From 1db78ef53bd6a832fdc9659792e00ee3f137dfcc Mon Sep 17 00:00:00 2001 From: xinyang Date: Thu, 9 May 2019 21:46:39 +0800 Subject: [PATCH] =?UTF-8?q?=E5=AE=9A=E6=97=B6=E9=80=80=E5=87=BA=E8=BF=BD?= =?UTF-8?q?=E8=B8=AA=E6=A8=A1=E5=BC=8F=E3=80=82?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- armor/src/armor_finder/armor_finder.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/armor/src/armor_finder/armor_finder.cpp b/armor/src/armor_finder/armor_finder.cpp index f20361d..168d1ba 100644 --- a/armor/src/armor_finder/armor_finder.cpp +++ b/armor/src/armor_finder/armor_finder.cpp @@ -19,6 +19,7 @@ ArmorFinder::ArmorFinder(EnemyColor color, Uart &u, string paras_folder, const b } void ArmorFinder::run(cv::Mat &src) { + static int tracking_cnt = 0; cv::Mat src_use; src_use = src.clone(); cv::cvtColor(src_use, src_gray, CV_RGB2GRAY); @@ -42,12 +43,13 @@ void ArmorFinder::run(cv::Mat &src) { tracker = TrackerToUse::create(); tracker->init(src_use, armor_box); state = TRACKING_STATE; + tracking_cnt = 0; LOGM(STR_CTR(WORD_LIGHT_CYAN, "into track")); } } break; case TRACKING_STATE: - if(!stateTrackingTarget(src_use)){ + if(++tracking_cnt<100 && !stateTrackingTarget(src_use)){ state = SEARCHING_STATE; LOGM(STR_CTR(WORD_LIGHT_YELLOW ,"into search!")); }