Merge remote-tracking branch 'origin/master'

# Conflicts:
#	main.cpp
#	tools/TrainCNN/forward.py

main.cpp

@@ -39,54 +39,56 @@ int main(int argc, char *argv[]) {
     thread receive(uartReceive, &uart);
     bool flag = true;
 
-	while (flag){
+    while (flag) {
         int ally_color = ALLY_RED;
         int energy_part_rotation = CLOCKWISE;
 
-	    int from_camera = 1;
-	    if(!run_with_camera) {
+        int from_camera = 1;
+        if (!run_with_camera) {
             cout << "Input 1 for camera, 0 for video files" << endl;
             cin >> from_camera;
         }
 
-		WrapperHead *video_armor;
+        WrapperHead *video_armor;
         WrapperHead *video_energy;
-		if(from_camera) {
+        if (from_camera) {
             video_armor = new CameraWrapper(0);
-//            video_energy = new CameraWrapper(1);
-        }else {
+            video_energy = new CameraWrapper(1);
+        } else {
             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;
-		}
+        if (video_armor->init()) {
+            cout << "Video source initialization successfully." << endl;
+        }
 
-		Mat energy_src, armor_src;
-
-		ArmorFinder armorFinder(ENEMY_BLUE, uart, PROJECT_DIR"/tools/para/");
+        Mat energy_src, armor_src;
+        ArmorFinder armorFinder(ENEMY_BLUE, uart, PROJECT_DIR"/tools/para/");
 
         Energy energy(uart);
         energy.setAllyColor(ally_color);
         energy.setRotation(energy_part_rotation);
 
-        bool ok=true;
+        bool ok = true;
 
-		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);
-                }
+        while (ok) {
+            CNT_TIME(WORD_LIGHT_CYAN, "Total", {
                 if (state == ENERGY_STATE) {
+                    ok = video_energy->read(energy_src);
+                    if (show_origin) {
+                        imshow("energy src", energy_src);
+                    }
                     if (from_camera == 0) {
                         energy.extract(energy_src);
                     }
                     energy.run(energy_src);
                 } else {
+                    ok = video_armor->read(armor_src);
+                    if (show_origin) {
+                        imshow("armor src", armor_src);
+                    }
                     CNT_TIME(WORD_LIGHT_BLUE, "Armor Time", {
-                        armorFinder.run(armor_src);
+                            armorFinder.run(armor_src);
                     });
                 }
                 if (waitKey(1) == 'q') {
@@ -94,41 +96,41 @@ int main(int argc, char *argv[]) {
                     break;
                 }
             });
-		}
-		delete video_armor;
-		cout << "Program fails. Restarting" << endl;
-	}
+        }
+        delete video_armor;
+        cout << "Program fails. Restarting" << endl;
+    }
 
-	return 0;
+    return 0;
 }
 
 #define RECEIVE_LOG_LEVEL LOG_NOTHING
 
-void uartReceive(Uart* uart){
+void uartReceive(Uart *uart) {
     char buffer[100];
-    int cnt=0;
-    while(true){
+    int cnt = 0;
+    while (true) {
         char data;
-        while((data=uart->receive()) != '\n'){
+        while ((data = uart->receive()) != '\n') {
             buffer[cnt++] = data;
-            if(cnt >= 100){
+            if (cnt >= 100) {
                 LOG(RECEIVE_LOG_LEVEL, "data receive over flow!");
-                    cnt = 0;
+                cnt = 0;
             }
         }
-        if(cnt == 10){
-            if(buffer[8] == 'e'){
+        if (cnt == 10) {
+            if (buffer[8] == 'e') {
                 state = ENERGY_STATE;
                 LOG(RECEIVE_LOG_LEVEL, "Energy state");
-            }else if(buffer[8] == 'a'){
+            } else if (buffer[8] == 'a') {
                 state = ARMOR_STATE;
                 LOG(RECEIVE_LOG_LEVEL, "Armor state");
             }
             memcpy(&curr_yaw, buffer, 4);
-            memcpy(&curr_pitch, buffer+4, 4);
+            memcpy(&curr_pitch, buffer + 4, 4);
             LOG(RECEIVE_LOG_LEVEL, "Get yaw:%f pitch:%f", curr_yaw, curr_pitch);
-            if(buffer[9] == 1){
-                if(mark == 0){
+            if (buffer[9] == 1) {
+                if (mark == 0) {
                     mark = 1;
                     mark_yaw = curr_yaw;
                     mark_pitch = curr_pitch;

tools/TrainCNN/forward.py

@@ -41,7 +41,7 @@ CONV2_OUTPUT_CHANNELS = 10
 FC1_OUTPUT_NODES = 16
 
 # 第二层全连接宽度（输出标签类型数）
-FC2_OUTPUT_NODES = 6
+FC2_OUTPUT_NODES = 8
 
 # 输出标签类型数
 OUTPUT_NODES = FC2_OUTPUT_NODES