VSAG/vision_sjtu_19
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energy changed

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sun
2019-07-11 23:22:23 +08:00
parent a2f08e9674
commit d65093216a
12 changed files with 135 additions and 137 deletions
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22
main.cpp
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@@ -27,7 +27,7 @@ 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
BIG_ENERGY_STATE, // 当前状态，自瞄-大符-小符
SMALL_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
@@ -61,8 +61,8 @@ int main(int argc, char *argv[]) {
video_gimble = new CameraWrapper(0/*, "armor"*/);
video_chassis = new CameraWrapper(1/*, "energy"*/);
} else {
video_gimble = new VideoWrapper("/home/sun/项目/RM2019 能量机关视频/大能量机关（红+开灯）.mov");
video_chassis = new VideoWrapper("/home/sun/项目/RM2019 能量机关视频/大能量机关（红+开灯）.mov");
video_gimble = new VideoWrapper("/home/sun/项目/RM2019 能量机关视频/小能量机关（红+开灯）.mov");
video_chassis = new VideoWrapper("/home/sun/项目/RM2019 能量机关视频/小能量机关（红+开灯）.mov");
}
if (video_gimble->init()) {
LOGM("video_gimble source initialization successfully.");
@@ -100,10 +100,12 @@ int main(int argc, char *argv[]) {
cout << "set" << endl;
}
ok = checkReconnect(video_gimble->read(gimble_src), video_chassis->read(chassis_src));//检查有几个摄像头
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));
// 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));
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.runBig(gimble_src, chassis_src);//击打大符
@@ -115,9 +117,13 @@ int main(int argc, char *argv[]) {
}
last_state = mcuData.state;
ok = checkReconnect(video_gimble->read(gimble_src));
// resize(gimble_src,gimble_src,cv::Size(853,480));
// gimble_src = gimble_src(Rect(106, 0, 640, 480));
if (save_video) saveVideos(gimble_src);
if (show_origin) showOrigin(gimble_src);
// energy.runSmall(gimble_src);
energy.runSmall(gimble_src);
} else { // 自瞄模式
if(last_state != ARMOR_STATE){
((CameraWrapper*)video_gimble)->changeBrightness(40);