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2019赛季RM中部分区赛，自瞄和能量机关，完整稳定版。

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This commit is contained in:
xinyang
2019-05-31 19:29:22 +08:00
parent 76bc5988c0
commit c0c12b24f0
28 changed files with 816 additions and 728 deletions
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46
main.cpp
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@@ -31,18 +31,15 @@ mcu_data mcuData = {
0,
ARMOR_STATE,
0,
0,
ENEMY_BLUE,
1,
ENEMY_RED,
};
int main(int argc, char *argv[]) {
process_options(argc, argv);
Serial serial(115200);
uint8_t last_state = mcuData.state;
thread receive(uartReceive, &serial);
bool keep = true;
int from_camera = 1;
if (!run_with_camera) {
@@ -50,7 +47,7 @@ int main(int argc, char *argv[]) {
cin >> from_camera;
}
while (keep) {
while (true) {
VideoWriter armor_video_writer, energy_video_writer;
if (save_video) {
initVideoWriter(armor_video_writer, PROJECT_DIR"/armor_video/");
@@ -63,8 +60,13 @@ int main(int argc, char *argv[]) {
video_armor = new CameraWrapper(0, "armor");
video_energy = new CameraWrapper(1, "energy");
} else {
video_armor = new VideoWrapper("E:/Robomaster/RM_auto-aim/build/r_l_640.avi");
video_energy = new VideoWrapper("E:/Robomaster/RM_auto-aim/build/r_l_640.avi");
// string armor_video, energy_video;
// lastVideo(armor_video, PROJECT_DIR"/armor_video/");
// video_armor = new VideoWrapper(armor_video);
// lastVideo(energy_video, PROJECT_DIR"/energy_video/");
// video_energy = new VideoWrapper(energy_video);
video_armor = new VideoWrapper("/home/sjturm/Desktop/valid_video/armor/65.avi");
video_energy = new VideoWrapper("/home/sjturm/Desktop/valid_video/energy/121.avi");
}
if (video_armor->init()) {
LOGM("video_armor source initialization successfully.");
@@ -98,11 +100,13 @@ int main(int argc, char *argv[]) {
energy.setRotation(CLOCKWISE);
bool ok = true;
cout<<"start running"<<endl;
do {
CNT_TIME("Total", {
if (mcuData.state == ENERGY_STATE) {
if (last_state == ARMOR_STATE) {
energy.setEnergyRotationInit();
cout << "set" << endl;
}
last_state = mcuData.state;
if (video_energy) {
@@ -112,17 +116,22 @@ int main(int argc, char *argv[]) {
video_energy = nullptr;
}
if(save_video){
energy_video_writer.write(energy_src);
Mat energy_save = energy_src.clone();
cvtColor(energy_save,energy_save,COLOR_GRAY2BGR);
energy_video_writer.write(energy_save);
// cout<<energy_src.type()<<endl;
// LOGM(STR_CTR(WORD_GREEN,"Save ENERGY!"));
}
if (show_origin) {
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);
}
// 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(energy_src);
// waitKey(1);
} else {
video_energy = new CameraWrapper(1, "energy");
if(!video_energy->init()){
@@ -141,8 +150,10 @@ 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);
// flip(armor_src, armor_src, 0);
if (show_origin) {
imshow("armor src", armor_src);
}
@@ -157,9 +168,8 @@ int main(int argc, char *argv[]) {
}
}
}
if(waitKey(1) == 'q'){
keep = false;
}
// cout<<last_state<<endl;
waitKey(1);
});
} while (ok);