VSAG/vision_sjtu_19
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energy changed

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sun
2019-07-12 22:12:58 +08:00
parent 6aafbfd546
commit 89e07615aa
4 changed files with 17 additions and 41 deletions
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21
main.cpp
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@@ -70,15 +70,11 @@ int main(int argc, char *argv[]) {
LOGM("video_gimble source initialization successfully.");
} else {
LOGW("video_gimble source unavailable!");
delete video_gimble;
video_gimble = nullptr;
}
if (video_chassis->init()) {
LOGM("video_chassis source initialization successfully.");
} else {
LOGW("video_chassis source unavailable!");
delete video_chassis;
video_chassis = nullptr;
}
// 跳过前10帧噪声图像。
@@ -99,26 +95,13 @@ int main(int argc, char *argv[]) {
if (last_state == ARMOR_STATE) {//若上一帧是自瞄模式，即刚往完成切换，则需要初始化
((CameraWrapper *) video_gimble)->changeBrightness(20);
energy.setEnergyInit();
checkReconnect(video_chassis->read(chassis_src));
}
ok = checkReconnect(video_gimble->read(gimble_src), video_chassis->read(chassis_src));//检查有几个摄像头
ok = checkReconnect(video_gimble->read(gimble_src));
if (!from_camera) extract(gimble_src, chassis_src);
if (save_video) saveVideos(gimble_src, chassis_src);//保存视频
if (show_origin) showOrigin(gimble_src, chassis_src);//显示原始图像
energy.run(gimble_src, chassis_src);
// if (mcuData.state == BIG_ENERGY_STATE) {
// if (last_state != BIG_ENERGY_STATE) {
// energy.setBigEnergyInit();
// cout << "start big" << endl;
// }
// energy.run(gimble_src, chassis_src);
// } else if (mcuData.state == SMALL_ENERGY_STATE) {
// if (last_state != SMALL_ENERGY_STATE) {
// energy.setSmallEnergyInit();
// cout << "start small" << endl;
// }
// energy.run(gimble_src, chassis_src);
// }
last_state = mcuData.state;//更新上一帧状态
} else { // 自瞄模式
if (last_state != ARMOR_STATE) {