energy changed
This commit is contained in:
sun
188
main.cpp
188
main.cpp
@@ -26,16 +26,23 @@ using namespace std;
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mcu_data mcuData = {
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0,
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0,
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BIG_ENERGY_STATE,
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ARMOR_STATE,
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0,
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1,
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ENEMY_RED,
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};
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WrapperHead *video_gimble = nullptr;
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WrapperHead *video_chassis = nullptr;
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Serial serial(115200);
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uint8_t last_state = mcuData.state;
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ArmorFinder armorFinder(mcuData.enemy_color, serial, PROJECT_DIR"/tools/para/", mcuData.use_classifier);
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Energy energy(serial, mcuData.enemy_color);
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int main(int argc, char *argv[]) {
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process_options(argc, argv);
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Serial serial(115200);
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uint8_t last_state = mcuData.state;
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thread receive(uartReceive, &serial);
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int from_camera = 1;
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@@ -45,170 +52,81 @@ int main(int argc, char *argv[]) {
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}
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while (true) {
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VideoWriter armor_video_writer, energy_video_writer;
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if (save_video) {
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initVideoWriter(armor_video_writer, PROJECT_DIR"/armor_video/");
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initVideoWriter(energy_video_writer, PROJECT_DIR"/energy_video/");
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}
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WrapperHead *video_armor=nullptr;
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WrapperHead *video_energy=nullptr;
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if (from_camera) {
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video_armor = new CameraWrapper(0, "armor");
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video_energy = new CameraWrapper(1, "energy");
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video_gimble = new CameraWrapper(0, "armor");
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video_chassis = new CameraWrapper(1, "energy");
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} else {
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// string armor_video, energy_video;
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// lastVideo(armor_video, PROJECT_DIR"/armor_video/");
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// video_armor = new VideoWrapper(armor_video);
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// lastVideo(energy_video, PROJECT_DIR"/energy_video/");
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// video_energy = new VideoWrapper(energy_video);
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video_armor = new VideoWrapper("/home/sun/项目/energy_video/energy_test.avi");
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video_energy = new VideoWrapper("/home/sun/项目/energy_video/energy_test.avi");
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video_gimble = new VideoWrapper("/home/sun/项目/energy_video/energy_test.avi");
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video_chassis = new VideoWrapper("/home/sun/项目/energy_video/energy_test.avi");
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}
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if (video_armor->init()) {
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if (video_gimble->init()) {
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LOGM("video_armor source initialization successfully.");
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} else {
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LOGW("video_armor source unavailable!");
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delete video_armor;
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video_armor = nullptr;
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delete video_gimble;
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video_gimble = nullptr;
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}
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if (video_energy->init()) {
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if (video_chassis->init()) {
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LOGM("video_energy source initialization successfully.");
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} else {
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LOGW("video_energy source unavailable!");
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delete video_energy;
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video_energy = nullptr;
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delete video_chassis;
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video_chassis = nullptr;
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}
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Mat energy_src, armor_src;
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Mat gimble_src, chassis_src;
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for (int i = 0; i < 10; i++) {
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if (video_armor) {
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video_armor->read(armor_src);
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if (video_gimble) {
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video_gimble->read(gimble_src);
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}
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if (video_energy) {
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video_energy->read(energy_src);
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if (video_chassis) {
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video_chassis->read(chassis_src);
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}
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}
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ArmorFinder armorFinder(mcuData.enemy_color, serial, PROJECT_DIR"/tools/para/", mcuData.use_classifier);
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Energy energy(serial, mcuData.enemy_color);
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bool ok = true;
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cout<<"start running"<<endl;
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do {
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CNT_TIME("Total", {
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if (mcuData.state == BIG_ENERGY_STATE) {
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if (last_state != BIG_ENERGY_STATE) {
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energy.setEnergyRotationInit();
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cout << "set" << endl;
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}
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last_state = mcuData.state;
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if (video_armor && video_energy) {
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ok = video_armor->read(armor_src) && video_energy->read(energy_src);
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if (!ok) {
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delete video_armor;
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delete video_energy;
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video_armor = nullptr;
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video_energy = nullptr;
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}
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if(save_video){
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Mat energy_save = energy_src.clone();
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cvtColor(energy_save,energy_save,COLOR_GRAY2BGR);
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armor_video_writer.write(armor_src);
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energy_video_writer.write(energy_save);
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}
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if (show_origin) {
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imshow("armor src", armor_src);
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imshow("energy src", energy_src);
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}
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if (mcuData.state != ARMOR_STATE) {//能量机关模式
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ok = checkReconnect(video_gimble->read(gimble_src), video_chassis->read(chassis_src));//检查有几个摄像头
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if (save_video) saveVideos(gimble_src, chassis_src);//保存视频
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if (show_origin) showOrigin(gimble_src, chassis_src);//显示原始图像
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if (mcuData.state == BIG_ENERGY_STATE) {//大符模式
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// if (from_camera == 0) {
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// cv::resize(energy_src, energy_src, cv::Size(640, 480), 2);
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// imshow("resize", energy_src);
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// cv::resize(energy_src, energy_src, cv::Size(640, 480), 2);
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// imshow("resize", energy_src);
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// energy.extract(energy_src);
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// }
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energy.run(armor_src, energy_src);
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waitKey(1);
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}
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else {
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video_energy = new CameraWrapper(1, "energy");
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if(!video_energy->init()){
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delete video_energy;
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video_energy = nullptr;
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if (last_state != BIG_ENERGY_STATE) {//若上一帧不是大符模式，即刚往完成切换，则需要初始化
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energy.setEnergyRotationInit();
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cout << "set" << endl;
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}
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energy.runBig(gimble_src, chassis_src);//击打大符
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}
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else if (mcuData.state == SMALL_ENERGY_STATE) {
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energy.runSmall(gimble_src, chassis_src);//击打小符
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}
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last_state = mcuData.state;//更新上一帧状态
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}
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else if (mcuData.state == SMALL_ENERGY_STATE) {
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else if (mcuData.state == ARMOR_STATE) {//自瞄模式
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last_state = mcuData.state;
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if (video_armor && video_energy) {
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ok = video_armor->read(armor_src) && video_energy->read(energy_src);
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if (!ok) {
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delete video_armor;
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delete video_energy;
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video_armor = nullptr;
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video_energy = nullptr;
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}
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if(save_video){
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Mat energy_save = energy_src.clone();
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cvtColor(energy_save,energy_save,COLOR_GRAY2BGR);
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armor_video_writer.write(armor_src);
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energy_video_writer.write(energy_save);
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}
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if (show_origin) {
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imshow("armor src", armor_src);
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imshow("energy src", energy_src);
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}
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// if (from_camera == 0) {
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// cv::resize(energy_src, energy_src, cv::Size(640, 480), 2);
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// imshow("resize", energy_src);
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// energy.extract(energy_src);
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// }
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energy.run(armor_src, energy_src);
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waitKey(1);
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}
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else {
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video_energy = new CameraWrapper(1, "energy");
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if(!video_energy->init()){
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delete video_energy;
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video_energy = nullptr;
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}
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}
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}
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ok = checkReconnect(video_gimble->read(gimble_src));
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if (save_video) saveVideos(gimble_src);
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if (show_origin) showOrigin(gimble_src);
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CNT_TIME("Armor Time", {
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armorFinder.run(gimble_src);
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});
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else if (mcuData.state == ARMOR_STATE) {
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last_state = mcuData.state;
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if (video_armor) {
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ok = video_armor->read(armor_src);
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if (!ok) {
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delete video_armor;
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video_armor = nullptr;
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}
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if(save_video){
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armor_video_writer.write(armor_src);
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}
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// flip(armor_src, armor_src, 0);
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if (show_origin) {
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imshow("armor src", armor_src);
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}
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CNT_TIME("Armor Time", {
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armorFinder.run(armor_src);
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});
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}
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else {
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video_armor = new CameraWrapper(0, "armor");
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if(!video_armor->init()){
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delete video_armor;
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video_armor = nullptr;
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}
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}
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}
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cv::waitKey(1);
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});
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} while (ok);
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delete video_armor;
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delete video_energy;
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delete video_gimble;
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video_gimble = nullptr;
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delete video_chassis;
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video_chassis = nullptr;
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cout << "Program fails. Restarting" << endl;
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}
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return 0;
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