计算速度优化，摄像头读取逻辑改变，分类器更新。

others/include/additions/additions.h

@@ -6,6 +6,7 @@
 #define _ADDITIONS_H_
 
 #include <stdint.h>
+#include <sys/time.h>
 #include <serial/serial.h>
 
 struct mcu_data{
@@ -30,5 +31,6 @@ void showOrigin(const cv::Mat &gimbal_src, const cv::Mat &chassis_src);
 void showOrigin(const cv::Mat &gimbal_src);
 void extract(cv::Mat &gimbal_src, cv::Mat &chassis_src);
 void extract(cv::Mat &gimbal_src);
+double getTimeIntervalms(const timeval& now, const timeval &last);
 
 #endif /* _ADDITIONS_H_ */

others/include/camera/camera_wrapper.h

@@ -9,11 +9,12 @@
 
 #include <stdio.h>
 #include <iostream>
+#include <thread>
 #include "opencv2/core/core.hpp"
 #include "opencv2/highgui/highgui.hpp"
 #include <opencv2/imgproc/imgproc.hpp>
-
 #include "camera/wrapper_head.h"
+
 #ifdef Windows
     #include "camera/CameraApi.h"
 #elif defined(Linux) || defined(Darwin)
@@ -21,10 +22,13 @@
 #endif
 
 class CameraWrapper: public WrapperHead {
+    friend void cameraCallback(CameraHandle hCamera, BYTE *pFrameBuffer, tSdkFrameHead* pFrameHead,PVOID pContext);
 private:
     const std::string name;
     int mode;
 
+    bool init_done;
+
     unsigned char* rgb_buffer;
     int camera_cnts;
     int camera_status;
@@ -38,6 +42,11 @@ private:
     IplImage* iplImage;
     int channel;
 
+    cv::Mat src_queue[2];
+    volatile int qhead;
+    volatile int qtail;
+
+    std::thread *readThread;
 public:
     int gain;
 
@@ -48,6 +57,8 @@ public:
     bool read(cv::Mat& src) final;
     bool readRaw(cv::Mat& src);
     bool readProcessed(cv::Mat& src);
+    bool readCallback(cv::Mat& src);
+    bool readWithThread(cv::Mat &src);
     bool changeBrightness(int brightness);
 //    bool once
 };

others/include/log.h

@@ -146,7 +146,7 @@
 			gettimeofday(&ts, NULL); \
 			codes; \
 			gettimeofday(&te, NULL); \
-			LOGM(tag": %.1lfms", (te.tv_sec-ts.tv_sec)*1000.0+(te.tv_usec-ts.tv_usec)/1000.0); \
+			LOGM(tag": %.1lfms", ##__VA_ARGS__, (te.tv_sec-ts.tv_sec)*1000.0+(te.tv_usec-ts.tv_usec)/1000.0); \
 		}while (0)
     #else
         #warning "Unsupport plantform for CNT_TIME"