VSAG/vision_sjtu_19
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energy changed

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sun
2019-08-05 17:27:49 +08:00
parent 7337f10123
commit e1fc19fdbf
4 changed files with 77 additions and 73 deletions
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144
main.cpp
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@@ -30,7 +30,7 @@ using namespace std;
McuData mcu_data = { // 单片机端回传结构体
0, // 当前云台yaw角
0, // 当前云台pitch角
ARMOR_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
@@ -66,8 +66,8 @@ int main(int argc, char *argv[]) {
video_gimbal = new CameraWrapper(ARMOR_CAMERA_GAIN, 2/*, "armor"*/);
video_chassis = new CameraWrapper(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("/home/sun/桌面/shiying/blue_1.avi");
video_chassis = new VideoWrapper("/home/sun/桌面/shiying/blue_1.avi");
}
if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully.");
@@ -94,90 +94,90 @@ int main(int argc, char *argv[]) {
cout << "start running" << endl;
do {
CNT_TIME("Total", {
if (mcu_data.state == BIG_ENERGY_STATE) {//大能量机关模式
if (last_state != BIG_ENERGY_STATE) {//若上一帧不是大能量机关模式，即刚往完成切换，则需要初始化
LOGM(STR_CTR(WORD_BLUE, "Start Big Energy!"));
destroyAllWindows();
if (from_camera) {
delete video_gimbal;
video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 2/*, "armor"*/);
if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully.");
} else {
LOGW("video_gimbal source unavailable!");
if (mcu_data.state == BIG_ENERGY_STATE) {//大能量机关模式
if (last_state != BIG_ENERGY_STATE) {//若上一帧不是大能量机关模式，即刚往完成切换，则需要初始化
LOGM(STR_CTR(WORD_BLUE, "Start Big Energy!"));
destroyAllWindows();
if (from_camera) {
delete video_gimbal;
video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 2/*, "armor"*/);
if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully.");
} else {
LOGW("video_gimbal source unavailable!");
}
}
checkReconnect(video_chassis->read(chassis_src));
energy.setBigEnergyInit();
}
checkReconnect(video_chassis->read(chassis_src));
energy.setBigEnergyInit();
}
last_state = mcu_data.state;//更新上一帧状态
ok = checkReconnect(video_gimbal->read(gimbal_src));
video_chassis->read(chassis_src);
last_state = mcu_data.state;//更新上一帧状态
ok = checkReconnect(video_gimbal->read(gimbal_src));
video_chassis->read(chassis_src);
#ifdef GIMBAL_FLIP_MODE
flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
#endif
#ifdef CHASSIS_FLIP_MODE
flip(chassis_src, chassis_src, CHASSIS_FLIP_MODE);
flip(chassis_src, chassis_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.runBig(gimbal_src, chassis_src);
// energy.runBig(gimbal_src);
} else if (mcu_data.state == SMALL_ENERGY_STATE) {
if (last_state != SMALL_ENERGY_STATE) {
LOGM(STR_CTR(WORD_GREEN, "Start Small Energy!"));
destroyAllWindows();
if (from_camera) {
delete video_gimbal;
video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 2/*, "armor"*/);
if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully.");
} else {
LOGW("video_gimbal source unavailable!");
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.runBig(gimbal_src, chassis_src);
energy.runBig(gimbal_src);
} else if (mcu_data.state == SMALL_ENERGY_STATE) {
if (last_state != SMALL_ENERGY_STATE) {
LOGM(STR_CTR(WORD_GREEN, "Start Small Energy!"));
destroyAllWindows();
if (from_camera) {
delete video_gimbal;
video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 2/*, "armor"*/);
if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully.");
} else {
LOGW("video_gimbal source unavailable!");
}
}
energy.setSmallEnergyInit();
}
last_state = mcu_data.state;//更新上一帧状态
ok = checkReconnect(video_gimbal->read(gimbal_src));
#ifdef GIMBAL_FLIP_MODE
flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
#endif
if (!from_camera) extract(gimbal_src);
if (save_video) saveVideos(gimbal_src);//保存视频
if (show_origin) showOrigin(gimbal_src);//显示原始图像
energy.runSmall(gimbal_src);
} else { // 自瞄模式
if (last_state != ARMOR_STATE) {
LOGM(STR_CTR(WORD_RED, "Start Armor!"));
destroyAllWindows();
if (from_camera) {
delete video_gimbal;
video_gimbal = new CameraWrapper(ARMOR_CAMERA_GAIN, 2/*, "armor"*/);
if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully.");
} else {
LOGW("video_gimbal source unavailable!");
}
}
}
energy.setSmallEnergyInit();
}
last_state = mcu_data.state;//更新上一帧状态
ok = checkReconnect(video_gimbal->read(gimbal_src));
last_state = mcu_data.state;
CNT_TIME(STR_CTR(WORD_GREEN, "read img"), {
if (!checkReconnect(video_gimbal->read(gimbal_src))) continue;
});
#ifdef GIMBAL_FLIP_MODE
flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
#endif
if (!from_camera) extract(gimbal_src);
if (save_video) saveVideos(gimbal_src);//保存视频
if (show_origin) showOrigin(gimbal_src);//显示原始图像
energy.runSmall(gimbal_src);
} else { // 自瞄模式
if (last_state != ARMOR_STATE) {
LOGM(STR_CTR(WORD_RED, "Start Armor!"));
destroyAllWindows();
if (from_camera) {
delete video_gimbal;
video_gimbal = new CameraWrapper(ARMOR_CAMERA_GAIN, 2/*, "armor"*/);
if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully.");
} else {
LOGW("video_gimbal source unavailable!");
}
}
}
last_state = mcu_data.state;
CNT_TIME(STR_CTR(WORD_GREEN, "read img"), {
if(!checkReconnect(video_gimbal->read(gimbal_src))) continue;
});
#ifdef GIMBAL_FLIP_MODE
flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
#endif
// CNT_TIME("something whatever", {
if (!from_camera) extract(gimbal_src);
if (save_video) saveVideos(gimbal_src);
if (show_origin) showOrigin(gimbal_src);
// });
CNT_TIME(STR_CTR(WORD_CYAN, "Armor Time"), {
armor_finder.run(gimbal_src);
});
}
CNT_TIME(STR_CTR(WORD_CYAN, "Armor Time"), {
armor_finder.run(gimbal_src);
});
}
// cv::waitKey(0);
});
} while (ok);