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反陀螺v2.0

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xinyang
2019-08-09 01:24:58 +08:00
parent faae07b5b3
commit 65a55353d6
8 changed files with 90 additions and 67 deletions
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4
others/src/additions.cpp
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@@ -173,10 +173,6 @@ void extract(cv::Mat &gimbal_src) {//图像预处理，将视频切成640×480
}
}
float getTimeIntervalms(const systime &now, const systime &last){
return (now.second-last.second)*1000.0 + (now.millisecond-last.millisecond);
}
double getPointLength(const cv::Point2f &p) {
return sqrt(p.x * p.x + p.y * p.y);
}

22
others/src/systime.cpp
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@@ -5,11 +5,17 @@
#if defined(Linux) || defined(Darwin)
void getsystime(systime &t){
static systime getsystime(){
timeval tv;
gettimeofday(&tv, nullptr);
t.second = tv.tv_sec;
t.millisecond = tv.tv_usec/1000;
return tv.tv_usec / 1000.0 + tv.tv_sec * 1000.0;
}
void getsystime(systime &t) {
static systime time_base = getsystime();
timeval tv;
gettimeofday(&tv, nullptr);
t = tv.tv_usec / 1000.0 + tv.tv_sec * 1000.0 - time_base;
}
#elif defined(Windows)
@@ -17,10 +23,14 @@ void getsystime(systime &t){
void getsystime(systime &t){
SYSTEMTIME tv;
GetLocalTime(&tv);
t.second = tv.wSecond;
t.millisecond = tv.wMilliseconds;
t = tv.wMilliseconds + tv.wSecond * 1000.0;
}
#else
#error "nonsupport platform."
#error "nonsupport platform."
#endif
double getTimeIntervalms(const systime &now, const systime &last) {
return now - last;
}