VSAG/vision_sjtu_19
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energy changed

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sun
2019-08-07 14:09:58 +08:00
parent 8133aeedea
commit 518eb22867
7 changed files with 35 additions and 56 deletions
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29
main.cpp
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@@ -30,7 +30,7 @@ using namespace std;
McuData mcu_data = { // 单片机端回传结构体
0, // 当前云台yaw角
0, // 当前云台pitch角
SMALL_ENERGY_STATE, // 当前状态，自瞄-大符-小符
BIG_ENERGY_STATE, // 当前状态，自瞄-大符-小符
0, // 云台角度标记位
1, // 是否启用数字识别
ENEMY_RED, // 敌方颜色
@@ -66,8 +66,8 @@ int main(int argc, char *argv[]) {
video_gimbal = new CameraWrapper(ARMOR_CAMERA_EXPOSURE, ARMOR_CAMERA_GAIN, 2/*, "armor"*/);
video_chassis = new CameraWrapper(ENERGY_CAMERA_EXPOSURE, ENERGY_CAMERA_GAIN, 2/*, "energy"*/);
} else {
video_gimbal = new VideoWrapper("/home/sun/桌面/video_8.7/round1-8-5-7-small.avi");
video_chassis = new VideoWrapper("/home/sun/桌面/video_8.7/round1-8-5-7-small.avi");
video_gimbal = new VideoWrapper("/home/sun/桌面/video_8.8/8.7.4-big.avi");
video_chassis = new VideoWrapper("/home/sun/桌面/video_8.8/8.7.4-big.avi");
}
if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully.");
@@ -108,23 +108,26 @@ int main(int argc, char *argv[]) {
LOGW("video_gimbal source unavailable!");
}
}
checkReconnect(video_chassis->read(chassis_src));
// checkReconnect(video_chassis->read(chassis_src));
energy.setBigEnergyInit();
}
last_state = curr_state;//更新上一帧状态
ok = checkReconnect(video_gimbal->read(gimbal_src));
video_chassis->read(chassis_src);
// video_chassis->read(chassis_src);
#ifdef GIMBAL_FLIP_MODE
flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
#endif
#ifdef CHASSIS_FLIP_MODE
flip(chassis_src, chassis_src, CHASSIS_FLIP_MODE);
#endif
if (!from_camera) extract(gimbal_src, chassis_src);
if (save_video) saveVideos(gimbal_src, chassis_src);//保存视频
if (show_origin) showOrigin(gimbal_src, chassis_src);//显示原始图像
energy.runBig(gimbal_src, chassis_src);
// energy.runBig(gimbal_src);
//#ifdef CHASSIS_FLIP_MODE
// flip(chassis_src, chassis_src, CHASSIS_FLIP_MODE);
//#endif
// if (!from_camera) extract(gimbal_src, chassis_src);
// if (save_video) saveVideos(gimbal_src, chassis_src);//保存视频
// if (show_origin) showOrigin(gimbal_src, chassis_src);//显示原始图像
if (!from_camera) extract(gimbal_src);
if (save_video) saveVideos(gimbal_src);//保存视频
if (show_origin) showOrigin(gimbal_src);//显示原始图像
// energy.runBig(gimbal_src, chassis_src);
energy.runBig(gimbal_src);
} else if (curr_state == SMALL_ENERGY_STATE) {
if (last_state != SMALL_ENERGY_STATE) {
LOGM(STR_CTR(WORD_GREEN, "Start Small Energy!"));