VSAG/amadeus_26_fb
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计算速度优化，摄像头读取逻辑改变，分类器更新。

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This commit is contained in:
xinyang
2019-07-28 15:59:01 +08:00
parent a5259cbd1f
commit 5a0fdb30af
24 changed files with 17667 additions and 115529 deletions
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30
main.cpp
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@@ -20,7 +20,7 @@
#include <additions/additions.h>
#include <config/setconfig.h>
#define DO_NOT_CNT_TIME
//#define DO_NOT_CNT_TIME
#include <log.h>
@@ -63,8 +63,8 @@ int main(int argc, char *argv[]) {
while (true) {
// 打开视频源
if (from_camera) {
video_gimbal = new CameraWrapper(ARMOR_CAMERA_GAIN, 0/*, "armor"*/);
video_chassis = new CameraWrapper(ENERGY_CAMERA_GAIN, 0/*, "energy"*/);
video_gimbal = new CameraWrapper(ARMOR_CAMERA_GAIN, 2/*, "armor"*/);
video_chassis = new CameraWrapper(ENERGY_CAMERA_GAIN, 2/*, "energy"*/);
} else {
video_gimbal = new VideoWrapper("/home/sun/项目/energy_video/7.27.avi");
video_chassis = new VideoWrapper("/home/sun/项目/energy_video/7.27.avi");
@@ -93,14 +93,14 @@ int main(int argc, char *argv[]) {
bool ok = true;
cout << "start running" << endl;
do {
// CNT_TIME("Total", {
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
LOGM(STR_CTR(WORD_BLUE, "Start Big Energy!"));
destroyAllWindows();
if (from_camera) {
delete video_gimbal;
video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 0/*, "armor"*/);
video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 2/*, "armor"*/);
if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully.");
} else {
@@ -130,7 +130,7 @@ int main(int argc, char *argv[]) {
destroyAllWindows();
if (from_camera) {
delete video_gimbal;
video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 0/*, "armor"*/);
video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 2/*, "armor"*/);
if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully.");
} else {
@@ -154,7 +154,7 @@ int main(int argc, char *argv[]) {
destroyAllWindows();
if (from_camera) {
delete video_gimbal;
video_gimbal = new CameraWrapper(ARMOR_CAMERA_GAIN, 0/*, "armor"*/);
video_gimbal = new CameraWrapper(ARMOR_CAMERA_GAIN, 2/*, "armor"*/);
if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully.");
} else {
@@ -163,19 +163,23 @@ int main(int argc, char *argv[]) {
}
}
last_state = mcuData.state;
ok = checkReconnect(video_gimbal->read(gimbal_src));
CNT_TIME(STR_CTR(WORD_GREEN, "read img"), {
if(!checkReconnect(video_gimbal->read(gimbal_src))) continue;
});
#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);
if (show_origin) showOrigin(gimbal_src);
CNT_TIME("Armor Time", {
// CNT_TIME("something whatever", {
if (!from_camera) extract(gimbal_src);
if (save_video) saveVideos(gimbal_src);
if (show_origin) showOrigin(gimbal_src);
// });
CNT_TIME(STR_CTR(WORD_CYAN, "Armor Time"), {
armorFinder.run(gimbal_src);
});
}
// cv::waitKey(0);
// });
});
} while (ok);
delete video_gimbal;
video_gimbal = nullptr;