VSAG/vision_sjtu_19
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整理代码

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xinyang
2019-08-14 11:48:41 +08:00
parent 9d94de939b
commit 20d95b3f81
11 changed files with 124 additions and 91 deletions
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121
main.cpp
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@@ -47,10 +47,8 @@ ArmorFinder armor_finder(mcu_data.enemy_color, serial, PROJECT_DIR"/tools/para/"
// 能量机关主程序对象
Energy energy(serial, mcu_data.enemy_color);
int box_distance = 0;
int main(int argc, char *argv[]) {
processOptions(argc, argv); // 处理命令行参数
processOptions(argc, argv); // 处理命令行参数
thread receive(uartReceive, &serial); // 开启串口接收线程
int from_camera = 1; // 根据条件选择视频源
@@ -84,69 +82,68 @@ int main(int argc, char *argv[]) {
do {
char curr_state = mcu_data.state;
CNT_TIME("Total", {
if (curr_state != ARMOR_STATE) {//大能量机关模式
if (last_state == ARMOR_STATE) {//若上一帧不是大能量机关模式，即刚往完成切换，则需要初始化
destroyAllWindows();
if (from_camera) {
delete video;
video = new CameraWrapper(ENERGY_CAMERA_EXPOSURE, ENERGY_CAMERA_GAIN, 2);
if (video->init()) {
LOGM("video_gimbal source initialization successfully.");
} else {
LOGW("video_gimbal source unavailable!");
if (curr_state != ARMOR_STATE) {//大能量机关模式
if (last_state == ARMOR_STATE) {//若上一帧不是大能量机关模式，即刚往完成切换，则需要初始化
destroyAllWindows();
if (from_camera) {
delete video;
video = new CameraWrapper(ENERGY_CAMERA_EXPOSURE, ENERGY_CAMERA_GAIN, 2);
if (video->init()) {
LOGM("video_gimbal source initialization successfully.");
} else {
LOGW("video_gimbal source unavailable!");
}
}
if(curr_state == BIG_ENERGY_STATE){
energy.is_small = false;
energy.is_big = true;
LOGM(STR_CTR(WORD_BLUE, "Start Big Energy!"));
} else if (curr_state == SMALL_ENERGY_STATE){
energy.is_small = true;
energy.is_big = false;
LOGM(STR_CTR(WORD_GREEN, "Start Small Energy!"));
}
energy.setEnergyInit();
}
ok = checkReconnect(video->read(src));
#ifdef GIMBAL_FLIP_MODE
flip(src, src, GIMBAL_FLIP_MODE);
#endif
if (!from_camera) extract(src);
if (save_video) saveVideos(src);//保存视频
if (show_origin) showOrigin(src);//显示原始图像
energy.run(src);
} else { // 自瞄模式
if (last_state != ARMOR_STATE) {
LOGM(STR_CTR(WORD_RED, "Start Armor!"));
destroyAllWindows();
if (from_camera) {
delete video;
video = new CameraWrapper(ARMOR_CAMERA_EXPOSURE, ARMOR_CAMERA_GAIN, 2/*, "armor"*/);
if (video->init()) {
LOGM("video_gimbal source initialization successfully.");
} else {
LOGW("video_gimbal source unavailable!");
}
}
}
if(curr_state == BIG_ENERGY_STATE){
energy.is_small = false;
energy.is_big = true;
LOGM(STR_CTR(WORD_BLUE, "Start Big Energy!"));
} else if (curr_state == SMALL_ENERGY_STATE){
energy.is_small = true;
energy.is_big = false;
LOGM(STR_CTR(WORD_GREEN, "Start Small Energy!"));
}
energy.setEnergyInit();
CNT_TIME(STR_CTR(WORD_GREEN, "read img"), {
if(!checkReconnect(video->read(src))) continue;
});
#ifdef GIMBAL_FLIP_MODE
flip(src, src, GIMBAL_FLIP_MODE);
#endif
CNT_TIME("something whatever", {
if (!from_camera) extract(src);
if (save_video) saveVideos(src);
if (show_origin) showOrigin(src);
});
CNT_TIME(STR_CTR(WORD_CYAN, "Armor Time"), {
armor_finder.run(src);
});
}
last_state = curr_state;//更新上一帧状态
ok = checkReconnect(video->read(src));
#ifdef GIMBAL_FLIP_MODE
flip(src, src, GIMBAL_FLIP_MODE);
#endif
if (!from_camera) extract(src);
if (save_video) saveVideos(src);//保存视频
if (show_origin) showOrigin(src);//显示原始图像
energy.run(src);
} else { // 自瞄模式
if (last_state != ARMOR_STATE) {
LOGM(STR_CTR(WORD_RED, "Start Armor!"));
destroyAllWindows();
if (from_camera) {
delete video;
video = new CameraWrapper(ARMOR_CAMERA_EXPOSURE, ARMOR_CAMERA_GAIN, 2/*, "armor"*/);
if (video->init()) {
LOGM("video_gimbal source initialization successfully.");
} else {
LOGW("video_gimbal source unavailable!");
}
}
}
last_state = curr_state;
CNT_TIME(STR_CTR(WORD_GREEN, "read img"), {
if(!checkReconnect(video->read(src))) continue;
});
#ifdef GIMBAL_FLIP_MODE
flip(src, src, GIMBAL_FLIP_MODE);
#endif
// CNT_TIME("something whatever", {
if (!from_camera) extract(src);
if (save_video) saveVideos(src);
if (show_origin) showOrigin(src);
// });
CNT_TIME(STR_CTR(WORD_CYAN, "Armor Time"), {
armor_finder.run(src);
});
}
// cv::waitKey(0);
if(run_by_frame) cv::waitKey(0);
});
} while (ok);
delete video;