VSAG/vision_sjtu_19
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energy update

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This commit is contained in:
JiatongSun
2019-05-18 17:58:59 +08:00
parent 424cc724d8
commit 2369834564
11 changed files with 186 additions and 104 deletions
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41
main.cpp
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@@ -27,19 +27,31 @@ using namespace cv;
using namespace std;
mcu_data mcuData = {
.curr_yaw = 0,
.curr_pitch = 0,
.state = ENERGY_STATE,
.mark = 0,
.use_classifier = 0,
.enemy_color = ENEMY_BLUE
0,
0,
ARMOR_STATE,
0,
0,
ENEMY_BLUE,
};
int main(int argc, char *argv[]) {
process_options(argc, argv);
Serial serial(115200);
uint8_t last_state = mcuData.state;
thread receive(uartReceive, &serial);
thread change([&]() {
while (true) {
Sleep(10000);
if (mcuData.state == ARMOR_STATE) mcuData.state = ENERGY_STATE;
else if (mcuData.state == ENERGY_STATE)mcuData.state = ARMOR_STATE;
cout << "state changed to " << mcuData.state << endl;
}
});
int from_camera = 1;
if (!run_with_camera) {
cout << "Input 1 for camera, 0 for video files" << endl;
@@ -59,8 +71,8 @@ int main(int argc, char *argv[]) {
video_armor = new CameraWrapper(0, "armor");
video_energy = new CameraWrapper(1, "energy");
} else {
video_armor = new VideoWrapper("/home/xinyang/Desktop/DataSets/video/blue_4.mp4");
video_energy = new VideoWrapper("/home/xinyang/Desktop/DataSets/video/blue_4.mp4");
video_armor = new VideoWrapper("E:/Robomaster/RM_auto-aim/build/r_l_640.avi");
video_energy = new VideoWrapper("E:/Robomaster/RM_auto-aim/build/r_l_640.avi");
}
if (video_armor->init()) {
LOGM("video_armor source initialization successfully.");
@@ -83,7 +95,7 @@ int main(int argc, char *argv[]) {
video_armor->read(armor_src);
}
if (video_energy) {
video_energy->read(armor_src);
video_energy->read(energy_src);
}
}
@@ -97,6 +109,11 @@ int main(int argc, char *argv[]) {
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) {
@@ -110,6 +127,8 @@ int main(int argc, char *argv[]) {
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);
@@ -122,6 +141,7 @@ int main(int argc, char *argv[]) {
}
} else if (mcuData.state == ARMOR_STATE) {
last_state = mcuData.state;
if (video_armor) {
ok = video_armor->read(armor_src);
if (!ok) {
@@ -146,6 +166,9 @@ int main(int argc, char *argv[]) {
}
}
}
waitKey(1);
});
} while (ok);