Merge energe.

armor/src/armor_finder/armor_finder.cpp

@@ -29,8 +29,8 @@ void ArmorFinder::run(cv::Mat &src) {
         showArmorBox("box", src, armor_box, boxid);
         cv::waitKey(1);
     }
-    stateSearchingTarget(src_use);
+//    stateSearchingTarget(src_use);
-    return;
+//    return;
     switch (state){
         case SEARCHING_STATE:
             if(stateSearchingTarget(src_use)){

armor/src/armor_finder/state_machine/searching_state/searching_state.cpp

@@ -129,7 +129,6 @@ static bool findLightBlobs(const cv::Mat &src, LightBlobs &light_blobs) {
     }else if(src.type() == CV_8UC1){
         src_gray = src.clone();
     }
-    LightBlobs all;
     std::vector<std::vector<cv::Point> > light_contours;
     cv::findContours(src_gray, light_contours, CV_RETR_LIST, CV_CHAIN_APPROX_NONE);
 
@@ -138,9 +137,7 @@ static bool findLightBlobs(const cv::Mat &src, LightBlobs &light_blobs) {
         if(isValidLightBlob(src_gray, rect)){
             light_blobs.emplace_back(rect);
         }
-        all.emplace_back(rect);
     }
-    showContours("all", src, all);
     return light_blobs.size() >= 2;
 }
 

main.cpp

@@ -29,7 +29,7 @@ mcu_data mcuData = {
         ARMOR_STATE,
         0,
         1,
-        ENEMY_RED,
+        ENEMY_BLUE,
 };
 
 WrapperHead *video_gimble = nullptr;
@@ -110,7 +110,7 @@ int main(int argc, char *argv[]) {
                     if (show_origin) showOrigin(gimble_src);
                     if (mcuData.state == ARMOR_STATE){
                         CNT_TIME("Armor Time", {
-                                armorFinder.run(gimble_src);
+                            armorFinder.run(gimble_src);
                         });
                     }
                     else if(mcuData.state == SMALL_ENERGY_STATE){