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自瞄和能量机关使用不同摄像头亮度。

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This commit is contained in:
xinyang
2019-07-10 18:42:56 +08:00
parent 92295793d5
commit 342944d492
4 changed files with 29 additions and 18 deletions
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8
armor/src/armor_finder/armor_finder.cpp
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@@ -15,13 +15,13 @@
/* */ /* */
/*===========================================================================*/ /*===========================================================================*/
//#define LOG_LEVEL LOG_NONE #define LOG_LEVEL LOG_NONE
#include <log.h> #include <log.h>
#include <options/options.h> #include <options/options.h>
#include <show_images/show_images.h> #include <show_images/show_images.h>
#include <opencv2/highgui.hpp> #include <opencv2/highgui.hpp>
#include <armor_finder/armor_finder.h> #include <armor_finder/armor_finder.h>
#include <sys/time.h>
std::map<int, string> id2name = { //装甲板id到名称的map std::map<int, string> id2name = { //装甲板id到名称的map
{-1, "OO"},{ 0, "NO"}, {-1, "OO"},{ 0, "NO"},
@@ -71,14 +71,14 @@ void ArmorFinder::run(cv::Mat &src) {
tracker->init(src_use, armor_box); tracker->init(src_use, armor_box);
state = TRACKING_STATE; state = TRACKING_STATE;
tracking_cnt = 0; tracking_cnt = 0;
// LOGM(STR_CTR(WORD_LIGHT_CYAN, "into track")); LOGM(STR_CTR(WORD_LIGHT_CYAN, "into track"));
} }
} }
break; break;
case TRACKING_STATE: case TRACKING_STATE:
if (!stateTrackingTarget(src_use) || ++tracking_cnt > 100) { // 最多追踪100帧图像 if (!stateTrackingTarget(src_use) || ++tracking_cnt > 100) { // 最多追踪100帧图像
state = SEARCHING_STATE; state = SEARCHING_STATE;
// LOGM(STR_CTR(WORD_LIGHT_YELLOW, "into search!")); LOGM(STR_CTR(WORD_LIGHT_YELLOW, "into search!"));
} }
break; break;
case STANDBY_STATE: case STANDBY_STATE:

33
main.cpp
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@@ -27,7 +27,7 @@ using namespace std;
mcu_data mcuData = { // 单片机端回传结构体 mcu_data mcuData = { // 单片机端回传结构体
0, // 当前云台yaw角 0, // 当前云台yaw角
0, // 当前云台pitch角 0, // 当前云台pitch角
BIG_ENERGY_STATE, // 当前状态，自瞄-大符-小符 ARMOR_STATE, // 当前状态，自瞄-大符-小符
0, // 云台角度标记位 0, // 云台角度标记位
1, // 是否启用数字识别 1, // 是否启用数字识别
ENEMY_RED, // 敌方颜色 ENEMY_RED, // 敌方颜色
@@ -94,28 +94,37 @@ int main(int argc, char *argv[]) {
do { do {
CNT_TIME("Total", { CNT_TIME("Total", {
if (mcuData.state == BIG_ENERGY_STATE) {//大符模式 if (mcuData.state == BIG_ENERGY_STATE) {//大符模式
if (last_state != BIG_ENERGY_STATE) {//若上一帧不是大符模式，即刚往完成切换，则需要初始化
energy.setEnergyRotationInit();
((CameraWrapper*)video_gimble)->changeBrightness(20);
cout << "set" << endl;
}
ok = checkReconnect(video_gimble->read(gimble_src), video_chassis->read(chassis_src));//检查有几个摄像头 ok = checkReconnect(video_gimble->read(gimble_src), video_chassis->read(chassis_src));//检查有几个摄像头
if (save_video) saveVideos(gimble_src, chassis_src);//保存视频 if (save_video) saveVideos(gimble_src, chassis_src);//保存视频
if (show_origin) showOrigin(gimble_src, chassis_src);//显示原始图像 if (show_origin) showOrigin(gimble_src, chassis_src);//显示原始图像
if (last_state != BIG_ENERGY_STATE) {//若上一帧不是大符模式，即刚往完成切换，则需要初始化
energy.setEnergyRotationInit();
cout << "set" << endl;
}
energy.runBig(gimble_src, chassis_src);//击打大符 energy.runBig(gimble_src, chassis_src);//击打大符
// energy.runBig(gimble_src); // energy.runBig(gimble_src);
last_state = mcuData.state;//更新上一帧状态 last_state = mcuData.state;//更新上一帧状态
} else if (mcuData.state != BIG_ENERGY_STATE) {//自瞄或小符模式 } else if (mcuData.state == SMALL_ENERGY_STATE) {// 小符模式
if(last_state == ARMOR_STATE){
((CameraWrapper*)video_gimble)->changeBrightness(20);
}
last_state = mcuData.state; last_state = mcuData.state;
ok = checkReconnect(video_gimble->read(gimble_src)); ok = checkReconnect(video_gimble->read(gimble_src));
if (save_video) saveVideos(gimble_src); if (save_video) saveVideos(gimble_src);
if (show_origin) showOrigin(gimble_src); if (show_origin) showOrigin(gimble_src);
if (mcuData.state == ARMOR_STATE) { energy.runSmall(gimble_src);
CNT_TIME("Armor Time", { } else { // 自瞄模式
armorFinder.run(gimble_src); if(last_state != ARMOR_STATE){
}); ((CameraWrapper*)video_gimble)->changeBrightness(40);
} else if (mcuData.state == SMALL_ENERGY_STATE) {
energy.runSmall(gimble_src);
} }
last_state = mcuData.state;
ok = checkReconnect(video_gimble->read(gimble_src));
if (save_video) saveVideos(gimble_src);
if (show_origin) showOrigin(gimble_src);
CNT_TIME("Armor Time", {
armorFinder.run(gimble_src);
});
} }
// cv::waitKey(0); // cv::waitKey(0);
}); });

3
others/include/camera/camera_wrapper.h
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@@ -47,8 +47,7 @@ public:
bool read(cv::Mat& src) final; bool read(cv::Mat& src) final;
bool readRaw(cv::Mat& src); bool readRaw(cv::Mat& src);
bool readProcessed(cv::Mat& src); bool readProcessed(cv::Mat& src);
bool changeBrightness(int brightness);
}; };

3
others/src/camera/camera_wrapper.cpp
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@@ -109,6 +109,9 @@ bool CameraWrapper::init() {
return true; return true;
} }
bool CameraWrapper::changeBrightness(int brightness) {
CameraSetAnalogGain(h_camera, brightness);
}
bool CameraWrapper::read(cv::Mat& src) { bool CameraWrapper::read(cv::Mat& src) {
if(mode==0)return readProcessed(src); if(mode==0)return readProcessed(src);