energy changed

energy/src/energy/find/energy_finder.cpp

@@ -181,7 +181,6 @@ bool Energy::findFlowStripFan(const cv::Mat src) {
 // 此函数用于寻找流动条
 // ---------------------------------------------------------------------------------------------------------------------
 bool Energy::findFlowStrip(const cv::Mat src) {
-    imshow("1", src);
     if (src.empty())return false;
     cv::Mat src_bin;
     src_bin = src.clone();

main.cpp

@@ -70,15 +70,11 @@ int main(int argc, char *argv[]) {
             LOGM("video_gimble source initialization successfully.");
         } else {
             LOGW("video_gimble source unavailable!");
-            delete video_gimble;
-            video_gimble = nullptr;
         }
         if (video_chassis->init()) {
             LOGM("video_chassis source initialization successfully.");
         } else {
             LOGW("video_chassis source unavailable!");
-            delete video_chassis;
-            video_chassis = nullptr;
         }
 
         // 跳过前10帧噪声图像。
@@ -99,26 +95,13 @@ int main(int argc, char *argv[]) {
                     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
                         ((CameraWrapper *) video_gimble)->changeBrightness(20);
                         energy.setEnergyInit();
+                        checkReconnect(video_chassis->read(chassis_src));
                     }
-                    ok = checkReconnect(video_gimble->read(gimble_src), video_chassis->read(chassis_src));//检查有几个摄像头
+                    ok = checkReconnect(video_gimble->read(gimble_src));
                     if (!from_camera) extract(gimble_src, chassis_src);
                     if (save_video) saveVideos(gimble_src, chassis_src);//保存视频
                     if (show_origin) showOrigin(gimble_src, chassis_src);//显示原始图像
                     energy.run(gimble_src, chassis_src);
-//                    if (mcuData.state == BIG_ENERGY_STATE) {
-//                        if (last_state != BIG_ENERGY_STATE) {
-//                            energy.setBigEnergyInit();
-//                            cout << "start big" << endl;
-//                        }
-//                        energy.run(gimble_src, chassis_src);
-//                    } else if (mcuData.state == SMALL_ENERGY_STATE) {
-//                        if (last_state != SMALL_ENERGY_STATE) {
-//                            energy.setSmallEnergyInit();
-//                            cout << "start small" << endl;
-//                        }
-//                        energy.run(gimble_src, chassis_src);
-//                    }
-
                     last_state = mcuData.state;//更新上一帧状态
                 } else {                                         // 自瞄模式
                     if (last_state != ARMOR_STATE) {

others/include/additions/additions.h

@@ -20,8 +20,8 @@ struct mcu_data{
 extern mcu_data mcuData;
 
 void uartReceive(Serial *pSerial);
-bool checkReconnect(bool is_gimble_connect, bool is_chassis_connect);
+bool checkReconnect(bool is_camera_0_connect, bool is_camera_1_connect);
-bool checkReconnect(bool is_gimble_connect);
+bool checkReconnect(bool is_camera_connect);
 void saveVideos(const cv::Mat &gimble_src, const cv::Mat &chassis_src);
 void saveVideos(const cv::Mat &gimble_src);
 void showOrigin(const cv::Mat &gimble_src, const cv::Mat &chassis_src);

others/src/additions/additions.cpp

@@ -73,33 +73,27 @@ cv::VideoWriter initVideoWriter(const std::string &filename_prefix) {
     return video;
 }
 
-bool checkReconnect(bool is_gimble_connect, bool is_chassis_connect) {
+bool checkReconnect(bool is_camera_0_connect, bool is_camera_1_connect) {
-    if (!is_gimble_connect) {
+    if (!is_camera_0_connect) {
+        delete video_gimble;
         video_gimble = new CameraWrapper(0, "armor");
-        if (!(is_gimble_connect = video_gimble->init())) {
+        is_camera_0_connect = video_gimble->init();
-            delete video_gimble;
-            video_gimble = nullptr;
-        }
     }
-    if (!is_chassis_connect) {
+    if (!is_camera_1_connect) {
+        delete video_chassis;
         video_chassis = new CameraWrapper(1, "energy");
-        if (!(is_chassis_connect = video_chassis->init())) {
+        is_camera_1_connect = video_chassis->init();
-            delete video_chassis;
-            video_chassis = nullptr;
-        }
     }
-    return is_gimble_connect && is_chassis_connect;
+    return is_camera_0_connect && is_camera_1_connect;
 }
 
-bool checkReconnect(bool is_gimble_connect) {
+bool checkReconnect(bool is_camera_connect) {
-    if (!is_gimble_connect) {
+    if (!is_camera_connect) {
+        delete video_gimble;
         video_gimble = new CameraWrapper(0, "armor");
-        if (!(is_gimble_connect = video_gimble->init())) {
+        is_camera_connect = video_gimble->init();
-            delete video_gimble;
-            video_gimble = nullptr;
-        }
     }
-    return is_gimble_connect;
+    return is_camera_connect;
 }
 
 auto gimble_video_writer = initVideoWriter(PROJECT_DIR"/gimble_video/");