VSAG/vision_sjtu_19
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energy change

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sun
2019-07-23 16:02:50 +08:00
parent 68a642e6a6
commit e62c53d343
14 changed files with 204 additions and 126 deletions
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96
main.cpp
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@@ -34,6 +34,8 @@ mcu_data mcuData = { // 单片机端回传结构体
0, // 云台角度标记位
1, // 是否启用数字识别
ENEMY_RED, // 敌方颜色
0, // 能量机关x轴补偿量
0, // 能量机关y轴补偿量
};
WrapperHead *video_gimbal = nullptr; // 云台摄像头视频源
@@ -64,8 +66,8 @@ int main(int argc, char *argv[]) {
video_gimbal = new CameraWrapper(ARMOR_CAMERA_GAIN, 0/*, "armor"*/);
video_chassis = new CameraWrapper(ENERGY_CAMERA_GAIN, 0/*, "energy"*/);
} else {
video_gimbal = new VideoWrapper("/home/sun/项目/energy_video/gimbal132.avi");
video_chassis = new VideoWrapper("/home/sun/项目/energy_video/gimbal132.avi");
video_gimbal = new VideoWrapper("/home/sun/项目/energy_video/gimbal255.avi");
video_chassis = new VideoWrapper("/home/sun/项目/energy_video/gimbal255.avi");
}
if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully.");
@@ -92,9 +94,10 @@ int main(int argc, char *argv[]) {
cout << "start running" << endl;
do {
// CNT_TIME("Total", {
if (mcuData.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
destroyAllWindows();
if (mcuData.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
destroyAllWindows();
if(from_camera){
delete video_gimbal;
video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 0/*, "armor"*/);
if (video_gimbal->init()) {
@@ -102,26 +105,28 @@ int main(int argc, char *argv[]) {
} else {
LOGW("video_gimbal source unavailable!");
}
energy.setBigEnergyInit();
checkReconnect(video_chassis->read(chassis_src));
}
checkReconnect(video_chassis->read(chassis_src));
energy.setBigEnergyInit();
}
ok = checkReconnect(video_gimbal->read(gimbal_src));
video_chassis->read(chassis_src);
#ifdef 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
}
ok = checkReconnect(video_gimbal->read(gimbal_src));
video_chassis->read(chassis_src);
#ifdef GIMBAL_FLIP_MODE
flip(gimbal_src, gimbal_src, GIMBAL_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);
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);
last_state = mcuData.state;//更新上一帧状态
} else if (mcuData.state == SMALL_ENERGY_STATE) {
if (mcuData.state != SMALL_ENERGY_STATE) {
destroyAllWindows();
last_state = mcuData.state;//更新上一帧状态
} else if (mcuData.state == SMALL_ENERGY_STATE) {
if (mcuData.state != SMALL_ENERGY_STATE) {
destroyAllWindows();
if(from_camera){
delete video_gimbal;
video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 0/*, "armor"*/);
if (video_gimbal->init()) {
@@ -129,20 +134,22 @@ int main(int argc, char *argv[]) {
} else {
LOGW("video_gimbal source unavailable!");
}
energy.setSmallEnergyInit();
}
ok = checkReconnect(video_gimbal->read(gimbal_src));
energy.setSmallEnergyInit();
}
ok = checkReconnect(video_gimbal->read(gimbal_src));
#ifdef GIMBAL_FLIP_MODE
flip(gimbal_src, gimbal_src, 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);
last_state = mcuData.state;//更新上一帧状态
} else { // 自瞄模式
if (last_state != ARMOR_STATE) {
destroyAllWindows();
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);
last_state = mcuData.state;//更新上一帧状态
} else { // 自瞄模式
if (last_state != ARMOR_STATE) {
destroyAllWindows();
if(from_camera){
delete video_gimbal;
video_gimbal = new CameraWrapper(ARMOR_CAMERA_GAIN, 0/*, "armor"*/);
if (video_gimbal->init()) {
@@ -151,18 +158,19 @@ int main(int argc, char *argv[]) {
LOGW("video_gimbal source unavailable!");
}
}
last_state = mcuData.state;
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);
if (show_origin) showOrigin(gimbal_src);
CNT_TIME("Armor Time", {
armorFinder.run(gimbal_src);
});
}
last_state = mcuData.state;
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);
if (show_origin) showOrigin(gimbal_src);
CNT_TIME("Armor Time", {
armorFinder.run(gimbal_src);
});
}
// cv::waitKey(0);
// });
} while (ok);