.end(),
[](const auto_aim::Armor& a, const auto_aim::Armor& b) {
return a.distance_to_image_center < b.distance_to_image_center;
}
);
last_armor_ = min_armor;
armor_distance = std::hypot(
min_armor.target_pos.x(),
min_armor.target_pos.y(),
min_armor.target_pos.z()
);
auto orientationToYaw = [](const Eigen::Quaterniond& q) noexcept -> double {
Eigen::Vector3d euler = utils::quatToEuler(q, utils::EulerOrder::ZYX, false);
double yaw = euler[0];
yaw = last_armor_yaw_ + angles::shortest_angular_distance(last_armor_yaw_, yaw);
last_armor_yaw_ = yaw;
return yaw;
};
armor_yaw = orientationToYaw(min_armor.target_ori);
ypd_y = std::atan2(min_armor.target_pos.y(), min_armor.target_pos.x());
ypd_y = last_ypd_y_ + angles::shortest_angular_distance(last_ypd_y_, ypd_y);
last_ypd_y_ = ypd_y;
ypd_p = std::atan2(
min_armor.target_pos.z(),
std::hypot(min_armor.target_pos.x(), min_armor.target_pos.y())
);
last_ypd_p_ = ypd_p;
last_distance_ = armor_distance;
}
}
GimbalCmd i_use;
if (dbg_armor.gimbal_cmd.appear) {
i_use = dbg_armor.gimbal_cmd;
} else {
i_use = last_cmd_;
}
last_cmd_ = i_use;
nlohmann::json j;
log.time_log.handleOnce(t, j);
log.raw_yaw_log.handleOnce(i_use.target_yaw, j);
log.raw_pitch_log.handleOnce(i_use.target_pitch, j);
log.yaw_log.handleOnce(i_use.yaw, j);
log.pitch_log.handleOnce(i_use.pitch, j);
log.armor_yaw_log.handleOnce(armor_yaw * 180.0 / M_PI, j);
log.armor_x_log.handleOnce(last_armor_.target_pos.x(), j);
log.armor_y_log.handleOnce(last_armor_.target_pos.y(), j);
log.armor_z_log.handleOnce(last_armor_.target_pos.z(), j);
log.ypd_y_log.handleOnce(last_ypd_y_ * 180.0 / M_PI, j);
log.ypd_p_log.handleOnce(last_ypd_p_ * 180.0 / M_PI, j);
log.armor_dis_log.handleOnce(last_distance_, j);
log.gimbal_pitch_log.handleOnce(dbg_armor.gimbal_py.first * 180.0 / M_PI, j);
log.gimbal_yaw_log.handleOnce(dbg_armor.gimbal_py.second * 180.0 / M_PI, j);
log.target_v_yaw_log.handleOnce(target.target_state_.vyaw(), j);
log.control_v_pitch_log.handleOnce(i_use.v_pitch, j);
log.control_v_yaw_log.handleOnce(i_use.v_yaw, j);
log.fire_log.handleOnce(i_use.fire_advice, j);
log.rune_dis_log.handleOnce(rune_dis, j);
log.fly_time_log.handleOnce(i_use.fly_time, j);
log.control_a_yaw_log.handleOnce(i_use.a_yaw / 180.0 * M_PI, j);
log.control_a_pitch_log.handleOnce(i_use.a_pitch / 180.0 * M_PI, j);
log.yaw_diff_log.handleOnce(
std::abs(dbg_armor.gimbal_py.second * 180.0 / M_PI - dbg_armor.gimbal_cmd.yaw),
j
);
std::ofstream file("/dev/shm/cmd_log.json");
if (file.is_open()) {
file << j.dump();
}
}
} // namespace wust_vision::auto_aim