VSAG/vision_sjtu_19
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energy changed

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sun
2019-07-06 14:01:17 +08:00
parent 5093e84b2f
commit 1929c39d70
9 changed files with 123 additions and 57 deletions
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58
main.cpp
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@@ -26,7 +26,7 @@ using namespace std;
mcu_data mcuData = {
0,
0,
BIG_ENERGY_STATE,
SMALL_ENERGY_STATE,
0,
1,
ENEMY_RED,
@@ -53,23 +53,23 @@ int main(int argc, char *argv[]) {
while (true) {
if (from_camera) {
video_gimble = new CameraWrapper(0, "armor");
video_chassis = new CameraWrapper(1, "energy");
video_gimble = new CameraWrapper(0/*, "armor"*/);
video_chassis = new CameraWrapper(1/*, "energy"*/);
} else {
video_gimble = new VideoWrapper("/Users/leo/Desktop/videos/170.avi");
video_chassis = new VideoWrapper("/Users/leo/Desktop/videos/170.avi");
video_gimble = new VideoWrapper("/home/sun/项目/energy_video/energy_test.avi");
video_chassis = new VideoWrapper("/home/sun/项目/energy_video/energy_test.avi");
}
if (video_gimble->init()) {
LOGM("video_armor source initialization successfully.");
LOGM("video_gimble source initialization successfully.");
} else {
LOGW("video_armor source unavailable!");
LOGW("video_gimble source unavailable!");
delete video_gimble;
video_gimble = nullptr;
}
if (video_chassis->init()) {
LOGM("video_energy source initialization successfully.");
LOGM("video_chassis source initialization successfully.");
} else {
LOGW("video_energy source unavailable!");
LOGW("video_chassis source unavailable!");
delete video_chassis;
video_chassis = nullptr;
}
@@ -87,37 +87,35 @@ int main(int argc, char *argv[]) {
cout<<"start running"<<endl;
do {
CNT_TIME("Total", {
if (mcuData.state != ARMOR_STATE) {//能量机关模式
if (mcuData.state == BIG_ENERGY_STATE) {//大符模式
ok = checkReconnect(video_gimble->read(gimble_src), video_chassis->read(chassis_src));//检查有几个摄像头
if (save_video) saveVideos(gimble_src, chassis_src);//保存视频
if (show_origin) showOrigin(gimble_src, chassis_src);//显示原始图像
if (mcuData.state == BIG_ENERGY_STATE) {//大符模式
// if (from_camera == 0) {
// cv::resize(energy_src, energy_src, cv::Size(640, 480), 2);
// imshow("resize", energy_src);
// energy.extract(energy_src);
// }
if (last_state != BIG_ENERGY_STATE) {//若上一帧不是大符模式，即刚往完成切换，则需要初始化
energy.setEnergyRotationInit();
cout << "set" << endl;
}
energy.runBig(gimble_src, chassis_src);//击打大符
}
else if (mcuData.state == SMALL_ENERGY_STATE) {
energy.runSmall(gimble_src, chassis_src);//击打小符
// if (from_camera == 0) {
// cv::resize(chassis_src, chassis_src, cv::Size(640, 480), 2);
// imshow("resize", chassis_src);
// energy.extract(chassis_src);
// }
if (last_state != BIG_ENERGY_STATE) {//若上一帧不是大符模式，即刚往完成切换，则需要初始化
energy.setEnergyRotationInit();
cout << "set" << endl;
}
energy.runBig(gimble_src, chassis_src);//击打大符
last_state = mcuData.state;//更新上一帧状态
}
else if (mcuData.state == ARMOR_STATE) {//自瞄模式
else if (mcuData.state != BIG_ENERGY_STATE) {//自瞄或小符模式
last_state = mcuData.state;
ok = checkReconnect(video_gimble->read(gimble_src));
if (save_video) saveVideos(gimble_src);
if (show_origin) showOrigin(gimble_src);
CNT_TIME("Armor Time", {
armorFinder.run(gimble_src);
});
if (mcuData.state == ARMOR_STATE){
CNT_TIME("Armor Time", {
armorFinder.run(gimble_src);
});
}
else if(mcuData.state == SMALL_ENERGY_STATE){
energy.runSmall(gimble_src);
}
}
cv::waitKey(1);
});