去除 XMake

CMakeLists.txt

@@ -24,7 +24,7 @@ IF(CCACHE_FOUND)
 ENDIF()
 
 FIND_PACKAGE(Eigen3 REQUIRED)
-FIND_PACKAGE(OpenCV 3 REQUIRED)
+FIND_PACKAGE(OpenCV 4 REQUIRED)
 FIND_PACKAGE(Threads)
 
 LINK_DIRECTORIES(${PROJECT_SOURCE_DIR}/others)

armor/include/armor_finder/armor_finder.h

@@ -20,8 +20,8 @@
 #define BOX_RED     ENEMY_RED
 #define BOX_BLUE    ENEMY_BLUE
 
-#define IMAGE_CENTER_X      (320)
-#define IMAGE_CENTER_Y      (240-20)
+#define IMAGE_CENTER_X      (640)
+#define IMAGE_CENTER_Y      (512-20)
 
 #define DISTANCE_HEIGHT_5MM (10700.0)     // 单位: cm*pixel
 #define DISTANCE_HEIGHT     DISTANCE_HEIGHT_5MM

others/armor.Config

@@ -5,17 +5,17 @@ resolution :
   image_size : 
   {
     iIndex = 1;
-    acDescription = "640X480 ROI";
+    acDescription = "1280X1024 ROI";
     uBinSumMode = 0;
     uBinAverageMode = 0;
     uSkipMode = 0;
     uResampleMask = 0;
     iHOffsetFOV = 56;
     iVOffsetFOV = 0;
-    iWidthFOV = 640;
-    iHeightFOV = 480;
-    iWidth = 640;
-    iHeight = 480;
+    iWidthFOV = 1280;
+    iHeightFOV = 1024;
+    iWidth = 1280;
+    iHeight = 1024;
     iWidthZoomHd = 0;
     iHeightZoomHd = 0;
     iWidthZoomSw = 0;

others/include/config/setconfig.h

@@ -4,6 +4,7 @@
 #ifndef _SETCONFIG_H_
 #define _SETCONFIG_H_
 
+#define WITH_CONFIG
 
 #ifdef WITH_CONFIG
     #include <config/config.h>

others/src/serial.cpp

@@ -181,7 +181,7 @@ bool Serial::ReadData(unsigned char *buffer,  unsigned int length) {
 using namespace std;
 
 string get_uart_dev_name() {
-    FILE *ls = popen("ls /dev/ttyUSB* --color=never", "r");
+    FILE *ls = popen("ls /dev/ttyCH341USB* --color=never", "r");
     char name[20] = {0};
     fscanf(ls, "%s", name);
     return name;

xmake.lua

@@ -22,25 +22,15 @@ end
 
 -- 添加依赖
 add_requires("eigen", {system = false})
-add_requires("pthread")
-
---- OpenCV 4.6.0 配置（启用 ffmpeg 和 contrib）
-add_requires("opencv", {
+add_requires("pthread", {system = true})
+add_requires("ffmpeg", {
     system = false,
     configs = {
-        ffmpeg = false,
-        eigen = true,
-        png = true,
-        jpeg = true,
-        webp = false,
-        tiff = false,
-        quirc = false,
-        opengl = false,
-        protobuf = false,
-        bundled = true,
-        gtk = true
+        iconv = true
     }
 })
+add_requires("glib")
+add_requires("gdk-pixbuf", {system = false})
 
 -- 目标配置
 target("run")
@@ -66,12 +56,14 @@ target("run")
     add_includedirs("armor/include/armor_finder")
     add_includedirs("armor/include/armor_finder/classifier")
     add_includedirs("armor/include/show_images")
+    add_includedirs("/usr/local/include/opencv4")
     
     -- 添加依赖包
-    add_packages("pthread", "eigen", "opencv")
+    add_packages("pthread", "eigen", "opencv", "ffmpeg")
     
     -- 添加链接目录
     add_linkdirs("others")
+    add_links("opencv")
     
     -- 根据平台链接相机 SDK
     if is_plat("linux") then