fix bug.

main.cpp

@@ -30,7 +30,7 @@ using namespace std;
 mcu_data mcuData = {    // 单片机端回传结构体
         0,              // 当前云台yaw角
         0,              // 当前云台pitch角
-        BIG_ENERGY_STATE,    // 当前状态，自瞄-大符-小符
+        ARMOR_STATE,    // 当前状态，自瞄-大符-小符
         0,              // 云台角度标记位
         1,              // 是否启用数字识别
         ENEMY_RED,      // 敌方颜色
@@ -103,7 +103,7 @@ int main(int argc, char *argv[]) {
                     }
                     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, chassis_src);
                     if (save_video) saveVideos(gimbal_src, chassis_src);//保存视频
@@ -118,7 +118,7 @@ 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 +127,7 @@ int main(int argc, char *argv[]) {
                             armorFinder.run(gimbal_src);
                     });
                 }
-//                cv::waitKey(0);
+//                cv::waitKey(1);
             });
         } while (ok);
         delete video_gimbal;

others/include/config/setconfig.h

@@ -8,6 +8,21 @@
     #warning "Without config.h"
 #endif
 
+#ifndef CAMERA_EXPOSURE
+    #define CAMERA_EXPOSURE     (10)
+#endif
+
+#ifndef CAMERA_BLUE_GAIN
+    #define CAMERA_BLUE_GAIN        (100)
+#endif
+
+#ifndef CAMERA_GREEN_GAIN
+    #define CAMERA_GREEN_GAIN       (100)
+#endif
+
+#ifndef CAMERA_RED_GAIN
+    #define CAMERA_RED_GAIN         (100)
+#endif
 
 #ifndef ARMOR_CAMERA_GAIN
     #define ARMOR_CAMERA_GAIN   (30)
@@ -15,6 +30,7 @@
 #ifndef ENERGY_CAMERA_GAIN
     #define ENERGY_CAMERA_GAIN  (20)
 #endif
+
 //#define GIMBAL_FLIP_MODE    (-1)
 //#define CHASSIS_FLIP_MODE   (-1)
 

others/src/camera/camera_wrapper.cpp

@@ -5,6 +5,7 @@
 #include <camera/camera_wrapper.h>
 #include <log.h>
 #include <options/options.h>
+#include <config/setconfig.h>
 
 using namespace std;
 
@@ -75,10 +76,10 @@ bool CameraWrapper::init() {
 	LOGM("successfully loaded %s!", filepath);
 #elif defined(Linux)
     CameraSetAeState(h_camera, false);
-    CameraSetExposureTime(h_camera, 10*1000);
-    CameraSetAnalogGain(h_camera, 50);
+    CameraSetExposureTime(h_camera, CAMERA_EXPOSURE*1000);
+    CameraSetAnalogGain(h_camera, ARMOR_CAMERA_GAIN);
     if(mode == 0){
-        CameraSetGain(h_camera, 100, 100, 100);
+        CameraSetGain(h_camera, CAMERA_BLUE_GAIN, CAMERA_GREEN_GAIN, CAMERA_RED_GAIN);
         CameraSetLutMode(h_camera, LUTMODE_PRESET);
     }
 #endif