VSAG/vision_sjtu_19
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energy change

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sun
2019-07-17 10:17:51 +08:00
parent 0814522e46
commit 6e87cfe4db
10 changed files with 139 additions and 51 deletions
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15
main.cpp
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@@ -30,7 +30,7 @@ using namespace std;
mcu_data mcuData = { // 单片机端回传结构体
0, // 当前云台yaw角
0, // 当前云台pitch角
ARMOR_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
@@ -64,10 +64,8 @@ int main(int argc, char *argv[]) {
video_gimbal = new CameraWrapper(0/*, "armor"*/);
video_chassis = new CameraWrapper(1/*, "energy"*/);
} else {
// video_gimbal = new VideoWrapper("/home/sjturm/Desktop/videos/147.avi");
// video_chassis = new VideoWrapper("/home/sjturm/Desktop/videos/147.avi");
video_gimbal = new VideoWrapper("/home/sjturm/Desktop/RM2019 能量机关视频/大能量机关（蓝+开灯）.mov");
video_chassis = new VideoWrapper("/home/sjturm/Desktop/RM2019 能量机关视频/大能量机关（蓝+开灯）.mov");
video_gimbal = new VideoWrapper("/home/sun/项目/energy_video/148.avi");
video_chassis = new VideoWrapper("/home/sun/项目/energy_video/148.avi");
}
if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully.");
@@ -105,7 +103,6 @@ int main(int argc, char *argv[]) {
#endif
}
ok = checkReconnect(video_gimbal->read(gimbal_src));
video_gimbal->read(gimbal_src);
video_chassis->read(chassis_src);
#ifdef GIMBAL_FLIP_MODE
flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
@@ -113,8 +110,8 @@ int main(int argc, char *argv[]) {
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.run(gimbal_src, chassis_src);
// energy.run(gimbal_src);
// energy.run(gimbal_src, chassis_src);
energy.run(gimbal_src);
last_state = mcuData.state;//更新上一帧状态
} else { // 自瞄模式
if (last_state != ARMOR_STATE) {
@@ -133,7 +130,7 @@ int main(int argc, char *argv[]) {
armorFinder.run(gimbal_src);
});
}
cv::waitKey(1);
// cv::waitKey(1);
});
} while (ok);
delete video_gimbal;