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修订拼写错误，增加独立config。

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This commit is contained in:
xinyang
2019-07-13 13:57:26 +08:00
parent 95eb65e6f0
commit a8d24f412e
11 changed files with 184 additions and 165 deletions
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12
others/include/additions/additions.h
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@@ -22,11 +22,11 @@ extern mcu_data mcuData;
void uartReceive(Serial *pSerial);
bool checkReconnect(bool is_camera_0_connect, bool is_camera_1_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);
void showOrigin(const cv::Mat &gimble_src);
void extract(cv::Mat &gimble_src, cv::Mat &chassis_src);
void extract(cv::Mat &gimble_src);
void saveVideos(const cv::Mat &gimbal_src, const cv::Mat &chassis_src);
void saveVideos(const cv::Mat &gimbal_src);
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);
#endif /* _ADDITIONS_H_ */

82
others/src/additions/additions.cpp
View File

@@ -20,7 +20,7 @@
using namespace std;
using namespace cv;
extern WrapperHead *video_gimble;
extern WrapperHead *video_gimbal;
extern WrapperHead *video_chassis;
extern Serial serial;
@@ -75,9 +75,9 @@ cv::VideoWriter initVideoWriter(const std::string &filename_prefix) {
bool checkReconnect(bool is_camera_0_connect, bool is_camera_1_connect) {
if (!is_camera_0_connect) {
delete video_gimble;
video_gimble = new CameraWrapper(0, "armor");
is_camera_0_connect = video_gimble->init();
delete video_gimbal;
video_gimbal = new CameraWrapper(0, "armor");
is_camera_0_connect = video_gimbal->init();
}
if (!is_camera_1_connect) {
delete video_chassis;
@@ -89,79 +89,79 @@ bool checkReconnect(bool is_camera_0_connect, bool is_camera_1_connect) {
bool checkReconnect(bool is_camera_connect) {
if (!is_camera_connect) {
delete video_gimble;
video_gimble = new CameraWrapper(0, "armor");
is_camera_connect = video_gimble->init();
delete video_gimbal;
video_gimbal = new CameraWrapper(0, "armor");
is_camera_connect = video_gimbal->init();
}
return is_camera_connect;
}
auto gimble_video_writer = initVideoWriter(PROJECT_DIR"/gimble_video/");
auto gimbal_video_writer = initVideoWriter(PROJECT_DIR"/gimbal_video/");
auto chassis_video_writer = initVideoWriter(PROJECT_DIR"/chassis_video/");
void saveVideos(const cv::Mat &gimble_src, const cv::Mat &chassis_src) {
if (!gimble_src.empty() && !chassis_src.empty()) {
gimble_video_writer.write(gimble_src);
void saveVideos(const cv::Mat &gimbal_src, const cv::Mat &chassis_src) {
if (!gimbal_src.empty() && !chassis_src.empty()) {
gimbal_video_writer.write(gimbal_src);
Mat chassis_save = chassis_src.clone();
cvtColor(chassis_save, chassis_save, COLOR_GRAY2BGR);
chassis_video_writer.write(chassis_save);
} else if (!gimble_src.empty() && chassis_src.empty()) {
gimble_video_writer.write(gimble_src);
} else if (gimble_src.empty() && !chassis_src.empty()) {
if (show_origin)imshow("src", gimble_src);
} else if (!gimbal_src.empty() && chassis_src.empty()) {
gimbal_video_writer.write(gimbal_src);
} else if (gimbal_src.empty() && !chassis_src.empty()) {
if (show_origin)imshow("src", gimbal_src);
Mat chassis_save = chassis_src.clone();
cvtColor(chassis_save, chassis_save, COLOR_GRAY2BGR);
chassis_video_writer.write(chassis_save);
} else return;
}
void saveVideos(const cv::Mat &gimble_src) {
if (!gimble_src.empty()) {
gimble_video_writer.write(gimble_src);
void saveVideos(const cv::Mat &gimbal_src) {
if (!gimbal_src.empty()) {
gimbal_video_writer.write(gimbal_src);
} else return;
}
void showOrigin(const cv::Mat &gimble_src, const cv::Mat &chassis_src) {
if (!gimble_src.empty() && !chassis_src.empty()) {
imshow("gimble", gimble_src);
void showOrigin(const cv::Mat &gimbal_src, const cv::Mat &chassis_src) {
if (!gimbal_src.empty() && !chassis_src.empty()) {
imshow("gimbal", gimbal_src);
imshow("chassis", chassis_src);
} else if (!gimble_src.empty() && chassis_src.empty()) {
imshow("gimble", gimble_src);
} else if (gimble_src.empty() && !chassis_src.empty()) {
} else if (!gimbal_src.empty() && chassis_src.empty()) {
imshow("gimbal", gimbal_src);
} else if (gimbal_src.empty() && !chassis_src.empty()) {
imshow("chassis", chassis_src);
} else return;
cv::waitKey(1);
}
void showOrigin(const cv::Mat &gimble_src) {
if (!gimble_src.empty()) {
imshow("gimble", gimble_src);
void showOrigin(const cv::Mat &gimbal_src) {
if (!gimbal_src.empty()) {
imshow("gimbal", gimbal_src);
} else return;
cv::waitKey(1);
}
void extract(cv::Mat &gimble_src, cv::Mat &chassis_src) {
if (!gimble_src.empty() && !chassis_src.empty()) {
extract(gimble_src);
void extract(cv::Mat &gimbal_src, cv::Mat &chassis_src) {
if (!gimbal_src.empty() && !chassis_src.empty()) {
extract(gimbal_src);
extract(chassis_src);
} else if (!gimble_src.empty() && chassis_src.empty()) {
extract(gimble_src);
} else if (gimble_src.empty() && !chassis_src.empty()) {
} else if (!gimbal_src.empty() && chassis_src.empty()) {
extract(gimbal_src);
} else if (gimbal_src.empty() && !chassis_src.empty()) {
extract(chassis_src);
} else return;
}
void extract(cv::Mat &gimble_src) {//图像预处理，将视频切成640×480的大小
if (gimble_src.empty()) return;
float length = static_cast<float>(gimble_src.cols);
float width = static_cast<float>(gimble_src.rows);
void extract(cv::Mat &gimbal_src) {//图像预处理，将视频切成640×480的大小
if (gimbal_src.empty()) return;
float length = static_cast<float>(gimbal_src.cols);
float width = static_cast<float>(gimbal_src.rows);
if (length / width > 640.0 / 480.0) {
length *= 480.0 / width;
resize(gimble_src, gimble_src, cv::Size(length, 480));
gimble_src = gimble_src(Rect((length - 640) / 2, 0, 640, 480));
resize(gimbal_src, gimbal_src, cv::Size(length, 480));
gimbal_src = gimbal_src(Rect((length - 640) / 2, 0, 640, 480));
} else {
width *= 640.0 / length;
resize(gimble_src, gimble_src, cv::Size(640, width));
gimble_src = gimble_src(Rect(0, (width - 480) / 2, 640, 480));
resize(gimbal_src, gimbal_src, cv::Size(640, width));
gimbal_src = gimbal_src(Rect(0, (width - 480) / 2, 640, 480));
}
}