VSAG/vision_sjtu_19
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分离曝光，参数更新,取消反陀螺,数据增强。

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This commit is contained in:
xinyang
2019-08-06 11:54:48 +08:00
parent 7337f10123
commit 9392c201db
20 changed files with 41259 additions and 17856 deletions
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16
main.cpp
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@@ -33,7 +33,7 @@ McuData mcu_data = { // 单片机端回传结构体
ARMOR_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
ENEMY_BLUE, // 敌方颜色
0, // 能量机关x轴补偿量
0, // 能量机关y轴补偿量
};
@@ -63,11 +63,11 @@ int main(int argc, char *argv[]) {
while (true) {
// 打开视频源
if (from_camera) {
video_gimbal = new CameraWrapper(ARMOR_CAMERA_GAIN, 2/*, "armor"*/);
video_chassis = new CameraWrapper(ENERGY_CAMERA_GAIN, 2/*, "energy"*/);
video_gimbal = new CameraWrapper(ARMOR_CAMERA_EXPOSURE, ARMOR_CAMERA_GAIN, 2/*, "armor"*/);
video_chassis = new CameraWrapper(ENERGY_CAMERA_EXPOSURE, ENERGY_CAMERA_GAIN, 2/*, "energy"*/);
} else {
video_gimbal = new VideoWrapper(PROJECT_DIR"/gimbal_video/0.avi");
video_chassis = new VideoWrapper(PROJECT_DIR"/gimbal_video/0.avi");
video_gimbal = new VideoWrapper(PROJECT_DIR"/26.avi");
video_chassis = new VideoWrapper(PROJECT_DIR"/26.avi");
}
if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully.");
@@ -100,7 +100,7 @@ int main(int argc, char *argv[]) {
destroyAllWindows();
if (from_camera) {
delete video_gimbal;
video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 2/*, "armor"*/);
video_gimbal = new CameraWrapper(ENERGY_CAMERA_EXPOSURE, ENERGY_CAMERA_GAIN, 2/*, "armor"*/);
if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully.");
} else {
@@ -130,7 +130,7 @@ int main(int argc, char *argv[]) {
destroyAllWindows();
if (from_camera) {
delete video_gimbal;
video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 2/*, "armor"*/);
video_gimbal = new CameraWrapper(ENERGY_CAMERA_EXPOSURE, ENERGY_CAMERA_GAIN, 2/*, "armor"*/);
if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully.");
} else {
@@ -154,7 +154,7 @@ int main(int argc, char *argv[]) {
destroyAllWindows();
if (from_camera) {
delete video_gimbal;
video_gimbal = new CameraWrapper(ARMOR_CAMERA_GAIN, 2/*, "armor"*/);
video_gimbal = new CameraWrapper(ARMOR_CAMERA_EXPOSURE, ARMOR_CAMERA_GAIN, 2/*, "armor"*/);
if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully.");
} else {