61 lines
1.5 KiB
C++
61 lines
1.5 KiB
C++
#include <fmt/core.h>
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#include <chrono>
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#include <opencv2/opencv.hpp>
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#include "io/camera.hpp"
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#include "tasks/auto_aim/detector.hpp"
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#include "tasks/auto_aim/yolo.hpp"
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#include "tools/exiter.hpp"
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#include "tools/logger.hpp"
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#include "tools/math_tools.hpp"
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const std::string keys =
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"{help h usage ? | | 输出命令行参数说明 }"
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"{@config-path | configs/sentry.yaml | yaml配置文件的路径}"
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"{tradition t | false | 是否使用传统方法识别}";
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int main(int argc, char * argv[])
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{
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// 读取命令行参数
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cv::CommandLineParser cli(argc, argv, keys);
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if (cli.has("help")) {
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cli.printMessage();
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return 0;
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}
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auto config_path = cli.get<std::string>(0);
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auto use_tradition = cli.get<bool>("tradition");
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tools::Exiter exiter;
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io::Camera camera(config_path);
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auto_aim::Detector detector(config_path, true);
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auto_aim::YOLO yolo(config_path, true);
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std::chrono::steady_clock::time_point timestamp;
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while (!exiter.exit()) {
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cv::Mat img;
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std::list<auto_aim::Armor> armors;
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camera.read(img, timestamp);
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if (img.empty()) break;
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auto last = std::chrono::steady_clock::now();
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if (use_tradition)
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armors = detector.detect(img);
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else
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armors = yolo.detect(img);
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auto now = std::chrono::steady_clock::now();
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auto dt = tools::delta_time(now, last);
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tools::logger()->info("{:.2f} fps", 1 / dt);
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auto key = cv::waitKey(33);
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if (key == 'q') break;
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}
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return 0;
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} |