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Merge branch 'master' of /home/sjturm/Desktop/RM_auto-aim with conflicts.

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This commit is contained in:
xinyang
2019-07-23 14:06:32 +08:00
parent 7201dacad3
commit 465507edb0
3 changed files with 251 additions and 15 deletions
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41
main.cpp
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@@ -30,10 +30,10 @@ using namespace std;
mcu_data mcuData = { // 单片机端回传结构体
0, // 当前云台yaw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
1, // 是否启用数字识别
ENEMY_RED, // 敌方颜色
ENEMY_BLUE, // 敌方颜色
};
WrapperHead *video_gimbal = nullptr; // 云台摄像头视频源
@@ -64,10 +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/sjturm/Desktop/videos/147.avi");
// video_chassis = new VideoWrapper("/home/sjturm/Desktop/videos/147.avi");
video_gimbal = new VideoWrapper("/home/sjturm/Desktop/dafu/gimble3.avi");
video_chassis = new VideoWrapper("/home/sjturm/Desktop/dafu/chassis3.avi");
video_gimbal = new VideoWrapper("/home/sun/项目/energy_video/gimble3.avi");
video_chassis = new VideoWrapper("/home/sun/项目/energy_video/gimble3.avi");
}
if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully.");
@@ -93,19 +91,18 @@ int main(int argc, char *argv[]) {
bool ok = true;
cout << "start running" << endl;
do {
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
// CNT_TIME("Total", {
if (mcuData.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
destroyAllWindows();
((CameraWrapper *) video_gimbal)->changeBrightness(ENERGY_CAMERA_GAIN);
energy.setEnergyInit();
energy.setBigEnergyInit();
checkReconnect(video_chassis->read(chassis_src));
#ifdef CHASSIS_FLIP_MODE
flip(chassis_src, chassis_src, CHASSIS_FLIP_MODE);
#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);
@@ -113,8 +110,22 @@ int main(int argc, char *argv[]) {
if (!from_camera) extract(gimbal_src, chassis_src);
if (save_video) saveVideos(gimbal_src, chassis_src);//保存视频
if (show_origin) showOrigin(gimbal_src, chassis_src);//显示原始图像
energy.run(gimbal_src, chassis_src);
// energy.run(gimbal_src);
energy.runBig(gimbal_src, chassis_src);
last_state = mcuData.state;//更新上一帧状态
} else if (mcuData.state == SMALL_ENERGY_STATE) {
if (mcuData.state != SMALL_ENERGY_STATE) {
destroyAllWindows();
((CameraWrapper *) video_gimbal)->changeBrightness(ENERGY_CAMERA_GAIN);
energy.setSmallEnergyInit();
}
ok = checkReconnect(video_gimbal->read(gimbal_src));
#ifdef GIMBAL_FLIP_MODE
flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
#endif
if (!from_camera) extract(gimbal_src);
if (save_video) saveVideos(gimbal_src);//保存视频
if (show_origin) showOrigin(gimbal_src);//显示原始图像
energy.runSmall(gimbal_src);
last_state = mcuData.state;//更新上一帧状态
} else { // 自瞄模式
if (last_state != ARMOR_STATE) {
@@ -133,8 +144,8 @@ int main(int argc, char *argv[]) {
armorFinder.run(gimbal_src);
});
}
cv::waitKey(1);
});
// cv::waitKey(1);
// });
} while (ok);
delete video_gimbal;
video_gimbal = nullptr;