main.cpp

#include"./Head/ArmorDetector.h"
#include"./Head/Pose.h"
#include"./Head/PortProtocol.h"
#include<sys/time.h>
using namespace cv;
using namespace std;
using namespace rm;



int main()
{
	VideoCapture cap0(0);
	timeval s,t; //Using for calculating the frame speed per secnod in Linux
	//VideoCapture cap0("D:/文档/visual studio/视觉组/装甲识别/装甲板识别测试视频（蓝色）.mp4");
	Mat frame0;//用于储存每一帧的图像
	ArmorParam armorParam;
	ArmorDetector armor(armorParam);
	Pose pose;
	Point2d offset;
	armor.setEnemyColor(RED);
	namedWindow("1", WINDOW_AUTOSIZE);
	while (1)
	{

		if (cap0.read(frame0))
		{
			gettimeofday(&s,NULL);
			cap0 >> frame0;
			armor.loadImg(frame0);
			if (armor.detect() == 3) {
				receive(fdk_f);
				offset = pose.getArmorPoint(armor,fdk_f.bulletType);
				ctl_f.pitch = offset.x;
				ctl_f.yaw = offset.y;
				send(ctl_f);
				cout << "offset: " << offset << endl;//
				
			}
			gettimeofday(&t,NULL);
			cout<<"当前帧率："<<1000/double(t.tv_usec-s.tv_usec)<<"FPS"<<endl; //Output FPS
			armor.showDebugImg();
			if (waitKey(50) == 27)
			{
				break;
			}
		}
	}
	cap0.release();
	return 0;

}