VSAG/vision_sjtu_19
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Merge remote-tracking branch 'origin/master'

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# Conflicts:
#	main.cpp
This commit is contained in:
xinyang
2019-07-06 20:22:06 +08:00
parent e9a0e9ad7b adc11e6d18
commit 1abe8dec17
34 changed files with 1062 additions and 1092 deletions
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163
main.cpp
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@@ -20,9 +20,6 @@
#include <log.h>
#define ENERGY_STATE 'e'
#define ARMOR_STATE 'a'
using namespace cv;
using namespace std;
@@ -32,13 +29,20 @@ mcu_data mcuData = {
ARMOR_STATE,
0,
1,
ENEMY_BLUE,
ENEMY_RED,
};
WrapperHead *video_gimble = nullptr;
WrapperHead *video_chassis = nullptr;
Serial serial(115200);
uint8_t last_state = mcuData.state;
ArmorFinder armorFinder(mcuData.enemy_color, serial, PROJECT_DIR"/tools/para/", mcuData.use_classifier);
Energy energy(serial, mcuData.enemy_color);
int main(int argc, char *argv[]) {
process_options(argc, argv);
Serial serial(115200);
uint8_t last_state = mcuData.state;
thread receive(uartReceive, &serial);
int from_camera = 1;
@@ -48,128 +52,79 @@ int main(int argc, char *argv[]) {
}
while (true) {
VideoWriter armor_video_writer, energy_video_writer;
if (save_video) {
initVideoWriter(armor_video_writer, PROJECT_DIR"/armor_video/");
initVideoWriter(energy_video_writer, PROJECT_DIR"/energy_video/");
}
WrapperHead *video_armor=nullptr;
WrapperHead *video_energy=nullptr;
if (from_camera) {
video_armor = new CameraWrapper(0/*, "armor"*/);
video_energy = new CameraWrapper(1, "energy");
video_gimble = new CameraWrapper(0/*, "armor"*/);
video_chassis = new CameraWrapper(1/*, "energy"*/);
} else {
video_armor = new VideoWrapper("/home/sjturm/Desktop/valid_video/armor/65.avi");
video_energy = new VideoWrapper("/home/sjturm/Desktop/valid_video/energy/121.avi");
video_gimble = new VideoWrapper("/Users/leo/Desktop/videos/179.avi");
video_chassis = new VideoWrapper("/Users/leo/Desktop/videos/179.avi");
}
if (video_armor->init()) {
LOGM("video_armor source initialization successfully.");
if (video_gimble->init()) {
LOGM("video_gimble source initialization successfully.");
} else {
LOGW("video_armor source unavailable!");
delete video_armor;
video_armor = nullptr;
LOGW("video_gimble source unavailable!");
delete video_gimble;
video_gimble = nullptr;
}
if (video_energy->init()) {
LOGM("video_energy source initialization successfully.");
if (video_chassis->init()) {
LOGM("video_chassis source initialization successfully.");
} else {
LOGW("video_energy source unavailable!");
delete video_energy;
video_energy = nullptr;
LOGW("video_chassis source unavailable!");
delete video_chassis;
video_chassis = nullptr;
}
Mat energy_src, armor_src;
Mat gimble_src, chassis_src;
for (int i = 0; i < 10; i++) {
if (video_armor) {
video_armor->read(armor_src);
if (video_gimble) {
video_gimble->read(gimble_src);
}
if (video_energy) {
video_energy->read(energy_src);
if (video_chassis) {
video_chassis->read(chassis_src);
}
}
ArmorFinder armorFinder(mcuData.enemy_color, serial, PROJECT_DIR"/tools/para/", mcuData.use_classifier);
Energy energy(serial, mcuData.enemy_color);
// energy.setAllyColor(ally_color);
energy.setRotation(CLOCKWISE);
bool ok = true;
cout<<"start running"<<endl;
do {
CNT_TIME("Total", {
if (mcuData.state == ENERGY_STATE) {
if (last_state == ARMOR_STATE) {
energy.setEnergyRotationInit();
cout << "set" << endl;
}
last_state = mcuData.state;
if (video_energy) {
ok = video_energy->read(energy_src);
if (!ok) {
delete video_energy;
video_energy = nullptr;
}
if(save_video){
Mat energy_save = energy_src.clone();
cvtColor(energy_save,energy_save,COLOR_GRAY2BGR);
energy_video_writer.write(energy_save);
// cout<<energy_src.type()<<endl;
// LOGM(STR_CTR(WORD_GREEN,"Save ENERGY!"));
}
if (show_origin) {
imshow("energy src", energy_src);
}
// if (from_camera == 0) {
// cv::resize(energy_src, energy_src, cv::Size(640, 480), 2);
// imshow("resize", energy_src);
// energy.extract(energy_src);
// }
energy.run(energy_src);
// waitKey(1);
} else {
video_energy = new CameraWrapper(1, "energy");
if(!video_energy->init()){
delete video_energy;
video_energy = nullptr;
}
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 (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;
}
} else if (mcuData.state == ARMOR_STATE) {
last_state = mcuData.state;
if (video_armor) {
ok = video_armor->read(armor_src);
if (!ok) {
delete video_armor;
video_armor = nullptr;
}
if(save_video){
armor_video_writer.write(armor_src);
// cout<<armor_src.type()<<endl;
// LOGM(STR_CTR(WORD_GREEN,"Save ARMOR!"));
}
// flip(armor_src, armor_src, 0);
if (show_origin) {
imshow("armor src", armor_src);
}
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 != 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);
if (mcuData.state == ARMOR_STATE){
CNT_TIME("Armor Time", {
armorFinder.run(armor_src);
armorFinder.run(gimble_src);
});
} else {
video_armor = new CameraWrapper(0, "armor");
if(!video_armor->init()){
delete video_armor;
video_armor = nullptr;
}
}
else if(mcuData.state == SMALL_ENERGY_STATE){
energy.runSmall(gimble_src);
}
}
// cout<<last_state<<endl;
waitKey(1);
cv::waitKey(1);
});
} while (ok);
delete video_armor;
delete video_energy;
delete video_gimble;
video_gimble = nullptr;
delete video_chassis;
video_chassis = nullptr;
cout << "Program fails. Restarting" << endl;
}
return 0;