VSAG/vision_sjtu_19
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fix bug.

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This commit is contained in:
xinyang
2019-07-15 09:45:07 +08:00
parent 6bce312e58
commit 08abe70df6
3 changed files with 24 additions and 7 deletions
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8
main.cpp
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@@ -30,7 +30,7 @@ using namespace std;
mcu_data mcuData = { // 单片机端回传结构体 mcu_data mcuData = { // 单片机端回传结构体
0, // 当前云台yaw角 0, // 当前云台yaw角
0, // 当前云台pitch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 0, // 云台角度标记位
1, // 是否启用数字识别 1, // 是否启用数字识别
ENEMY_RED, // 敌方颜色 ENEMY_RED, // 敌方颜色
@@ -103,7 +103,7 @@ int main(int argc, char *argv[]) {
} }
ok = checkReconnect(video_gimbal->read(gimbal_src)); ok = checkReconnect(video_gimbal->read(gimbal_src));
#ifdef GIMBAL_FLIP_MODE #ifdef GIMBAL_FLIP_MODE
flip(gimbal_src, gimbal_src, CHASSIS_FLIP_MODE); flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
#endif #endif
if (!from_camera) extract(gimbal_src, chassis_src); if (!from_camera) extract(gimbal_src, chassis_src);
if (save_video) saveVideos(gimbal_src, chassis_src);//保存视频 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; last_state = mcuData.state;
ok = checkReconnect(video_gimbal->read(gimbal_src)); ok = checkReconnect(video_gimbal->read(gimbal_src));
#ifdef GIMBAL_FLIP_MODE #ifdef GIMBAL_FLIP_MODE
flip(gimbal_src, gimbal_src, CHASSIS_FLIP_MODE); flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
#endif #endif
if (!from_camera) extract(gimbal_src); if (!from_camera) extract(gimbal_src);
if (save_video) saveVideos(gimbal_src); if (save_video) saveVideos(gimbal_src);
@@ -127,7 +127,7 @@ int main(int argc, char *argv[]) {
armorFinder.run(gimbal_src); armorFinder.run(gimbal_src);
}); });
} }
// cv::waitKey(0); // cv::waitKey(1);
}); });
} while (ok); } while (ok);
delete video_gimbal; delete video_gimbal;

16
others/include/config/setconfig.h
View File

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

7
others/src/camera/camera_wrapper.cpp
View File

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