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energy changed

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sun
2019-07-16 02:26:56 +08:00
parent 1a096979f7
commit 02ea0c5c7b
7 changed files with 30 additions and 23 deletions
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9
main.cpp
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@@ -64,8 +64,8 @@ int main(int argc, char *argv[]) {
video_gimbal = new CameraWrapper(0/*, "armor"*/);
video_chassis = new CameraWrapper(1/*, "energy"*/);
} else {
video_gimbal = new VideoWrapper("/home/sun/项目/energy_video/大能量机关（蓝+开灯）.mov");
video_chassis = new VideoWrapper("/home/sun/项目/energy_video/大能量机关（蓝+开灯）.mov");
video_gimbal = new VideoWrapper("/home/sun/项目/energy_video/148.avi");
video_chassis = new VideoWrapper("/home/sun/项目/energy_video/148.avi");
}
if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully.");
@@ -94,6 +94,7 @@ int main(int argc, char *argv[]) {
CNT_TIME("Total", {
if (mcuData.state != ARMOR_STATE) {//能量机关模式
if (last_state == ARMOR_STATE) {//若上一帧是自瞄模式，即刚往完成切换，则需要初始化
destroyAllWindows();
((CameraWrapper *) video_gimbal)->changeBrightness(ENERGY_CAMERA_GAIN);
energy.setEnergyInit();
checkReconnect(video_chassis->read(chassis_src));
@@ -102,6 +103,7 @@ int main(int argc, char *argv[]) {
#endif
}
ok = checkReconnect(video_gimbal->read(gimbal_src));
video_gimbal->read(gimbal_src);
video_chassis->read(chassis_src);
#ifdef GIMBAL_FLIP_MODE
flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
@@ -114,6 +116,7 @@ int main(int argc, char *argv[]) {
last_state = mcuData.state;//更新上一帧状态
} else { // 自瞄模式
if (last_state != ARMOR_STATE) {
destroyAllWindows();
((CameraWrapper *) video_gimbal)->changeBrightness(ARMOR_CAMERA_GAIN);
}
last_state = mcuData.state;
@@ -128,7 +131,7 @@ int main(int argc, char *argv[]) {
armorFinder.run(gimbal_src);
});
}
// cv::waitKey(0);
cv::waitKey(1);
});
} while (ok);
delete video_gimbal;