VSAG/amadeus_26_fb
3
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

更新监视脚本绑定方式。

Browse Source
This commit is contained in:
xinyang
2019-05-07 23:25:34 +08:00
parent bd52fc33fc
commit 9b3178753f
3 changed files with 64 additions and 61 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
armor/src/armor_finder/armor_finder.cpp
View File

@@ -57,7 +57,7 @@ void ArmorFinder::run(cv::Mat &src) {
}
}
#define FOCUS_PIXAL (0.36/0.48*640)
#define FOCUS_PIXAL (800)
bool ArmorFinder::sendBoxPosition() {
static int dx_add = 0;
@@ -68,6 +68,7 @@ bool ArmorFinder::sendBoxPosition() {
double dy = rect.y + rect.height/2 - 240 - 30;
double yaw = atan(dx / FOCUS_PIXAL) * 180 / 3.14159265459;
double pitch = atan(dy / FOCUS_PIXAL) * 180 / 3.14159265459;
cout << yaw << endl;
uart.sendTarget(yaw, -pitch, 0);
return true;
}

49
main.cpp
View File

@@ -15,7 +15,7 @@
#include <options/options.h>
#include <thread>
//#define DO_NOT_CNT_TIME
#define DO_NOT_CNT_TIME
#include <log.h>
#define PROJECT_DIR PATH
@@ -26,7 +26,7 @@ using namespace cv;
using namespace std;
int state = ENERGY_STATE;
int state = ARMOR_STATE;
float curr_yaw = 0, curr_pitch = 0;
float mark_yaw = 0, mark_pitch = 0;
int mark = 0;
@@ -36,7 +36,7 @@ void uartReceive(Uart* uart);
int main(int argc, char *argv[]) {
process_options(argc, argv);
Uart uart;
thread receive(uartReceive, &uart);
// thread receive(uartReceive, &uart);
bool flag = true;
while (flag) {
@@ -52,18 +52,17 @@ int main(int argc, char *argv[]){
WrapperHead *video_armor;
WrapperHead *video_energy;
if (from_camera) {
// video_armor = new CameraWrapper(0);
video_energy = new CameraWrapper(1);
video_armor = new CameraWrapper(0);
// video_energy = new CameraWrapper(1, "energy");
} else {
video_armor = new VideoWrapper("r_l_640.avi");
video_energy = new VideoWrapper("r_l_640.avi");
video_armor = new VideoWrapper("/home/xinyang/Desktop/DataSets/video/blue_4.mp4");
video_energy = new VideoWrapper("/home/xinyang/Desktop/DataSets/video/blue_4.mp4");
}
if (video_energy->init()) {
if (video_armor->init()) {
cout << "Video source initialization successfully." << endl;
}
Mat energy_src, armor_src;
ArmorFinder armorFinder(ENEMY_BLUE, uart, PROJECT_DIR"/tools/para/");
Energy energy(uart);
@@ -73,37 +72,39 @@ int main(int argc, char *argv[]){
bool ok = true;
while (ok) {
// CNT_TIME(WORD_LIGHT_CYAN, "Total", {
// ok = video_energy->read(energy_src) && video_energy->read(armor_src);
CNT_TIME(WORD_LIGHT_CYAN, "Total", {
if (state == ENERGY_STATE) {
ok = video_energy->read(energy_src);
if (show_origin) {
imshow("enery src", energy_src);
imshow("armor src", armor_src);
imshow("energy src", energy_src);
}
if (state == ENERGY_STATE) {
if (from_camera == 0) {
energy.extract(energy_src);
}
energy.run(energy_src);
} else {
// CNT_TIME(WORD_LIGHT_BLUE, "Armor Time", {
// armorFinder.run(armor_src);
// });
ok = video_armor->read(armor_src);
if (show_origin) {
imshow("armor src", armor_src);
}
CNT_TIME(WORD_LIGHT_BLUE, "Armor Time", {
armorFinder.run(armor_src);
});
}
if (waitKey(1) == 'q') {
flag = false;
break;
}
// });
});
}
delete video_energy;
delete video_armor;
cout << "Program fails. Restarting" << endl;
}
return 0;
}
#define RECEIVE_LOG_LEVEL LOG_MSG
#define RECEIVE_LOG_LEVEL LOG_NOTHING
void uartReceive(Uart *uart) {
char buffer[100];
@@ -120,21 +121,21 @@ void uartReceive(Uart* uart){
if (cnt == 10) {
if (buffer[8] == 'e') {
state = ENERGY_STATE;
// LOG(RECEIVE_LOG_LEVEL, "Energy state");
LOG(RECEIVE_LOG_LEVEL, "Energy state");
} else if (buffer[8] == 'a') {
state = ARMOR_STATE;
// LOG(RECEIVE_LOG_LEVEL, "Armor state");
LOG(RECEIVE_LOG_LEVEL, "Armor state");
}
memcpy(&curr_yaw, buffer, 4);
memcpy(&curr_pitch, buffer + 4, 4);
// LOG(RECEIVE_LOG_LEVEL, "Get yaw:%f pitch:%f", curr_yaw, curr_pitch);
LOG(RECEIVE_LOG_LEVEL, "Get yaw:%f pitch:%f", curr_yaw, curr_pitch);
if (buffer[9] == 1) {
if (mark == 0) {
mark = 1;
mark_yaw = curr_yaw;
mark_pitch = curr_pitch;
}
// LOG(RECEIVE_LOG_LEVEL, "Marked");
LOG(RECEIVE_LOG_LEVEL, "Marked");
}
}
cnt = 0;

3
tools/bind-monitor.sh
View File

@@ -1,4 +1,5 @@
#!/bin/bash
echo "$1/tools/monitor.sh \"$2/run --run-with-camera\" &" > $2/monitor-run
echo "#!/bin/bash" > $2/monitor-run
echo "$1/tools/monitor.sh \"$2/run --run-with-camera\"" >> $2/monitor-run
chmod +x $2/monitor-run