From e2dd4ab7f4c61de7442ee489a80a10154af8d08b Mon Sep 17 00:00:00 2001 From: keita <16924591+keita_sakura@user.noreply.gitee.com> Date: Mon, 7 Sep 2026 10:37:05 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BC=98=E5=8C=96=E6=96=87=E4=BB=B6?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .idea/code_drone-test.iml | 2 +- ...ss_b7314a3c-d6f0-45f0-9768-58161c9cf637.md | 49 ------ README.en.md | 163 ------------------ README.md | 3 - trajectory_plot.png | Bin 0 -> 116006 bytes 工作进度.md | 6 + 6 files changed, 7 insertions(+), 216 deletions(-) delete mode 100644 .zcode/plans/plan-sess_b7314a3c-d6f0-45f0-9768-58161c9cf637.md delete mode 100644 README.en.md create mode 100644 trajectory_plot.png create mode 100644 工作进度.md diff --git a/.idea/code_drone-test.iml b/.idea/code_drone-test.iml index d0876a7..a7b1882 100644 --- a/.idea/code_drone-test.iml +++ b/.idea/code_drone-test.iml @@ -2,7 +2,7 @@ - + \ No newline at end of file diff --git a/.zcode/plans/plan-sess_b7314a3c-d6f0-45f0-9768-58161c9cf637.md b/.zcode/plans/plan-sess_b7314a3c-d6f0-45f0-9768-58161c9cf637.md deleted file mode 100644 index 2c6af37..0000000 --- a/.zcode/plans/plan-sess_b7314a3c-d6f0-45f0-9768-58161c9cf637.md +++ /dev/null @@ -1,49 +0,0 @@ -# C++ → Python 移植计划(reference-c++ → utils) - -## 范围与环境 -- 移植 `reference-c++/target_tracker` 与 `reference-c++/visual_track_control` 两个子项目为 Python,放入 `utils/`;**不改动 reference-c++ 任何文件**。 -- Python 解释器:`D:\program file\conda\envs\pytorch\python.exe`(3.12.13,mavsdk 3.15.3 / numpy 2.4.3 已装)。需向该环境 `pip install pytest`。 -- 行为保真优先:单位、符号约定、限幅顺序、超龄/判丢/Coast 语义、异常消息文本全部与 C++ 版及规格文档一致。 - -## 目录布局 -``` -utils/ -├── README.md # 唯一文档(结构、运行、MAVSDK 映射决策、实机接线片段) -├── conftest.py # pytest sys.path 注入,使两包可顶层导入 -├── target_tracker/ # 包1:追踪库(仅依赖 stdlib + numpy) -│ ├── __init__.py # 导出 TargetTracker/TrackResult/Detection/FrameShape 等 -│ ├── kalman_box_filter.py # 8 维恒速卡尔曼(numpy 矩阵;Q 用状态值、R 用 abs×2 的规格差异保留) -│ ├── tracklet.py # 轨道 + ToCenterSize/ToXYXY/ComputeIoU -│ ├── target_tracker.py # 六步主流程 + 贪婪关联 + 主目标锁定;LastResult 用 threading.Lock -│ └── tests/ # pytest 移植 27 条(kalman 5 / tracklet 12 / tracker 10,含 §9.4 六条验收) -├── visual_track_control/ # 包2:控制律(不 import target_tracker) -│ ├── __init__.py -│ ├── vtc_types.py # TrackObservation/ControlSnapshot/ControlOutput/枚举(frozen dataclass) -│ ├── vtc_config.py # stdlib json 加载,校验异常消息与 C++ 一致(含字段路径) -│ ├── line_of_sight.py / pid_controller.py / rate_limiter.py / staleness_checker.py / frame_transform.py -│ ├── tracking_control_law.py # 八步单周期主流程,logging 仅模式切换打点 -│ ├── offboard_sender.py # OffboardSender 协议 + YawIntegrator + LoopbackSender(演示/测试) -│ ├── mavsdk_sender.py # MAVSDK 实现(mavsdk 懒加载,其余模块零感知) -│ ├── config/track_control.json # 从 C++ 原样拷贝 -│ └── tests/ # pytest 移植 8 套 -└── examples/ - └── track_control_demo.py # 唯一同时 import 两包的胶水点 -``` - -## 关键设计 -1. **解耦边界**:C++ 版 ControlSnapshot 内嵌 tracker::TrackResult;Python 改为控制律自有的最小结构 `TrackObservation(tracked, is_predicted, center)`。visual_track_control 全程不出现 target_tracker 导入,demo 负责字段拷贝。两包内部一律相对导入、可独立搬移;mavsdk 只在 mavsdk_sender.py 内懒加载。 -2. **MAVSDK 映射(已确认方案)**:统一 `set_velocity_ned(VelocityNedYaw)`。 - - 速率式:`YawIntegrator` 把 yaw_rate 积分为绝对航向(wrap180,dt 取发送侧单调时钟差)→ VelocityNedYaw(vn, ve, vd, 积分航向); - - 位置式:直接用 out.yaw_deg;刹车:零速 + 保持积分航向;降级:不发送。 - - 控制律输出仍与 C++ 一致(机体系计算限幅→输出端旋转为 NED),NED 分量直接对应 MAVSDK 字段;OffboardError 捕获后返回 False(对齐 C++ Send 布尔语义)。offboard.start()/stop() 生命周期不属于 sender,README 给接线片段。 -3. **数值**:全程 Python float(双精度),卡尔曼用 numpy(4×4 求逆 + 1e-9 正则化);保留检测入口 NaN/Inf 过滤、置信度 NaN→−∞ 排序等防御逻辑;时间戳 `time.monotonic_ns()//10**6`。 -4. **MAVSDK sender 测试**:用 fake offboard 对象(鸭子类型)验证分发与积分行为,不 import mavsdk;gateway 相关 C++ 字节级用例改为验证 sender 收到的 VelocityNedYaw 内容。 - -## 验证与交付 -1. `pip install pytest`(pytorch 环境)→ 两包测试全绿; -2. 运行 demo(asyncio,20Hz,三阶段:正常 6s → Coast 4s → 判丢 3s,演示判丢阈值 60 帧),输出语义与 C++ 版一致; -3. mavsdk_sender 冒烟测试(fake offboard,不连实机); -4. 撰写 utils/README.md。 - -## 实施顺序 -pip 安装 pytest → target_tracker 包+测试 → visual_track_control 包+测试 → sender 层+测试 → demo → README → 汇总报告。 \ No newline at end of file diff --git a/README.en.md b/README.en.md deleted file mode 100644 index 686bee4..0000000 --- a/README.en.md +++ /dev/null @@ -1,163 +0,0 @@ -# code-test-drone - -This project contains a C++ reference implementation of a visual target tracking and control system and its Python port, designed for drone tracking and control of moving targets. - -## Project Structure - -``` -code-test-drone/ -├── reference-c++/ # C++ reference implementation -│ ├── target_tracker/ # Target tracking library (independent sub-project) -│ │ ├── include/ # Header files directory -│ │ ├── src/ # Source files directory -│ │ └── tests/ # Unit tests -│ └── visual_track_control/# Visual tracking control library -│ ├── include/ # Header files directory -│ ├── src/ # Source files directory -│ └── tests/ # Unit tests -└── utils/ # Python port - ├── target_tracker/ # Target tracking (Python version) - ├── visual_track_control/# Tracking control (Python version) - └── tests/ # Unit tests -``` - -## Main Modules - -### target_tracker - Target Tracking Library - -Provides target tracking functionality based on Kalman filtering: - -- **KalmanBoxFilter**: 8-dimensional Kalman filter (position, velocity) -- **Tracklet**: Target trajectory management and state updates -- **TargetTracker**: Main tracker, containing association and election logic - -Core features: -- Greedy association algorithm for detection matching -- Three-level fallback mechanism for main target election -- Supports Coast (pure prediction) and Lost (missed) state management - -### visual_track_control - Visual Tracking Control Library - -Generates drone control commands based on tracking results: - -- **PIDController**: Distance PID control -- **TrackingControlLaw**: Tracking control law -- **MavlinkCommandGateway**: MAVLink command gateway -- **PixelToAngle**: Pixel to angle conversion -- **StalenessChecker**: Data staleness check -- **SlewRateLimiter**: Rate limiter - -Supports multiple control modes: -- **Rate Mode**: Angular rate control -- **Position Mode**: Absolute heading control -- **Distance Control**: Approach/retreat strategy - -## Environment Requirements - -### C++ Version -- CMake 3.10+ -- C++17 Compiler -- MAVLink Library (MAVSDK) - -### Python Version -- Python 3.12+ -- Dependencies: `numpy`, `pymavlink`, `mavsdk` - -## Installation - -### Python Environment -```bash -pip install -r requirements.txt -``` - -### C++ Build -```bash -cd reference-c++/target_tracker -mkdir build && cd build -cmake .. -make - -cd ../../visual_track_control -mkdir build && cd build -cmake .. -make -``` - -## Testing - -### Python Tests -```bash -cd utils -pytest -``` - -### C++ Tests -```bash -cd reference-c++/target_tracker/build -ctest - -cd ../../visual_track_control/build -ctest -``` - -## Configuration - -Both C++ and Python versions use JSON format configuration files: - -```json -{ - "control": { - "frequency_hz": 20.0, - "visual_stale_ms": 200, - "radar_stale_ms": 500, - "attitude_stale_ms": 300 - }, - "camera": { - "image_width": 1920, - "image_height": 1080, - "fov_h_deg": 60.0, - "fov_v_deg": 35.0 - }, - "heading": { - "mode": "rate", - "gain": 1.0, - "yaw_rate_limit_dps": 30.0, - "yaw_slew_limit_dps2": 60.0 - }, - "distance": { - "d_exp_m": 10.0, - "kp": 0.5, - "ki": 0.05, - "kd": 0.1, - "integral_limit": 2.0 - } -} -``` - -## Usage Examples - -### Python Tracking Demo -```bash -cd utils -python demo_track_control.py -``` - -### C++ Tracking Demo -```bash -cd reference-c++/visual_track_control/build -./track_control_demo -``` - -## Porting Notes - -Please refer to the README in each subdirectory for interface differences between the Python version and the C++ version: -- [target_tracker Python Version](./utils/target_tracker/README.md) -- [visual_track_control Python Version](./utils/visual_track_control/README.md) - -## License - -This project follows open source license agreements. - -## Contributing Guidelines - -Feel free to submit Issues and Pull Requests to improve this project. \ No newline at end of file diff --git a/README.md b/README.md index 0319ba7..ca3b414 100644 --- a/README.md +++ b/README.md @@ -1,7 +1,4 @@ - -抱歉,我无法访问代码仓库。让我直接根据提供的代码结构为你生成 README。 - # code-test-drone 本项目包含一个视觉目标追踪与控制系统的 C++ 参考实现及其 Python 移植版本,用于无人机对移动目标的追踪与控制。 diff --git a/trajectory_plot.png b/trajectory_plot.png new file mode 100644 index 0000000000000000000000000000000000000000..d6af64622dc490af8d585604fa16cf424217ac8c GIT binary patch literal 116006 zcmdqJc{tZ!`#t(DrFkG3%FsYkWJt!)s1zwmNHPzZ=Q&D6Aq^sPMKn-kp2-wK5}C<7 z%RJXvTc6K!p7Z;j-yi3nb6w|jU7jaC;`Q45-uJ!kwbs4woj-SK!`f|YDHO^EnbRi} zC=}{x3T1iwYHECCDC<5A{!h&Mq_VZ5nVz+srll@LPSe`l*v#74P-};+uBDZsnd!j; z{Co#QxOW&>Tbo;n@$#Dd=Q|FVS?crVU9qXaPg!GrTE&V&VW1@+%k;y)DNvSCC^9FG zUbGJxY__weyR^M{)J$yivDYuojIeB7ag^)KmdMK&#FpQ8qkFT9W0%5-&2*cW^_@O- ze#MD15BFu=-sX6A$Ii{)5=PkO^)yRNKki&3^LfOog4tGoxGC)k)8nl9FIm2!c^Z5> 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