VSAG/vision_sjtu_19
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定时退出追踪模式。

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This commit is contained in:
xinyang
2019-05-09 21:46:39 +08:00
parent 15871a9289
commit 1db78ef53b
1 changed files with 3 additions and 1 deletions
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4
armor/src/armor_finder/armor_finder.cpp
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@@ -19,6 +19,7 @@ ArmorFinder::ArmorFinder(EnemyColor color, Uart &u, string paras_folder, const b
} }
void ArmorFinder::run(cv::Mat &src) { void ArmorFinder::run(cv::Mat &src) {
static int tracking_cnt = 0;
cv::Mat src_use; cv::Mat src_use;
src_use = src.clone(); src_use = src.clone();
cv::cvtColor(src_use, src_gray, CV_RGB2GRAY); cv::cvtColor(src_use, src_gray, CV_RGB2GRAY);
@@ -42,12 +43,13 @@ void ArmorFinder::run(cv::Mat &src) {
tracker = TrackerToUse::create(); tracker = TrackerToUse::create();
tracker->init(src_use, armor_box); tracker->init(src_use, armor_box);
state = TRACKING_STATE; state = TRACKING_STATE;
tracking_cnt = 0;
LOGM(STR_CTR(WORD_LIGHT_CYAN, "into track")); LOGM(STR_CTR(WORD_LIGHT_CYAN, "into track"));
} }
} }
break; break;
case TRACKING_STATE: case TRACKING_STATE:
if(!stateTrackingTarget(src_use)){ if(++tracking_cnt<100 && !stateTrackingTarget(src_use)){
state = SEARCHING_STATE; state = SEARCHING_STATE;
LOGM(STR_CTR(WORD_LIGHT_YELLOW ,"into search!")); LOGM(STR_CTR(WORD_LIGHT_YELLOW ,"into search!"));
} }