VSAG/vision_sjtu_19
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使用旧版候选区寻找方式。

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This commit is contained in:
xinyang
2019-05-02 20:19:17 +08:00
parent ee83a373d3
commit 2f20367677
20 changed files with 12502 additions and 12395 deletions
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30
main.cpp
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@@ -15,7 +15,7 @@
#include <options/options.h>
#include <thread>
//#define DO_NOT_CNT_TIME
#define DO_NOT_CNT_TIME
#include <log.h>
#define PATH PROJECT_DIR
@@ -33,12 +33,23 @@ int mark = 0;
void uartReceive(Uart* uart);
thread* create_data_recv_thread(Uart *uart){
thread *thread1 = new thread([uart](){
LOGM("Start receiving!");
while(1){
uart->debugUart();
}
});
return thread1;
}
int main(int argc, char *argv[]){
process_options(argc, argv);
Uart uart;
thread receive(uartReceive, &uart);
bool flag = true;
// create_data_recv_thread(&uart);
while (flag){
int ally_color = ALLY_RED;
int energy_part_rotation = CLOCKWISE;
@@ -55,8 +66,8 @@ int main(int argc, char *argv[]){
video_armor = new CameraWrapper(0);
// video_energy = new CameraWrapper(1);
}else {
video_armor = new VideoWrapper("/home/xinyang/Desktop/Video.mp4");
video_energy = new VideoWrapper("/home/xinyang/Desktop/Video.mp4");
video_armor = new VideoWrapper("/home/xinyang/Desktop/Video0.mp4");
video_energy = new VideoWrapper("/home/xinyang/Desktop/Video0.mp4");
}
if (video_armor->init()) {
cout << "Video source initialization successfully." << endl;
@@ -74,11 +85,10 @@ int main(int argc, char *argv[]){
while (ok){
CNT_TIME(WORD_LIGHT_CYAN, "Total", {
ok = video_armor->read(energy_src) && video_armor->read(armor_src);
if (show_origin) {
imshow("enery src", energy_src);
imshow("armor src", armor_src);
}
CNT_TIME(WORD_LIGHT_PURPLE, "Read", {
ok = video_armor->read(armor_src);
// ok &&= video_energy->read(energy_src);
});
if (state == ENERGY_STATE) {
if (from_camera == 0) {
energy.extract(energy_src);
@@ -112,6 +122,7 @@ void uartReceive(Uart* uart){
buffer[cnt++] = data;
if(cnt >= 100){
// LOGE("data receive over flow!");
cnt = 0;
}
}
if(cnt == 10){
@@ -131,7 +142,6 @@ void uartReceive(Uart* uart){
mark_yaw = curr_yaw;
mark_pitch = curr_pitch;
}
// LOGM("Marked");
}
}