更新 YOLOPv2.cpp
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YOLOPv2.cpp
187
YOLOPv2.cpp
@ -1,5 +1,21 @@
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#include "YOLOPv2.h"
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#include <QLoggingCategory>
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#include "tcp_utility.hpp"
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#include <iostream>
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#include <vector>
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#include <map>
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#include <string>
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#include <cstring>
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#include<QJsonObject>
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#include<QJsonDocument>
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#include<QThread>
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/*#include <winsock2.h>
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#include <ws2tcpip.h>
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#include <nlohmann/json.hpp> // 需要安装nlohmann/json库
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#include<json/json.h>
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#pragma comment(lib, "ws2_32.lib")
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using json = nlohmann::json;*/
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YOLOPv2::YOLOPv2(Net_config config)
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{
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@ -67,6 +83,37 @@ YOLOPv2::YOLOPv2(Net_config config)
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while (getline(ifs, line)) this->class_names.push_back(line);
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this->num_class = class_names.size();
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//initial tcp 开始
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//tcp::TcpClient client;
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// 设置消息回调
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this->tcp_client.setMessageCallback([](tcp::TcpSocket& socket, const std::vector<uint8_t>& data) {
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std::string message(data.begin(), data.end());
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std::cout << "Received from server: " << message << std::endl;
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});
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// 设置错误回调
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this->tcp_client.setErrorCallback([](tcp::TcpSocket& socket, tcp::ErrorCode error) {
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std::cout << "Error: " << tcp::errorCodeToString(error) << std::endl;
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});
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// 连接服务器
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auto result = this->tcp_client.connect("192.168.124.135", 6000);
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if (result == tcp::ErrorCode::Success) {
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std::cout << "Connected to server" << std::endl;
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// 发送消息
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//this->tcp_client.send("Hello, server!");
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// 让客户端运行一段时间
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std::cout << "Press Enter to disconnect..." << std::endl;
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std::cin.get();
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} else {
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std::cout << "Failed to connect to server: "
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<< tcp::errorCodeToString(result) << std::endl;
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}
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}
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void YOLOPv2::normalize_(Mat img)
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@ -130,6 +177,106 @@ inline float sigmoid(float x)
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{
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return 1.0 / (1 + exp(-x));
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}
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/*
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void SendMessage(const char* ip, int port, map<string,double> data) {
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// 初始化Winsock
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WSADATA wsaData;
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if (WSAStartup(MAKEWORD(2, 2), &wsaData) != 0) {
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std::cerr << "WSAStartup failed: " << WSAGetLastError() << std::endl;
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return;
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}
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// 创建套接字
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SOCKET hSocket = socket(AF_INET, SOCK_STREAM, IPPROTO_TCP);
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if (hSocket == INVALID_SOCKET) {
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std::cerr << "Socket creation failed: " << WSAGetLastError() << std::endl;
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WSACleanup();
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return;
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}
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// 设置服务器地址
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sockaddr_in servAddr;
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servAddr.sin_family = AF_INET;
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servAddr.sin_port = htons(port);
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if (inet_pton(AF_INET, ip, &servAddr.sin_addr) <= 0) {
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std::cerr << "Invalid address/Address not supported" << std::endl;
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closesocket(hSocket);
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WSACleanup();
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return;
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}
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// 连接服务器
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if (connect(hSocket, (SOCKADDR*)&servAddr, sizeof(servAddr)) == SOCKET_ERROR) {
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std::cerr << "Connection failed: " << WSAGetLastError() << std::endl;
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closesocket(hSocket);
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WSACleanup();
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return;
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}
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// 构造JSON消息
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json message;
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message["receiver"] = "ANGLE";
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message["sender"] = "ANGLE";
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message["type"] = 5;
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json params;
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for (const auto& pair: data) {
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params[pair.first] = pair.second;
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}
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params["status"] = "OK";
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message["params"] = params;
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std::string jsonStr = message.dump();
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// 发送消息
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int bytesSent = send(hSocket, jsonStr.c_str(), (int)jsonStr.size(), 0);
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if (bytesSent == SOCKET_ERROR) {
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std::cerr << "Send failed: " << WSAGetLastError() << std::endl;
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} else {
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std::cout << "Sent " << bytesSent << " bytes: " << jsonStr << std::endl;
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// 接收响应（可选）
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char buffer[1024];
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int bytesRecv = recv(hSocket, buffer, sizeof(buffer), 0);
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if (bytesRecv > 0) {
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std::cout << "Received response: " << std::string(buffer, bytesRecv) << std::endl;
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}
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}
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// 清理资源
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closesocket(hSocket);
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WSACleanup();
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}*/
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std::vector<unsigned char> YOLOPv2::mapToByteArray(const std::map<std::string, double>& param) {
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std::vector<unsigned char> byteArray;
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// 写入map大小
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size_t mapSize = param.size();
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byteArray.insert(byteArray.end(),
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reinterpret_cast<const unsigned char*>(&mapSize),
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reinterpret_cast<const unsigned char*>(&mapSize) + sizeof(mapSize));
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// 遍历map中的每个元素
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for (const auto& pair : param) {
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// 写入键的长度
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size_t keyLength = pair.first.size();
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byteArray.insert(byteArray.end(),
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reinterpret_cast<const unsigned char*>(&keyLength),
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reinterpret_cast<const unsigned char*>(&keyLength) + sizeof(keyLength));
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// 写入键的内容
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byteArray.insert(byteArray.end(),
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pair.first.begin(),
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pair.first.end());
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// 写入值（double类型）
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byteArray.insert(byteArray.end(),
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reinterpret_cast<const unsigned char*>(&pair.second),
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reinterpret_cast<const unsigned char*>(&pair.second) + sizeof(double));
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}
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return byteArray;
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}
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Mat YOLOPv2::detect(Mat& frame)
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{
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@ -251,12 +398,12 @@ Mat YOLOPv2::detect(Mat& frame)
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outimg.at<Vec3b>(i, j)[0] = 255;
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outimg.at<Vec3b>(i, j)[1] = 0;
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outimg.at<Vec3b>(i, j)[2] = 0;
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if (!flg && j >= frame.cols / 2 && right == -1) { // 记录图像右半部分最靠左的车道线的左边缘坐标
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if (!flg && j >= center && right == -1) { // 记录图像右半部分最靠左的车道线的左边缘坐标
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right = j;
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}
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flg = true;
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} else {
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if (flg && j - 1 < frame.cols / 2) { //记录图像左半部分最靠右的车道线的右边缘坐标
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if (flg && j - 1 < center) { //记录图像左半部分最靠右的车道线的右边缘坐标
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left = j - 1;
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}
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flg = false;
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@ -280,9 +427,10 @@ Mat YOLOPv2::detect(Mat& frame)
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outimg.at<Vec3b>(i, mid+k)[2] = 255;
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}
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//提取偏移量
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for (int k = 0; k < N; k++) {
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for (int k = 1; k < N-1; k++) {
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if (ypos[k] == i) {
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deviation[dis[k]] = (mid - center) * rate[k];
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cerr<<mid<<' '<<center<<' '<<rate[k]<<' '<<deviation[dis[k]]<<endl;
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}
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}
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}
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@ -334,9 +482,40 @@ Mat YOLOPv2::detect(Mat& frame)
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cerr << d.first << ": " << d.second <<endl; //前方xx 距离处：道路中心线相对于小车位置横向偏移距离（右偏为正）(单位mm）
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}
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double slope = (siz * sumXY - sumX * sumY) / (siz * sumXX - sumX * sumX); //道路中心线相对小车正前方向偏移角度正切值（右偏为正）
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dev_angle = atan(slope); //道路中心线相对小车正前方向偏移角弧度值（右偏为正）
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dev_angle = atan(slope)*180/3.1415926; //道路中心线相对小车正前方向偏移角弧度值（右偏为正）
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cerr << slope <<endl << dev_angle <<endl;
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}
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//map<string, double> params;
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//params["dev_1m"] = deviation[dis[0]];
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//params["dev_2m"] = deviation[dis[1]];
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//params["dev_3m"] = deviation[dis[2]];
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//params["dev_4m"] = deviation[dis[3]];
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//params["dev_5m"] = deviation[dis[4]];
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//params["dev_6m"] = deviation[dis[5]];
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//params["angle"] = dev_angle;
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//SendMessage("127.0.0.1", 6000, params);
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//std::vector<unsigned char> byteVector = mapToByteArray(params);
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// 发送消息
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QJsonObject json;
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json["receiver"]="DRIVER";
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json["sender"]="FAST";
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json["type"]=22;
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QJsonObject params;
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params["angle"]=dev_angle;
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json["params"]=params;
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QJsonDocument doc(json);
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QByteArray data=QJsonDocument(json).toJson();
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std::string jsonstr=data.toStdString();
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std::cout << jsonstr<< std::endl;
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this->tcp_client.send(jsonstr);
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return outimg;
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}
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