VSAG/vision_sjtu_19
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修改了摄像头读取方式

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xinyang
2019-04-27 16:16:53 +08:00
parent 9cfd26cc23
commit 4e47b38d7d
15 changed files with 272 additions and 255 deletions
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28
main.cpp
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@@ -48,25 +48,28 @@ int main(int argc, char *argv[])
cin >> from_camera;
}
WrapperHead *video;
if(from_camera)
video = new CameraWrapper;
else
video = new VideoWrapper("r_l_640.avi", "fan_640.avi");
if (video->init()) {
WrapperHead *video_armor;
WrapperHead *video_enegy;
if(from_camera) {
video_armor = new CameraWrapper("armor");
video_enegy = new CameraWrapper("energy");
}else {
video_armor = new VideoWrapper("/home/xinyang/Desktop/Video.mp4");
video_enegy = new VideoWrapper("/home/xinyang/Desktop/Video.mp4");
}
if (video_enegy->init() && video_armor->init()) {
cout << "Video source initialization successfully." << endl;
}
Mat energy_src, armor_src;
ArmorFinder armorFinder(ENEMY_BLUE, uart, "../paras/");
ArmorFinder armorFinder(ENEMY_BLUE, uart, "/home/xinyang/Desktop/AutoAim/tools/para/");
Energy energy(uart);
energy.setAllyColor(ally_color);
energy.setRotation(energy_part_rotation);
while (video->read(energy_src, armor_src))
while (video_armor->read(energy_src) && video_armor->read(armor_src))
{
if(show_origin) {
imshow("enery src", energy_src);
@@ -78,15 +81,16 @@ int main(int argc, char *argv[])
}
energy.run(energy_src);
}else{
armorFinder.run(armor_src);
CNT_TIME(WORD_LIGHT_BLUE, "Armor Time", {
armorFinder.run(armor_src);
});
}
if (waitKey(1) == 'q') {
flag = false;
break;
}
}
delete video;
delete video_enegy, video_armor;
cout << "Program fails. Restarting" << endl;
}