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energy change

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sun
2019-07-22 11:40:09 +08:00
parent 39c3b3e3c2
commit 68a642e6a6
8 changed files with 113 additions and 103 deletions
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36
main.cpp
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@@ -30,7 +30,7 @@ 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
ARMOR_STATE, // 当前状态，自瞄-大符-小符
BIG_ENERGY_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
@@ -61,8 +61,8 @@ int main(int argc, char *argv[]) {
while (true) {
// 打开视频源
if (from_camera) {
video_gimbal = new CameraWrapper(0/*, "armor"*/);
video_chassis = new CameraWrapper(1/*, "energy"*/);
video_gimbal = new CameraWrapper(ARMOR_CAMERA_GAIN, 0/*, "armor"*/);
video_chassis = new CameraWrapper(ENERGY_CAMERA_GAIN, 0/*, "energy"*/);
} else {
video_gimbal = new VideoWrapper("/home/sun/项目/energy_video/gimbal132.avi");
video_chassis = new VideoWrapper("/home/sun/项目/energy_video/gimbal132.avi");
@@ -95,7 +95,13 @@ int main(int argc, char *argv[]) {
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);
delete video_gimbal;
video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 0/*, "armor"*/);
if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully.");
} else {
LOGW("video_gimbal source unavailable!");
}
energy.setBigEnergyInit();
checkReconnect(video_chassis->read(chassis_src));
#ifdef CHASSIS_FLIP_MODE
@@ -110,13 +116,19 @@ 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.runBig(gimbal_src, chassis_src);
energy.runBig(gimbal_src);
energy.runBig(gimbal_src, chassis_src);
// energy.runBig(gimbal_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);
delete video_gimbal;
video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 0/*, "armor"*/);
if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully.");
} else {
LOGW("video_gimbal source unavailable!");
}
energy.setSmallEnergyInit();
}
ok = checkReconnect(video_gimbal->read(gimbal_src));
@@ -131,7 +143,13 @@ int main(int argc, char *argv[]) {
} else { // 自瞄模式
if (last_state != ARMOR_STATE) {
destroyAllWindows();
((CameraWrapper *) video_gimbal)->changeBrightness(ARMOR_CAMERA_GAIN);
delete video_gimbal;
video_gimbal = new CameraWrapper(ARMOR_CAMERA_GAIN, 0/*, "armor"*/);
if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully.");
} else {
LOGW("video_gimbal source unavailable!");
}
}
last_state = mcuData.state;
ok = checkReconnect(video_gimbal->read(gimbal_src));
@@ -139,7 +157,7 @@ int main(int argc, char *argv[]) {
flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
#endif
if (!from_camera) extract(gimbal_src);
if (save_video) saveVideos(gimbal_src);
// if (save_video) saveVideos(gimbal_src);
if (show_origin) showOrigin(gimbal_src);
CNT_TIME("Armor Time", {
armorFinder.run(gimbal_src);