VSAG/vision_sjtu_19
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同步master上的bug fix。

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xinyang
2019-05-03 11:13:17 +08:00
parent 64d2554069
commit 218a4b56c6
5 changed files with 50 additions and 57 deletions
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35
main.cpp
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@@ -15,12 +15,12 @@
#include <options/options.h>
#include <thread>
#define DO_NOT_CNT_TIME
//#define DO_NOT_CNT_TIME
#include <log.h>
#define PATH PROJECT_DIR
#define PROJECT_DIR PATH
#define ENERGY_STATE 1
#define ARMOR_STATE 0
#define ARMOR_STATE 0
using namespace cv;
using namespace std;
@@ -38,6 +38,7 @@ int main(int argc, char *argv[]){
Uart uart;
thread receive(uartReceive, &uart);
bool flag = true;
while (flag){
int ally_color = ALLY_RED;
int energy_part_rotation = CLOCKWISE;
@@ -54,8 +55,8 @@ int main(int argc, char *argv[]){
video_armor = new CameraWrapper(0);
// video_energy = new CameraWrapper(1);
}else {
video_armor = new VideoWrapper("/home/xinyang/Desktop/Video0.mp4");
video_energy = new VideoWrapper("/home/xinyang/Desktop/Video0.mp4");
video_armor = new VideoWrapper("/home/xinyang/Desktop/Video.mp4");
video_energy = new VideoWrapper("/home/xinyang/Desktop/Video.mp4");
}
if (video_armor->init()) {
cout << "Video source initialization successfully." << endl;
@@ -63,7 +64,7 @@ int main(int argc, char *argv[]){
Mat energy_src, armor_src;
ArmorFinder armorFinder(ENEMY_BLUE, uart, PATH"/tools/para/");
ArmorFinder armorFinder(ENEMY_BLUE, uart, PROJECT_DIR"/tools/para/");
Energy energy(uart);
energy.setAllyColor(ally_color);
@@ -73,10 +74,11 @@ int main(int argc, char *argv[]){
while (ok){
CNT_TIME(WORD_LIGHT_CYAN, "Total", {
CNT_TIME(WORD_LIGHT_PURPLE, "Read", {
ok = video_armor->read(armor_src);
// ok &&= video_energy->read(energy_src);
});
ok = video_armor->read(energy_src) && video_armor->read(armor_src);
if (show_origin) {
imshow("enery src", energy_src);
imshow("armor src", armor_src);
}
if (state == ENERGY_STATE) {
if (from_camera == 0) {
energy.extract(energy_src);
@@ -100,6 +102,7 @@ int main(int argc, char *argv[]){
return 0;
}
#define RECEIVE_LOG_LEVEL LOG_NOTHING
void uartReceive(Uart* uart){
char buffer[100];
@@ -109,28 +112,28 @@ void uartReceive(Uart* uart){
while((data=uart->receive()) != '\n'){
buffer[cnt++] = data;
if(cnt >= 100){
// LOGE("data receive over flow!");
cnt = 0;
LOG(RECEIVE_LOG_LEVEL, "data receive over flow!");
cnt = 0;
}
}
if(cnt == 10){
if(buffer[8] == 'e'){
state = ENERGY_STATE;
// LOGM("Energy state");
LOG(RECEIVE_LOG_LEVEL, "Energy state");
}else if(buffer[8] == 'a'){
state = ARMOR_STATE;
// LOGM("Armor state");
LOG(RECEIVE_LOG_LEVEL, "Armor state");
}
memcpy(&curr_yaw, buffer, 4);
memcpy(&curr_pitch, buffer+4, 4);
// LOGM("Get yaw:%f pitch:%f", curr_yaw, curr_pitch);
LOG(RECEIVE_LOG_LEVEL, "Get yaw:%f pitch:%f", curr_yaw, curr_pitch);
if(buffer[9] == 1){
if(mark == 0){
mark = 1;
mark_yaw = curr_yaw;
mark_pitch = curr_pitch;
}
// LOGM("Marked");
LOG(RECEIVE_LOG_LEVEL, "Marked");
}
}
cnt = 0;