fix bug.

CMakeLists.txt

@@ -3,7 +3,12 @@ CMAKE_MINIMUM_REQUIRED(VERSION 3.5)
 PROJECT(AutoAim)
 SET(CMAKE_CXX_STANDARD 11)
 SET(CMAKE_BUILD_TYPE RELEASE)
-SET(CMAKE_CXX_FLAGS "-DPATH=\"\\\"${PROJECT_SOURCE_DIR}\\\"\"")
+SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3")
+SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DPATH=\"\\\"${PROJECT_SOURCE_DIR}\\\"\"")
+## 使用编译期固定选项，以略微提升性能。
+#SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DFIX_OPTIONS")
+## 固定使用相机运行
+#SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DRUN_WITH_CAMERA")
 
 FIND_PROGRAM(CCACHE_FOUND ccache)
 IF(CCACHE_FOUND)

armor/src/armor_finder/armor_finder.cpp

@@ -57,7 +57,7 @@ void ArmorFinder::run(cv::Mat &src) {
     }
 }
 
-#define FOCUS_PIXAL      (800)
+#define FOCUS_PIXAL      (600)
 
 bool ArmorFinder::sendBoxPosition() {
     static int dx_add = 0;
@@ -68,7 +68,7 @@ bool ArmorFinder::sendBoxPosition() {
     double dy = rect.y + rect.height/2 - 240 - 30;
     double yaw   = atan(dx / FOCUS_PIXAL) * 180 / 3.14159265459;
     double pitch = atan(dy / FOCUS_PIXAL) * 180 / 3.14159265459;
-    cout << yaw << endl;
+//    cout << yaw << endl;
     uart.sendTarget(yaw, -pitch, 0);
     return true;
 }

main.cpp

@@ -36,7 +36,7 @@ void uartReceive(Uart *uart);
 int main(int argc, char *argv[]) {
     process_options(argc, argv);
     Uart uart;
-//    thread receive(uartReceive, &uart);
+    thread receive(uartReceive, &uart);
     bool flag = true;
 
     while (flag) {
@@ -52,7 +52,7 @@ int main(int argc, char *argv[]) {
         WrapperHead *video_armor;
         WrapperHead *video_energy;
         if (from_camera) {
-            video_armor = new CameraWrapper(0);
+            video_armor = new CameraWrapper(0, "armor");
 //            video_energy = new CameraWrapper(1, "energy");
         } else {
             video_armor = new VideoWrapper("/home/xinyang/Desktop/DataSets/video/blue_4.mp4");
@@ -63,13 +63,18 @@ int main(int argc, char *argv[]) {
         }
 
         Mat energy_src, armor_src;
+        for(int i=0; i<10; i++){
+            video_armor->read(armor_src);
+//            video_energy->read(armor_src);
+        }
+
         ArmorFinder armorFinder(ENEMY_BLUE, uart, PROJECT_DIR"/tools/para/");
 
         Energy energy(uart);
         energy.setAllyColor(ally_color);
         energy.setRotation(energy_part_rotation);
 
-        bool ok = true;
+        bool ok = video_armor->read(armor_src) /*&& video_energy->read(armor_src)*/;
 
         while (ok) {
             CNT_TIME(WORD_LIGHT_CYAN, "Total", {
@@ -88,7 +93,7 @@ int main(int argc, char *argv[]) {
                         imshow("armor src", armor_src);
                     }
                     CNT_TIME(WORD_LIGHT_BLUE, "Armor Time", {
-                            armorFinder.run(armor_src);
+                        armorFinder.run(armor_src);
                     });
                 }
                 if (waitKey(1) == 'q') {
@@ -104,7 +109,7 @@ int main(int argc, char *argv[]) {
     return 0;
 }
 
-#define RECEIVE_LOG_LEVEL LOG_NOTHING
+#define RECEIVE_LOG_LEVEL LOG_MSG
 
 void uartReceive(Uart *uart) {
     char buffer[100];

others/include/options/options.h

@@ -5,14 +5,64 @@
 #ifndef _OPTIONS_H_
 #define _OPTIONS_H_
 
-extern bool show_armor_box;
-extern bool show_armor_boxes;
-extern bool show_light_blobs;
-extern bool show_origin;
-extern bool save_labelled;
-extern bool run_with_camera;
-extern bool save_video;
-extern bool collect_data;
+#ifdef FIX_OPTIONS
+    #ifdef SHOW_ARMOR_BOX
+        #define show_armor_box true
+    #else
+        #define show_armor_box false
+    #endif
+
+    #ifdef SHOW_ARMOR_BOXES
+        #define show_armor_boxes true
+    #else
+        #define show_armor_boxes false
+    #endif
+
+    #ifdef SHOW_LIGHT_BLOBS
+        #define show_light_blobs true
+    #else
+        #define show_light_blobs false
+    #endif
+
+    #ifdef SHOW_ORIGIN
+        #define show_origin true
+    #else
+        #define show_origin false
+    #endif
+
+    #ifdef SAVE_LABELLED
+        #define save_labelled true
+    #else
+        #define save_labelled false
+    #endif
+
+    #ifdef RUN_WITH_CAMERA
+        #define run_with_camera true
+    #else
+        #define run_with_camera false
+    #endif
+
+    #ifdef SAVE_VIDEO
+        #define save_video true
+    #else
+        #define save_video false
+    #endif
+
+    #ifdef COLLECT_DATA
+        #define collect_data true
+    #else
+        #define collect_data false
+    #endif
+#else /* FIX_OPTIONS */
+    extern bool show_armor_box;
+    extern bool show_armor_boxes;
+    extern bool show_light_blobs;
+    extern bool show_origin;
+    extern bool save_labelled;
+    extern bool run_with_camera;
+    extern bool save_video;
+    extern bool collect_data;
+#endif /* FIX_OPTIONS */
 
 void process_options(int argc, char *argv[]);
 

others/src/camera/camera_wrapper.cpp

@@ -72,7 +72,7 @@ stop:
         CameraGetExposureTime(h_camera, &t);
         LOGM("Exposure time: %lfms", t/1000.0);
         // 模拟增益4
-        CameraSetAnalogGain(h_camera, 55);
+        CameraSetAnalogGain(h_camera, 60);
         // 使用预设LUT表
         CameraSetLutMode(h_camera, LUTMODE_PRESET);
         // 抗频闪

others/src/options/additions.cpp

@@ -35,6 +35,8 @@ void save_video_file(cv::Mat &src){
 
 #define SAVE_DIR "/home/sjturm/Desktop/labelled/"
 
+bool save_label_error_flag = false;
+
 int get_labelled_cnt(){
     FILE *fp = fopen(SAVE_DIR"info.txt", "r");
     int cnt=0;
@@ -50,18 +52,20 @@ void save_labelled_cnt(int cnt){
 }
 
 void save_labelled_image(cv::Mat &src, cv::Rect2d box){
-    static int cnt=get_labelled_cnt();
-    char name[50];
-    sprintf(name, SAVE_DIR"%d.jpg", cnt);
-    cv::imwrite(name, src);
-    sprintf(name, SAVE_DIR"%d.txt", cnt);
-    FILE *fp = fopen(name, "w");
-    if(fp == NULL){
-        LOGW("Can't create file: %s!\nStop saving!", name);
-        save_labelled = false;
-        return;
+    if(!save_label_error_flag) {
+        static int cnt = get_labelled_cnt();
+        char name[50];
+        sprintf(name, SAVE_DIR"%d.jpg", cnt);
+        cv::imwrite(name, src);
+        sprintf(name, SAVE_DIR"%d.txt", cnt);
+        FILE *fp = fopen(name, "w");
+        if (fp == NULL) {
+            LOGW("Can't create file: %s!\nStop saving!", name);
+            save_label_error_flag = true;
+            return;
+        }
+        fprintf(fp, "%lf %lf %lf %lf\n", box.x, box.y, box.width, box.height);
+        fclose(fp);
+        save_labelled_cnt(cnt);
     }
-    fprintf(fp, "%lf %lf %lf %lf\n", box.x, box.y, box.width, box.height);
-    fclose(fp);
-    save_labelled_cnt(cnt);
 }

others/src/options/options.cpp

@@ -6,6 +6,7 @@
 #include <log.h>
 #include <cstring>
 
+#ifndef FIX_OPTIONS
 bool show_armor_box = false;
 bool show_armor_boxes = false;
 bool show_light_blobs = false;
@@ -66,3 +67,6 @@ void process_options(int argc, char *argv[]){
         }
     }
 }
+#else
+void process_options(int argc, char *argv[]){};
+#endif /* FIX_OPTIONS */