VSAG/vision_sjtu_19
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This commit is contained in:
JiatongSun
2019-05-17 21:05:19 +08:00
parent 294a20f654
commit 77a58511c9
1 changed files with 49 additions and 4 deletions
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53
main.cpp
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@@ -3,6 +3,7 @@
//
#include <iostream>
#include <opencv2/core/core.hpp>
#include <fstream>
#include <energy/energy.h>
#include <serial/serial.h>
@@ -25,7 +26,7 @@ using namespace cv;
using namespace std;
int state = ARMOR_STATE;
int state = ENERGY_STATE;
float curr_yaw = 0, curr_pitch = 0;
float mark_yaw = 0, mark_pitch = 0;
int mark = 0;
@@ -42,7 +43,49 @@ int main(int argc, char *argv[]) {
bool flag = true;
while (flag) {
VideoWriter armor_video_writer, energy_video_writer;
if (state == ARMOR_STATE) {
string armor_filename_prefix = "../armor_video/";
ifstream in_1(armor_filename_prefix + "cnt.txt");
int cnt_1 = 0;
if (in_1.is_open())
{
in_1 >> cnt_1;
in_1.close();
}
string armor_file_name = armor_filename_prefix + std::to_string(cnt_1) + ".avi";
//cout << "recording video to " << armor_file_name << endl;
cnt_1++;
ofstream out_1(armor_filename_prefix + "cnt.txt");
if (out_1.is_open()) {
out_1 << cnt_1 << endl;
out_1.close();
}
armor_video_writer.open(armor_file_name, CV_FOURCC('P', 'I', 'M', '1'), 90, cv::Size(640, 480), true);
}
if (state == ENERGY_STATE) {
string energy_filename_prefix = "../energy_video/";
ifstream in_2(energy_filename_prefix + "cnt.txt");
int cnt_2 = 0;
if (in_2.is_open())
{
in_2 >> cnt_2;
in_2.close();
}
string energy_file_name = energy_filename_prefix + std::to_string(cnt_2) + ".avi";
//cout << "recording video to " << armor_file_name << endl;
cnt_2++;
ofstream out_2(energy_filename_prefix + "cnt.txt");
if (out_2.is_open()) {
out_2 << cnt_2 << endl;
out_2.close();
}
energy_video_writer.open(energy_file_name, CV_FOURCC('P', 'I', 'M', '1'), 90, cv::Size(640, 480), false);
}
int energy_part_rotation = CLOCKWISE;
int from_camera = 1;
@@ -57,8 +100,8 @@ int main(int argc, char *argv[]) {
video_armor = new CameraWrapper(0, "armor");
video_energy = new CameraWrapper(1, "energy");
} else {
video_armor = new VideoWrapper("/home/xinyang/Desktop/DataSets/video/blue_4.mp4");
video_energy = new VideoWrapper("/home/xinyang/Desktop/DataSets/video/blue_4.mp4");
video_armor = new VideoWrapper("r_l_640.avi");
video_energy = new VideoWrapper("r_l_640.avi");
}
if (video_armor->init() && video_energy->init()) {
cout << "Video source initialization successfully." << endl;
@@ -87,6 +130,7 @@ int main(int argc, char *argv[]) {
CNT_TIME("Total", {
if (state == ENERGY_STATE) {
ok = video_energy->read(energy_src);
energy_video_writer.write(energy_src);
if (show_origin) {
imshow("energy src", energy_src);
}
@@ -96,6 +140,7 @@ int main(int argc, char *argv[]) {
energy.run(energy_src);
} else {
ok = video_armor->read(armor_src);
armor_video_writer.write(armor_src);
flip(armor_src, armor_src, 0);
if (show_origin) {
imshow("armor src", armor_src);