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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4
others/include/additions/additions.h
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@@ -20,8 +20,8 @@ struct mcu_data{
extern mcu_data mcuData;
void uartReceive(Serial *pSerial);
bool checkReconnect(bool is_gimble_connect, bool is_chassis_connect);
bool checkReconnect(bool is_gimble_connect);
bool checkReconnect(bool is_camera_0_connect, bool is_camera_1_connect);
bool checkReconnect(bool is_camera_connect);
void saveVideos(const cv::Mat &gimble_src, const cv::Mat &chassis_src);
void saveVideos(const cv::Mat &gimble_src);
void showOrigin(const cv::Mat &gimble_src, const cv::Mat &chassis_src);

32
others/src/additions/additions.cpp
View File

@@ -73,33 +73,27 @@ cv::VideoWriter initVideoWriter(const std::string &filename_prefix) {
return video;
}
bool checkReconnect(bool is_gimble_connect, bool is_chassis_connect) {
if (!is_gimble_connect) {
bool checkReconnect(bool is_camera_0_connect, bool is_camera_1_connect) {
if (!is_camera_0_connect) {
delete video_gimble;
video_gimble = new CameraWrapper(0, "armor");
if (!(is_gimble_connect = video_gimble->init())) {
delete video_gimble;
video_gimble = nullptr;
}
is_camera_0_connect = video_gimble->init();
}
if (!is_chassis_connect) {
if (!is_camera_1_connect) {
delete video_chassis;
video_chassis = new CameraWrapper(1, "energy");
if (!(is_chassis_connect = video_chassis->init())) {
delete video_chassis;
video_chassis = nullptr;
}
is_camera_1_connect = video_chassis->init();
}
return is_gimble_connect && is_chassis_connect;
return is_camera_0_connect && is_camera_1_connect;
}
bool checkReconnect(bool is_gimble_connect) {
if (!is_gimble_connect) {
bool checkReconnect(bool is_camera_connect) {
if (!is_camera_connect) {
delete video_gimble;
video_gimble = new CameraWrapper(0, "armor");
if (!(is_gimble_connect = video_gimble->init())) {
delete video_gimble;
video_gimble = nullptr;
}
is_camera_connect = video_gimble->init();
}
return is_gimble_connect;
return is_camera_connect;
}
auto gimble_video_writer = initVideoWriter(PROJECT_DIR"/gimble_video/");