使用

当修改某些内容，或第一次运行时需要编译工程

./make.sh

运行项目

./run.sh

所以当clone本工程后，需要为上面两个脚本添加可执行权限。 或者手动指定配置文件

./build/circle CONFIG_FILE_PATH

要下载./video目录下的视频，需要git lsf支持，安装参考git-lfs

配置文件

配置文件位于./cfg目录下，运行程序不指定配置文件时默认使用./cfg/config.json 初始配置文件为

{
    "test": {
        "video_path": "./video/20160212_003550.avi"
    },
    "camera": {
        "frame_width": 640,
        "frame_height": 480,
        "frame_fps": 30,
        "brightness": 0.5,
        "contrast": 0.5,
        "saturation": 0.46875,
        "hue": 0.5,
        "exposure": 5
    },
    "video": {
        "frame_fps": 27.0
    },
    "image_processing": {
        "gamma": 2.0,
        "red_low_1": [170, 150, 230],
        "red_high_1": [180, 256, 256],
        "red_low_2": [0, 150, 230],
        "red_high_2": [20, 256, 256],
        "green_low": [35, 150, 230],
        "green_high": [77, 256, 256],
        "blue_low": [100, 150, 230],
        "blue_high": [124, 256, 256],
        "circle1_param": {
            "dp": 4.0,
            "minDist": 100,
            "param1": 100,
            "param2": 160,
            "minRadius": 0,
            "maxRadius": 0
        },
        "circle2_param": {
            "dp": 4.0,
            "minDist": 100,
            "param1": 100,
            "param2": 160,
            "minRadius": 0,
            "maxRadius": 0
        },
        "circle3_param": {
            "dp": 4.0,
            "minDist": 100,
            "param1": 100,
            "param2": 160,
            "minRadius": 0,
            "maxRadius": 0
        }
    },
    "control_parameters": {
        "k_p": 10,
        "k_i": 10,
        "k_d": 10
    }
}