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energy changed

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sun
2019-07-05 16:34:03 +08:00
parent da45e62806
commit ba85a1e27f
7 changed files with 105 additions and 69 deletions
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78
main.cpp
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@@ -20,16 +20,13 @@
#include <log.h>
#define ENERGY_STATE 'e'
#define ARMOR_STATE 'a'
using namespace cv;
using namespace std;
mcu_data mcuData = {
0,
0,
ENERGY_STATE,
BIG_ENERGY_STATE,
0,
1,
ENEMY_RED,
@@ -101,26 +98,28 @@ int main(int argc, char *argv[]) {
cout<<"start running"<<endl;
do {
CNT_TIME("Total", {
if (mcuData.state == ENERGY_STATE) {
if (last_state == ARMOR_STATE) {
if (mcuData.state == BIG_ENERGY_STATE) {
if (last_state != BIG_ENERGY_STATE) {
energy.setEnergyRotationInit();
cout << "set" << endl;
}
last_state = mcuData.state;
if (video_energy) {
ok = video_energy->read(energy_src);
if (video_armor && video_energy) {
ok = video_armor->read(armor_src) && video_energy->read(energy_src);
if (!ok) {
delete video_armor;
delete video_energy;
video_armor = nullptr;
video_energy = nullptr;
}
if(save_video){
Mat energy_save = energy_src.clone();
cvtColor(energy_save,energy_save,COLOR_GRAY2BGR);
armor_video_writer.write(armor_src);
energy_video_writer.write(energy_save);
// cout<<energy_src.type()<<endl;
// LOGM(STR_CTR(WORD_GREEN,"Save ENERGY!"));
}
if (show_origin) {
imshow("armor src", armor_src);
imshow("energy src", energy_src);
}
// if (from_camera == 0) {
@@ -128,18 +127,57 @@ int main(int argc, char *argv[]) {
// imshow("resize", energy_src);
// energy.extract(energy_src);
// }
energy.run(energy_src);
// waitKey(1);
} else {
energy.run(armor_src, energy_src);
waitKey(1);
}
else {
video_energy = new CameraWrapper(1, "energy");
if(!video_energy->init()){
delete video_energy;
video_energy = nullptr;
}
}
}
} else if (mcuData.state == ARMOR_STATE) {
last_state = mcuData.state;
else if (mcuData.state == SMALL_ENERGY_STATE) {
last_state = mcuData.state;
if (video_armor && video_energy) {
ok = video_armor->read(armor_src) && video_energy->read(energy_src);
if (!ok) {
delete video_armor;
delete video_energy;
video_armor = nullptr;
video_energy = nullptr;
}
if(save_video){
Mat energy_save = energy_src.clone();
cvtColor(energy_save,energy_save,COLOR_GRAY2BGR);
armor_video_writer.write(armor_src);
energy_video_writer.write(energy_save);
}
if (show_origin) {
imshow("armor src", armor_src);
imshow("energy src", energy_src);
}
// if (from_camera == 0) {
// cv::resize(energy_src, energy_src, cv::Size(640, 480), 2);
// imshow("resize", energy_src);
// energy.extract(energy_src);
// }
energy.run(armor_src, energy_src);
waitKey(1);
}
else {
video_energy = new CameraWrapper(1, "energy");
if(!video_energy->init()){
delete video_energy;
video_energy = nullptr;
}
}
}
else if (mcuData.state == ARMOR_STATE) {
last_state = mcuData.state;
if (video_armor) {
ok = video_armor->read(armor_src);
if (!ok) {
@@ -148,17 +186,16 @@ int main(int argc, char *argv[]) {
}
if(save_video){
armor_video_writer.write(armor_src);
// cout<<armor_src.type()<<endl;
// LOGM(STR_CTR(WORD_GREEN,"Save ARMOR!"));
}
// flip(armor_src, armor_src, 0);
if (show_origin) {
imshow("armor src", armor_src);
}
CNT_TIME("Armor Time", {
armorFinder.run(armor_src);
armorFinder.run(armor_src);
});
} else {
}
else {
video_armor = new CameraWrapper(0, "armor");
if(!video_armor->init()){
delete video_armor;
@@ -166,8 +203,7 @@ int main(int argc, char *argv[]) {
}
}
}
// cout<<last_state<<endl;
waitKey(1);
});
} while (ok);