VSAG/vision_sjtu_19
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修订拼写错误，增加独立config。

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This commit is contained in:
xinyang
2019-07-13 13:57:26 +08:00
parent 95eb65e6f0
commit a8d24f412e
11 changed files with 184 additions and 165 deletions
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58
main.cpp
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@@ -18,6 +18,7 @@
#include <armor_finder/armor_finder.h>
#include <options/options.h>
#include <additions/additions.h>
#include <config/setconfig.h>
#define DO_NOT_CNT_TIME
@@ -35,7 +36,7 @@ mcu_data mcuData = { // 单片机端回传结构体
ENEMY_RED, // 敌方颜色
};
WrapperHead *video_gimble = nullptr; // 云台摄像头视频源
WrapperHead *video_gimbal = nullptr; // 云台摄像头视频源
WrapperHead *video_chassis = nullptr; // 底盘摄像头视频源
Serial serial(115200); // 串口对象
@@ -60,16 +61,16 @@ int main(int argc, char *argv[]) {
while (true) {
// 打开视频源
if (from_camera) {
video_gimble = new CameraWrapper(0/*, "armor"*/);
video_gimbal = new CameraWrapper(0/*, "armor"*/);
video_chassis = new CameraWrapper(1/*, "energy"*/);
} else {
video_gimble = new VideoWrapper("/home/sun/项目/energy_video/energy_test.avi");
video_gimbal = new VideoWrapper("/home/sun/项目/energy_video/energy_test.avi");
video_chassis = new VideoWrapper("/home/sun/项目/energy_video/energy_test.avi");
}
if (video_gimble->init()) {
LOGM("video_gimble source initialization successfully.");
if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully.");
} else {
LOGW("video_gimble source unavailable!");
LOGW("video_gimbal source unavailable!");
}
if (video_chassis->init()) {
LOGM("video_chassis source initialization successfully.");
@@ -78,10 +79,10 @@ int main(int argc, char *argv[]) {
}
// 跳过前10帧噪声图像。
Mat gimble_src, chassis_src;
Mat gimbal_src, chassis_src;
for (int i = 0; i < 10; i++) {
if (video_gimble) {
video_gimble->read(gimble_src);
if (video_gimbal) {
video_gimbal->read(gimbal_src);
}
if (video_chassis) {
video_chassis->read(chassis_src);
@@ -93,35 +94,44 @@ int main(int argc, char *argv[]) {
CNT_TIME("Total", {
if (mcuData.state != ARMOR_STATE) {//能量机关模式
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);
((CameraWrapper *) video_gimbal)->changeBrightness(ENERGY_CAMERA_GAIN);
energy.setEnergyInit();
checkReconnect(video_chassis->read(chassis_src));
#ifdef CHASSIS_FLIP_MODE
flip(chassis_src, chassis_src, CHASSIS_FLIP_MODE);
#endif
}
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);
energy.run(gimble_src);
ok = checkReconnect(video_gimbal->read(gimbal_src));
#ifdef GIMBAL_FLIP_MODE
flip(gimbal_src, gimbal_src, CHASSIS_FLIP_MODE);
#endif
if (!from_camera) extract(gimbal_src, chassis_src);
if (save_video) saveVideos(gimbal_src, chassis_src);//保存视频
if (show_origin) showOrigin(gimbal_src, chassis_src);//显示原始图像
// energy.run(gimbal_src, chassis_src);
energy.run(gimbal_src);
last_state = mcuData.state;//更新上一帧状态
} else { // 自瞄模式
if (last_state != ARMOR_STATE) {
((CameraWrapper *) video_gimble)->changeBrightness(30);
((CameraWrapper *) video_gimbal)->changeBrightness(ARMOR_CAMERA_GAIN);
}
last_state = mcuData.state;
ok = checkReconnect(video_gimble->read(gimble_src));
if (!from_camera) extract(gimble_src);
if (save_video) saveVideos(gimble_src);
if (show_origin) showOrigin(gimble_src);
ok = checkReconnect(video_gimbal->read(gimbal_src));
#ifdef GIMBAL_FLIP_MODE
flip(gimbal_src, gimbal_src, CHASSIS_FLIP_MODE);
#endif
if (!from_camera) extract(gimbal_src);
if (save_video) saveVideos(gimbal_src);
if (show_origin) showOrigin(gimbal_src);
CNT_TIME("Armor Time", {
armorFinder.run(gimble_src);
armorFinder.run(gimbal_src);
});
}
// cv::waitKey(0);
});
} while (ok);
delete video_gimble;
video_gimble = nullptr;
delete video_gimbal;
video_gimbal = nullptr;
delete video_chassis;
video_chassis = nullptr;
cout << "Program fails. Restarting" << endl;