fix bug

armor/include/armor_finder/armor_finder.h

@@ -93,7 +93,7 @@ typedef std::vector<ArmorBox> ArmorBoxes;
 /********************* 自瞄类定义 **********************/
 class ArmorFinder{
 public:
-    ArmorFinder(uint8_t &color, Serial &u, const string &paras_folder, const uint8_t &use);
+    ArmorFinder(uint8_t &color, Serial &u, const string &paras_folder);
     ~ArmorFinder() = default;
 
 private:
@@ -117,7 +117,6 @@ private:
     int contour_area;                                  // 装甲区域亮点个数，用于数字识别未启用时判断是否跟丢（已弃用）
     int tracking_cnt;                                   // 记录追踪帧数，用于定时退出追踪
     Serial &serial;                                     // 串口对象，引用外部变量，用于和能量机关共享同一个变量
-    const uint8_t &use_classifier;                      // 标记是否启用CNN分类器，引用外部变量，自动变化
     RoundQueue<double, 4> top_periodms;                 // 陀螺周期循环队列
     systime last_front_time;                            // 上一次发生装甲板方向切换的时间
     int anti_top_cnt;                                   // 满足条件的装甲板方向切换持续次数，用于反陀螺

armor/src/armor_finder/armor_finder.cpp

@@ -46,7 +46,7 @@ std::map<string, int> prior_red = {
         {"NO", 10},
 };
 
-ArmorFinder::ArmorFinder(uint8_t &color, Serial &u, const string &paras_folder, const uint8_t &use) :
+ArmorFinder::ArmorFinder(uint8_t &color, Serial &u, const string &paras_folder) :
         serial(u),
         enemy_color(color),
         state(STANDBY_STATE),
@@ -55,7 +55,6 @@ ArmorFinder::ArmorFinder(uint8_t &color, Serial &u, const string &paras_folder,
         anti_top_state(NORMAL),
         classifier(paras_folder),
         contour_area(0),
-        use_classifier(use),
         tracking_cnt(0) {
 }
 
@@ -67,7 +66,7 @@ void ArmorFinder::run(cv::Mat &src) {
         case SEARCHING_STATE:
             if (stateSearchingTarget(src)) {
                 if ((target_box.rect & cv::Rect2d(0, 0, 640, 480)) == target_box.rect) { // 判断装甲板区域是否脱离图像区域
-                    if (!classifier || !use_classifier) {                    /* 如果分类器不可用或者不使用分类器 */
+                    if (!classifier) {                                          /* 如果分类器不可用 */
                         cv::Mat roi = src(target_box.rect).clone(), roi_gray;  /* 就使用装甲区域亮点数判断是否跟丢 */
                         cv::cvtColor(roi, roi_gray, CV_RGB2GRAY);
                         cv::threshold(roi_gray, roi_gray, 180, 255, cv::THRESH_BINARY);

armor/src/armor_finder/find/find_armor_box.cpp

@@ -140,7 +140,7 @@ bool ArmorFinder::findArmorBox(const cv::Mat &src, ArmorBox &box) {
         cv::waitKey(1);
     }
 
-    if (classifier && use_classifier) {
+    if (classifier) {
         CNT_TIME("classify: %d", {
             for (auto &armor_box : armor_boxes) {
                 cv::Mat roi = src(armor_box.rect).clone();

main.cpp

@@ -44,7 +44,7 @@ WrapperHead *video_chassis = nullptr;   // 底盘摄像头视频源
 Serial serial(115200);                  // 串口对象
 uint8_t last_state = INIT_STATE;     // 上次状态，用于初始化
 // 自瞄主程序对象
-ArmorFinder armor_finder(mcu_data.enemy_color, serial, PROJECT_DIR"/tools/para/", mcu_data.use_classifier);
+ArmorFinder armor_finder(mcu_data.enemy_color, serial, PROJECT_DIR"/tools/para/");
 // 能量机关主程序对象
 Energy energy(serial, mcu_data.enemy_color);
 
@@ -66,8 +66,8 @@ int main(int argc, char *argv[]) {
             video_gimbal = new CameraWrapper(ARMOR_CAMERA_EXPOSURE, ARMOR_CAMERA_GAIN, 2/*, "armor"*/);
             video_chassis = new CameraWrapper(ENERGY_CAMERA_EXPOSURE, ENERGY_CAMERA_GAIN, 2/*, "energy"*/);
         } else {
-            video_gimbal = new VideoWrapper(PROJECT_DIR"/26.avi");
+            video_gimbal = new VideoWrapper(PROJECT_DIR"/5.avi");
-            video_chassis = new VideoWrapper(PROJECT_DIR"/26.avi");
+            video_chassis = new VideoWrapper(PROJECT_DIR"/5.avi");
         }
         if (video_gimbal->init()) {
             LOGM("video_gimbal source initialization successfully.");
@@ -93,8 +93,9 @@ int main(int argc, char *argv[]) {
         bool ok = true;
         cout << "start running" << endl;
         do {
+            auto curr_state = mcu_data.state;
             CNT_TIME("Total", {
-            if (mcu_data.state == BIG_ENERGY_STATE) {//大能量机关模式
+            if (curr_state == BIG_ENERGY_STATE) {//大能量机关模式
                 if (last_state != BIG_ENERGY_STATE) {//若上一帧不是大能量机关模式，即刚往完成切换，则需要初始化
                     LOGM(STR_CTR(WORD_BLUE, "Start Big Energy!"));
                     destroyAllWindows();
@@ -110,7 +111,7 @@ int main(int argc, char *argv[]) {
                     checkReconnect(video_chassis->read(chassis_src));
                     energy.setBigEnergyInit();
                 }
-                last_state = mcu_data.state;//更新上一帧状态
+                last_state = curr_state;//更新上一帧状态
                 ok = checkReconnect(video_gimbal->read(gimbal_src));
                 video_chassis->read(chassis_src);
 #ifdef GIMBAL_FLIP_MODE
@@ -124,7 +125,7 @@ int main(int argc, char *argv[]) {
                 if (show_origin) showOrigin(gimbal_src, chassis_src);//显示原始图像
                 energy.runBig(gimbal_src, chassis_src);
 //                energy.runBig(gimbal_src);
-            } else if (mcu_data.state == SMALL_ENERGY_STATE) {
+            } else if (curr_state == SMALL_ENERGY_STATE) {
                 if (last_state != SMALL_ENERGY_STATE) {
                     LOGM(STR_CTR(WORD_GREEN, "Start Small Energy!"));
                     destroyAllWindows();
@@ -139,7 +140,7 @@ int main(int argc, char *argv[]) {
                     }
                     energy.setSmallEnergyInit();
                 }
-                last_state = mcu_data.state;//更新上一帧状态
+                last_state = curr_state;//更新上一帧状态
                 ok = checkReconnect(video_gimbal->read(gimbal_src));
 #ifdef GIMBAL_FLIP_MODE
                 flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
@@ -162,7 +163,7 @@ int main(int argc, char *argv[]) {
                         }
                     }
                 }
-                last_state = mcu_data.state;
+                last_state = curr_state;
                 CNT_TIME(STR_CTR(WORD_GREEN, "read img"), {
                     if(!checkReconnect(video_gimbal->read(gimbal_src))) continue;
                 });