VSAG/vision_sjtu_19
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energy changed

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sun
2019-07-12 15:58:11 +08:00
parent 1c295e14ac
commit d494182740
20 changed files with 278 additions and 298 deletions
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38
main.cpp
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@@ -29,7 +29,7 @@ using namespace std;
mcu_data mcuData = { // 单片机端回传结构体
0, // 当前云台yaw角
0, // 当前云台pitch角
SMALL_ENERGY_STATE, // 当前状态，自瞄-大符-小符
BIG_ENERGY_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
@@ -98,35 +98,35 @@ int main(int argc, char *argv[]) {
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);
energy.setEnergyInit();
}
ok = checkReconnect(video_gimble->read(gimble_src), video_chassis->read(chassis_src));//检查有几个摄像头
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
if (mcuData.state == BIG_ENERGY_STATE) {
if (last_state != BIG_ENERGY_STATE) {
energy.setBigEnergyInit();
cout << "set" << endl;
}
energy.runBig(gimble_src, chassis_src);
} else if (mcuData.state == SMALL_ENERGY_STATE) {
if (last_state != SMALL_ENERGY_STATE) {
energy.setSmallEnergyInit();
cout << "set" << endl;
}
energy.runSmall(gimble_src, chassis_src);
}
last_state = mcuData.state;//更新上一帧状态
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);
// }
// resize(gimble_src,gimble_src,cv::Size(853,480));
// resize(chassis_src,chassis_src,cv::Size(853,480));
// gimble_src = gimble_src(Rect(106, 0, 640, 480));
// chassis_src = chassis_src(Rect(106, 0, 640, 480));
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(40);
}
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);
CNT_TIME("Armor Time", {