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energy changed

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sun
2019-07-15 09:27:32 +08:00
parent 6bce312e58
commit f8c3eb19fd
13 changed files with 432 additions and 329 deletions
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15
main.cpp
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@@ -64,8 +64,8 @@ int main(int argc, char *argv[]) {
video_gimbal = new CameraWrapper(0/*, "armor"*/);
video_chassis = new CameraWrapper(1/*, "energy"*/);
} else {
video_gimbal = new VideoWrapper("/home/sun/项目/energy_video/energy_test.avi");
video_chassis = new VideoWrapper("/home/sun/项目/energy_video/energy_test.avi");
video_gimbal = new VideoWrapper("/home/sun/项目/energy_video/147.avi");
video_chassis = new VideoWrapper("/home/sun/项目/energy_video/147.avi");
}
if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully.");
@@ -102,14 +102,15 @@ int main(int argc, char *argv[]) {
#endif
}
ok = checkReconnect(video_gimbal->read(gimbal_src));
video_chassis->read(chassis_src);
#ifdef GIMBAL_FLIP_MODE
flip(gimbal_src, gimbal_src, CHASSIS_FLIP_MODE);
flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
#endif
if (!from_camera) extract(gimbal_src, chassis_src);
if (save_video) saveVideos(gimbal_src, chassis_src);//保存视频
if (show_origin) showOrigin(gimbal_src, chassis_src);//显示原始图像
// energy.run(gimbal_src, chassis_src);
energy.run(gimbal_src);
energy.run(gimbal_src, chassis_src);
// energy.run(gimbal_src);
last_state = mcuData.state;//更新上一帧状态
} else { // 自瞄模式
if (last_state != ARMOR_STATE) {
@@ -118,7 +119,7 @@ int main(int argc, char *argv[]) {
last_state = mcuData.state;
ok = checkReconnect(video_gimbal->read(gimbal_src));
#ifdef GIMBAL_FLIP_MODE
flip(gimbal_src, gimbal_src, CHASSIS_FLIP_MODE);
flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
#endif
if (!from_camera) extract(gimbal_src);
if (save_video) saveVideos(gimbal_src);
@@ -127,7 +128,7 @@ int main(int argc, char *argv[]) {
armorFinder.run(gimbal_src);
});
}
// cv::waitKey(0);
cv::waitKey(0);
});
} while (ok);
delete video_gimbal;