本文整理汇总了C++中ARDrone类的典型用法代码示例。如果您正苦于以下问题：C++ ARDrone类的具体用法？C++ ARDrone怎么用？C++ ARDrone使用的例子？那么, 这里精选的类代码示例或许可以为您提供帮助。
在下文中一共展示了ARDrone类的15个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: main
int main(int argc, char *argv[]) {
ARDrone ardrone;
if(!ardrone.open()) {
std::cerr << "Error: Failed to initialization of ARDrone." << std::endl;
return 1;
}
return 0;
}示例2: main
// --------------------------------------------------------------------------
// main(Number of arguments, Argument values)
// Description : This is the entry point of the program.
// Return value : SUCCESS:0 ERROR:-1
// --------------------------------------------------------------------------
int main(int argc, char *argv[])
{
// AR.Drone class
ARDrone ardrone;
// Initialize
if (!ardrone.open()) {
std::cout << "Failed to initialize." << std::endl;
return -1;
}
// Image of AR.Drone's camera
cv::Mat image = ardrone.getImage();
// Video name
std::time_t t = std::time(NULL);
std::tm *local = std::localtime(&t);
std::ostringstream stream;
stream << 1900 + local->tm_year << "-" << 1 + local->tm_mon << "-" << local->tm_mday << "-" << local->tm_hour << "-" << local->tm_min << "-" << local->tm_sec << ".avi";
// Create a video writer
cv::VideoWriter writer(stream.str(), cv::VideoWriter::fourcc('D', 'I', 'B', ' '), 30, cv::Size(image.cols, image.rows));
// Main loop
while (1) {
// Key input
int key = cv::waitKey(33);
if (key == 0x1b) break;
// Get an image
image = ardrone.getImage();
// Write a frame
writer << image;
// Display the image
imshow("camera", image);
}
// Output the video
writer.release();
// See you
ardrone.close();
return 0;
}示例3: main
// --------------------------------------------------------------------------
// main(Number of arguments, Value of arguments)
// Description : This is the main function.
// Return value : SUCCESS:0 ERROR:-1
// --------------------------------------------------------------------------
int main(int argc, char **argv)
{
// AR.Drone class
ARDrone ardrone;
// Initialize
if (!ardrone.open()) {
printf("Failed to initialize.\n");
return -1;
}
// Recording flag
int rec = 0;
printf("Press 'R' to start/stop recording.");
// Main loop
while (!GetAsyncKeyState(VK_ESCAPE)) {
// Update
if (!ardrone.update()) break;
// Get an image
IplImage *image = ardrone.getImage();
// Video recording start / stop
if (KEY_PUSH('R')) {
if (rec) {
ardrone.stopVideoRecord();
rec = 0;
}
else {
ardrone.startVideoRecord();
rec = 1;
}
}
// Show recording state
if (rec) {
static CvFont font = cvFont(1.0);
cvPutText(image, "REC", cvPoint(10, 20), &font, CV_RGB(255,0,0));
}
// Display the image
cvShowImage("camera", image);
cvWaitKey(1);
}
// See you
ardrone.close();
return 0;
}示例4: main
int main(){
cout<<"Hol<"<<endl;
//Mat img=imread("/home/mottamx/Pictures/batman.jpg");
//namedWindow("batman");
//imshow("batman", img);
//waitKey(1);
cout<<"Hol<<"<<endl;
ARDrone ardrone;
if (!ardrone.open()){
cout<<"error de comunicación"<<endl;
return -1;
}
cout<<"Bat: "<<ardrone.getBatteryPercentage()<<endl;
sleep(2);
cout<<"Bat: "<<ardrone.getBatteryPercentage()<<endl;
sleep(2);
cout<<"Bat: "<<ardrone.getBatteryPercentage()<<endl;
sleep(2);
time_t start, end;
time (&start);
cout.flush();
double elapsed=0;
namedWindow("dron");
namedWindow("dron2");
while(elapsed<5){
//sleep(2);
IplImage *im=ardrone.getImage();
Mat img = Mat(im);
Mat img2;
resize(img, img2, Size(), 2,2, INTER_AREA);
resize(img, img, Size(), 2,2, INTER_LANCZOS4);
imshow("dron", img);
waitKey(1);
imshow("dron2", img2);
waitKey(1);
time(&end);
elapsed=difftime(end,start);
}
cout<<"Tiempo: "<<setprecision(3)<<elapsed<<"segundos"<<endl;
cout<<"<dios"<<endl;
ardrone.close();
ardrone.emergency();
return 0;
}示例5: main
// --------------------------------------------------------------------------
// main(Number of arguments, Argument values)
// Description : This is the entry point of the program.
// Return value : SUCCESS:0 ERROR:-1
// --------------------------------------------------------------------------
int main(int argc, char **argv)
{
// AR.Drone class
ARDrone ardrone;
// Initialize
if (!ardrone.open()) {
printf("Failed to initialize.\n");
return -1;
}
// Image of AR.Drone's camera
IplImage *image = ardrone.getImage();
// Read intrincis camera parameters
CvFileStorage *fs = cvOpenFileStorage("camera.xml", 0, CV_STORAGE_READ);
CvMat *intrinsic = (CvMat*)cvRead(fs, cvGetFileNodeByName(fs, NULL, "intrinsic"));
CvMat *distortion = (CvMat*)cvRead(fs, cvGetFileNodeByName(fs, NULL, "distortion"));
// Initialize undistortion maps
CvMat *mapx = cvCreateMat(image->height, image->width, CV_32FC1);
CvMat *mapy = cvCreateMat(image->height, image->width, CV_32FC1);
cvInitUndistortMap(intrinsic, distortion, mapx, mapy);
// Main loop
while (1) {
// Key input
int key = cvWaitKey(1);
if (key == 0x1b) break;
// Update
if (!ardrone.update()) break;
// Get an image
image = ardrone.getImage();
// Remap the image
cvRemap(image, image, mapx, mapy);
// Display the image
cvShowImage("camera", image);
}
// Release the matrices
cvReleaseMat(&mapx);
cvReleaseMat(&mapy);
cvReleaseFileStorage(&fs);
// See you
ardrone.close();
return 0;
}示例6: main
// --------------------------------------------------------------------------
// main(Number of arguments, Argument values)
// Description : This is the entry point of the program.
// Return value : SUCCESS:0 ERROR:-1
// --------------------------------------------------------------------------
int main(int argc, char **argv)
{
// AR.Drone class
ARDrone ardrone;
// Initialize
if (!ardrone.open()) {
printf("Failed to initialize.\n");
return -1;
}
// Recording flag
bool rec = false;
printf("Press 'R' to start/stop recording.");
// Main loop
while (1) {
// Key input
int key = cvWaitKey(1);
if (key == 0x1b) break;
// Update
if (!ardrone.update()) break;
// Get an image
IplImage *image = ardrone.getImage();
// Video recording start / stop
if (key == 'r') {
rec = !rec;
ardrone.setVideoRecord(rec);
}
// Show recording state
if (rec) {
static CvFont font = cvFont(1.0);
cvPutText(image, "REC", cvPoint(10, 20), &font, CV_RGB(255,0,0));
}
// Display the image
cvShowImage("camera", image);
}
// See you
ardrone.close();
return 0;
}示例7: main
// --------------------------------------------------------------------------
// main(Number of arguments, Argument values)
// Description : This is the entry point of the program.
// Return value : SUCCESS:0 ERROR:-1
// --------------------------------------------------------------------------
int main(int argc, char **argv)
{
// AR.Drone class
ARDrone ardrone;
// Initialize
if (!ardrone.open()) {
printf("Failed to initialize.\n");
return -1;
}
// Battery
int battery = ardrone.getBatteryPercentage();
printf("ardrone.battery = %d [%%]\n", battery);
// Instructions
printf("***************************************\n");
printf("* CV Drone sample program *\n");
printf("* - Haw To Play - *\n");
printf("***************************************\n");
printf("* *\n");
printf("* - Controls - *\n");
printf("* 'Space' -- Takeoff/Landing *\n");
printf("* 'Up' -- Move forward *\n");
printf("* 'Down' -- Move backward *\n");
printf("* 'Left' -- Turn left *\n");
printf("* 'Right' -- Turn right *\n");
printf("* 'Shift+Up' -- Move upward *\n");
printf("* 'Shift+Down' -- Move downward *\n");
printf("* 'Shift+Left' -- Move left *\n");
printf("* 'Shift+Right' -- Move right *\n");
printf("* *\n");
printf("* - Others - *\n");
printf("* 'C' -- Change camera *\n");
printf("* 'Esc' -- Exit *\n");
printf("* *\n");
printf("***************************************\n\n");
// Main loop
while (!GetAsyncKeyState(VK_ESCAPE)) {
// Update
if (!ardrone.update()) break;
// Get an image
IplImage *image = ardrone.getImage();
// Take off / Landing
if (KEY_PUSH(VK_SPACE)) {
if (ardrone.onGround()) ardrone.takeoff();
else ardrone.landing();
}
// Move
double vx = 0.0, vy = 0.0, vz = 0.0, vr = 0.0;
if (KEY_DOWN(VK_SHIFT)) {
if (KEY_DOWN(VK_UP)) vz = 1.0;
if (KEY_DOWN(VK_DOWN)) vz = -1.0;
if (KEY_DOWN(VK_LEFT)) vy = 1.0;
if (KEY_DOWN(VK_RIGHT)) vy = -1.0;
}
else {
if (KEY_DOWN(VK_UP)) vx = 1.0;
if (KEY_DOWN(VK_DOWN)) vx = -1.0;
if (KEY_DOWN(VK_LEFT)) vr = 1.0;
if (KEY_DOWN(VK_RIGHT)) vr = -1.0;
}
ardrone.move3D(vx, vy, vz, vr);
// Change camera
static int mode = 0;
if (KEY_PUSH('C')) ardrone.setCamera(++mode%4);
// Display the image
cvShowImage("camera", image);
cvWaitKey(1);
}
// See you
ardrone.close();
return 0;
}示例8: runArdrone
int runArdrone(void)
{
// AR.Drone class
ARDrone ardrone;
// Initialize
if (!ardrone.open()) {
printf("Failed to initialize.\n");
return -1;
}
// Battery
battery = ardrone.getBatteryPercentage();
int tmpOrder = -99;
int nbLabelPos = 8;
int occLabelPos[nbLabelPos];
list<int> listOrder(5,-1);
float vx = 0.0, vy = 0.0, vz = 0.0, vr = 0.0;
while (1) {
usleep(33000);
imgFromKarmen = ardrone.getImage();
battery = ardrone.getBatteryPercentage();
tmpOrder = -99;
for (int i = 0; i < nbLabelPos; i++)
occLabelPos[i] = 0;
// Key input
// int key = cvWaitKey(0);
// if (key == 0x1b) break; //TODO
// Get an image
// Move
vx = 0.0;
vy = 0.0;
vz = 0.0;
vr = 0.0;
if(order == 100){
orderName = "Land";
ardrone.landing(); // Land
newOrder = false;
}
else{
if(newOrder){
newOrder = false;
listOrder.pop_front();
listOrder.push_back(order);
}
for (list<int>::iterator it=listOrder.begin(); it != listOrder.end(); ++it){
if(*it >= 0 && *it < nbLabelPos)
occLabelPos[*it]++;
}
for (int i = 0; i < nbLabelPos; i++){
if(occLabelPos[i] >= 3){
tmpOrder = i;
break;
}
}
switch (tmpOrder) {
case 0 :
orderName = "Up";
vz = 1.0;
break;
case 1 :
orderName = "Down";
vz = -1.0;
break;
case 2 :
orderName = "Left";
vy = 1.0;
break;
case 3 :
orderName = "Right";
vy = -1.0;
break;
case 4 :
orderName = "Land";
ardrone.landing(); // Land
break;
case 5 :
if (ardrone.onGround()){
orderName = "Take Off";
ardrone.takeoff(); // Take-off
}
break;
case 6 :
orderName = "Forward";
vx = 1.0;
//.........这里部分代码省略.........
示例9: main
// --------------------------------------------------------------------------
// main(Number of arguments, Argument values)
// Description : This is the entry point of the program.
// Return value : SUCCESS:0 ERROR:-1
// --------------------------------------------------------------------------
int main(int argc, char *argv[])
{
// AR.Drone class
ARDrone ardrone;
// Initialize
if (!ardrone.open()) {
std::cout << "Failed to initialize." << std::endl;
return -1;
}
// Main loop
while (1) {
// Key input
int key = cv::waitKey(33);
if (key == 0x1b) break;
// Get an image
cv::Mat image= ardrone.getImage();
// Orientation
double roll = ardrone.getRoll();
double pitch = ardrone.getPitch();
double yaw = ardrone.getYaw();
std::cout << "ardrone.roll = " << roll * RAD_TO_DEG << " [deg]" << std::endl;
std::cout << "ardrone.pitch = " << pitch * RAD_TO_DEG << " [deg]" << std::endl;
std::cout << "ardrone.yaw = " << yaw * RAD_TO_DEG << " [deg]" << std::endl;
// Altitude
double altitude = ardrone.getAltitude();
std::cout << "ardrone.altitude = " << altitude << " [m]" << std::endl;
// Velocity
double vx, vy, vz;
double velocity = ardrone.getVelocity(&vx, &vy, &vz);
std::cout << "ardrone.vx = " << vx << " [m/s]" << std::endl;
std::cout << "ardrone.vy = " << vy << " [m/s]" << std::endl;
std::cout << "ardrone.vz = " << vz << " [m/s]" << std::endl;
// Battery
int battery = ardrone.getBatteryPercentage();
std::cout << "ardrone.battery = " << battery << " [%%]" << std::endl;
// Take off / Landing
if (key == ' ') {
if (ardrone.onGround()) ardrone.takeoff();
else ardrone.landing();
}
// Move
double x = 0.0, y = 0.0, z = 0.0, r = 0.0;
if (key == 0x260000) x = 1.0;
if (key == 0x280000) x = -1.0;
if (key == 0x250000) r = 1.0;
if (key == 0x270000) r = -1.0;
ardrone.move3D(x, y, z, r);
// Change camera
static int mode = 0;
if (key == 'c') ardrone.setCamera(++mode%4);
// Display the image
cv::imshow("camera", image);
}
// See you
ardrone.close();
return 0;
}示例10: main
int main(int argc, char **argv)
{
//int i;
//static IplImage *src_img = 0, *src_gray = 0;
CascadeClassifier face_cascade;
//OK 2014.02.14 精度は荒いが速度はよい ※速度重視
face_cascade.load("..\\..\\data\\haarcascade_frontalface_alt2.xml");
//setup image files used in the capture process
Mat captureFrame;
Mat grayscaleFrame;
static pLeapData pLeapData;
pLeapData.init();
static bool mLeapnot = false;
static bool mTakOffFlag = false;
static bool mSendCommandflag = false;
static int mSendCommandcounter = 0;
static int mSoundCommandcounter = 0;
static int mSoundCommandOKcounter = 20;
float pitch = 0; //前p：-0.5 後p： 0.9
float yaw = 0; //左y：-1.0 右y： 0.7
float roll = 0; //左R： 0.8 右R：-1.0
float pitch_pre = 0; //前p：-0.5 後p： 0.9
float yaw_pre = 0; //左y：-1.0 右y： 0.7
float roll_pre = 0; //左R： 0.8 右R：-1.0
float PosX = 0; //左右 左 -150 〜 右 150
float PosY = 0; //上下昇降 下 50 〜 上 300
float PosZ = 0; //前後 手前-100 〜 奥 100
float PosX_pre = 0; //左右 左 -150 〜 右 150
float PosY_pre = 0; //上下昇降 下 50 〜 上 300
float PosZ_pre = 0; //前後 手前-100 〜 奥 100
float Para_pre = 0.80f; //
float Para_cur = 0.2f; //
Leap::Frame frame; // controller is a Leap::Controller object
Leap::HandList hands;
Leap::Hand firstHand;
//double vx = 0.0, vy = 0.0, vz = 0.0, vr = 0.0;
int mbatValue = 0;
//マウスイベント用
//http://ameblo.jp/banquet-of-merry-widow/entry-11101618791.html
MouseParam mparam;
mparam.x = 0; mparam.y = 0; mparam.event = 0; mparam.flags = 0;
//ウインドウへコールバック関数とコールバック関数からイベント情報を受け取る変数を渡す。
//setMouseCallback( wname, &mfunc, &mparam );
// AR.Drone class
// ARDrone ardrone;
if(mNonDronDebug == true)
{
}else
{
// Initialize
//if (!ardrone.open()) {
if ( initdrone(&ardrone) == -1) {
printf("Failed to initialize.\n");
return -1;
}
}
#ifdef MCISOUND
PlayWaveSound();
#endif
// Battery
printf("Battery = %d%%\n", ardrone.getBatteryPercentage());
// Instructions
printf("***************************************\n");
printf("* CV Drone sample program *\n");
printf("* - How to Play - *\n");
printf("***************************************\n");
printf("* *\n");
printf("* - Controls - *\n");
printf("* 'Space' -- Takeoff/Landing *\n");
printf("* 'Up' -- Move forward *\n");
printf("* 'Down' -- Move backward *\n");
printf("* 'Left' -- Turn left *\n");
printf("* 'Right' -- Turn right *\n");
printf("* 'Q' -- Move upward *\n");
printf("* 'A' -- Move downward *\n");
printf("* *\n");
printf("* - Others - *\n");
printf("* 'C' -- Change camera *\n");
printf("* 'Esc' -- Exit *\n");
printf("* *\n");
printf("* 'F' --mFaceDetectMode：スイッチ *\n");
printf("* 'L' --LeapMode：スイッチ *\n");
printf("* *\n");
printf("***************************************\n\n");
//
//.........这里部分代码省略.........
示例11: main
// --------------------------------------------------------------------------
// main(Number of arguments, Argument values)
// Description : This is the entry point of the program.
// Return value : SUCCESS:0 ERROR:-1
// --------------------------------------------------------------------------
int main(int argc, char *argv[])
{
// AR.Drone class
ARDrone ardrone;
// Initialize
if (!ardrone.open()) {
std::cout << "Failed to initialize." << std::endl;
return -1;
}
// Battery
std::cout << "Battery = " << ardrone.getBatteryPercentage() << "[%]" << std::endl;
// Instructions
std::cout << "***************************************" << std::endl;
std::cout << "* CV Drone sample program *" << std::endl;
std::cout << "* - How to play - *" << std::endl;
std::cout << "***************************************" << std::endl;
std::cout << "* *" << std::endl;
std::cout << "* - Controls - *" << std::endl;
std::cout << "* 'Space' -- Takeoff/Landing *" << std::endl;
std::cout << "* 'Up' -- Move forward *" << std::endl;
std::cout << "* 'Down' -- Move backward *" << std::endl;
std::cout << "* 'Left' -- Turn left *" << std::endl;
std::cout << "* 'Right' -- Turn right *" << std::endl;
std::cout << "* 'Q' -- Move upward *" << std::endl;
std::cout << "* 'A' -- Move downward *" << std::endl;
std::cout << "* *" << std::endl;
std::cout << "* - Others - *" << std::endl;
std::cout << "* 'C' -- Change camera *" << std::endl;
std::cout << "* 'Esc' -- Exit *" << std::endl;
std::cout << "* *" << std::endl;
std::cout << "***************************************" << std::endl;
while (1) {
// Key input
int key = cv::waitKey(33);
if (key == 0x1b) break;
// Get an image
cv::Mat image = ardrone.getImage();
// Take off / Landing
if (key == ' ') {
if (ardrone.onGround()) ardrone.takeoff();
else ardrone.landing();
}
// Move
double vx = 0.0, vy = 0.0, vz = 0.0, vr = 0.0;
if (key == 'i' || key == CV_VK_UP) vx = 1.0;
if (key == 'k' || key == CV_VK_DOWN) vx = -1.0;
if (key == 'u' || key == CV_VK_LEFT) vr = 1.0;
if (key == 'o' || key == CV_VK_RIGHT) vr = -1.0;
if (key == 'j') vy = 1.0;
if (key == 'l') vy = -1.0;
if (key == 'q') vz = 1.0;
if (key == 'a') vz = -1.0;
ardrone.move3D(vx, vy, vz, vr);
// Change camera
static int mode = 0;
if (key == 'c') ardrone.setCamera(++mode % 4);
// Display the image
cv::imshow("camera", image);
}
// See you
ardrone.close();
return 0;
}示例12: main
// --------------------------------------------------------------------------
// main(Number of arguments, Value of arguments)
// This is the main function.
// Return value Success:0 Error:-1
// --------------------------------------------------------------------------
int main(int argc, char **argv)
{
// AR.Drone class
ARDrone ardrone;
// Initialize
if (!ardrone.open()) {
printf("Failed to initialize.\n");
return -1;
}
// Main loop
while (!GetAsyncKeyState(VK_ESCAPE)) {
// Update your AR.Drone
if (!ardrone.update()) break;
// Get an image
IplImage *image = ardrone.getImage();
// Battery
printf("ardrone.battery = %d [��] (�c���%d��)\n", battery, 12*battery/100);
// Take off / Landing
if (KEY_PUSH(VK_SPACE)) {
if (ardrone.onGround()) ardrone.takeoff();
else ardrone.landing();
}
// Emergency stop
if (KEY_PUSH(VK_RETURN)) ardrone.emergency();
// AR.Drone is flying
if (!ardrone.onGround()) {
double x = 0.0, y = 0.0, z = 0.0, r = 0.0;
// Keyboard
if (KEY_DOWN(VK_UP)) x = 0.5;
if (KEY_DOWN(VK_DOWN)) x = -0.5;
if (KEY_DOWN(VK_LEFT)) r = 0.5;
if (KEY_DOWN(VK_RIGHT)) r = -0.5;
if (KEY_DOWN('Q')) z = 0.5;
if (KEY_DOWN('A')) z = -0.5;
// Joypad
JOYINFOEX JoyInfoEx;
JoyInfoEx.dwSize = sizeof(JOYINFOEX);
JoyInfoEx.dwFlags = JOY_RETURNALL;
// Get joypad infomations
if (joyGetPosEx(0, &JoyInfoEx) == JOYERR_NOERROR) {
int y_pad = -((int)JoyInfoEx.dwXpos - 0x7FFF) / 32512.0*100.0;
int x_pad = -((int)JoyInfoEx.dwYpos - 0x7FFF) / 32512.0*100.0;
int r_pad = -((int)JoyInfoEx.dwZpos - 0x7FFF) / 32512.0*100.0;
int z_pad = ((int)JoyInfoEx.dwRpos - 0x7FFF) / 32512.0*100.0;
printf("X = %d ", x_pad);
printf("Y = %d ", y_pad);
printf("Z = %d ", z_pad);
printf("R = %d\n", r_pad);
x = 0.5 * x_pad / 100;
y = 0.5 * y_pad / 100;
z = 0.5 * z_pad / 100;
r = 0.5 * r_pad / 100;
if (JoyInfoEx.dwButtons & JOY_BUTTON1) ardrone.takeoff();
if (JoyInfoEx.dwButtons & JOY_BUTTON2) ardrone.landing();
}
// Move
ardrone.move3D(x, y, z, r);
}
// Display the image
cvShowImage("camera", image);
cvWaitKey(1);
}
// See you
ardrone.close();
return 0;
}示例13: main
// --------------------------------------------------------------------------
// main(Number of arguments, Argument values)
// Description : This is the entry point of the program.
// Return value : SUCCESS:0 ERROR:-1
// --------------------------------------------------------------------------
int main(int argc, char **argv)
{
// AR.Drone class
ARDrone ardrone;
// Initialize
if (!ardrone.open()) {
printf("Failed to initialize.\n");
return -1;
}
// Get a image
IplImage* image = ardrone.getImage();
// Images
IplImage *gray = cvCreateImage(cvGetSize(image), image->depth, 1);
IplImage *smooth = cvCreateImage(cvGetSize(image), image->depth, 1);
IplImage *canny = cvCreateImage(cvGetSize(image), image->depth, 1);
// Canny thresholds
int th1 = 50, th2 = 100;
cvNamedWindow("canny");
cvCreateTrackbar("th1", "canny", &th1, 255);
cvCreateTrackbar("th2", "canny", &th2, 255);
// Main loop
while (1) {
// Key input
int key = cvWaitKey(1);
if (key == 0x1b) break;
// Update
if (!ardrone.update()) break;
// Get an image
image = ardrone.getImage();
// Convert to gray scale
cvCvtColor(image, gray, CV_BGR2GRAY);
// De-noising
cvSmooth(gray, smooth, CV_GAUSSIAN, 23, 23);
// Detect edges
cvCanny(smooth, canny, th1, th2, 3);
// Detect circles
CvMemStorage *storage = cvCreateMemStorage(0);
CvSeq *circles = cvHoughCircles(smooth, storage, CV_HOUGH_GRADIENT, 1.0, 10.0, MAX(th1,th2), 20);
// Draw circles
for (int i = 0; i < circles->total; i++) {
float *p = (float*) cvGetSeqElem(circles, i);
cvCircle(image, cvPoint(cvRound(p[0]), cvRound(p[1])), cvRound(p[2]), CV_RGB(0,255,0), 3, 8, 0);
}
// Release memory
cvReleaseMemStorage(&storage);
// Change camera
static int mode = 0;
if (key == 'c') ardrone.setCamera(++mode%4);
// Display the image
cvShowImage("camera", image);
cvShowImage("canny", canny);
}
// Release memories
cvReleaseImage(&gray);
cvReleaseImage(&smooth);
cvReleaseImage(&canny);
// See you
ardrone.close();
return 0;
}示例14: main
// --------------------------------------------------------------------------
// main(Number of arguments, Argument values)
// Description : This is the entry point of the program.
// Return value : SUCCESS:0 ERROR:-1
// --------------------------------------------------------------------------
int main(int argc, char **argv)
{
// AR.Drone class
ARDrone ardrone;
// Initialize
if (!ardrone.open()) {
printf("Failed to initialize.\n");
return -1;
}
// Snapshots
std::vector<cv::Mat> snapshots;
// Key frame
cv::Mat last = cv::Mat(ardrone.getImage(), true);
// ORB detector/descriptor
cv::OrbFeatureDetector detector;
cv::OrbDescriptorExtractor extractor;
// Main loop
while (!GetAsyncKeyState(VK_ESCAPE)) {
// Update
if (!ardrone.update()) break;
// Get an image
cv::Mat image = cv::Mat(ardrone.getImage());
// Detect key points
cv::Mat descriptorsA, descriptorsB;
std::vector<cv::KeyPoint> keypointsA, keypointsB;
detector.detect(last, keypointsA);
detector.detect(image, keypointsB);
extractor.compute(last, keypointsA, descriptorsA);
extractor.compute(image, keypointsB, descriptorsB);
// Match key points
std::vector<cv::DMatch> matches;
cv::BFMatcher matcher(cv::NORM_HAMMING, true);
matcher.match(descriptorsA, descriptorsB, matches);
// Count matches
int count = 0;
for (int i = 0; i < (int)matches.size(); i++) {
if (matches[i].queryIdx == matches[i].trainIdx) count++; // Yet, strange way
}
// Take a snapshot when scene was changed
if (count == 0) {
image.copyTo(last);
cv::Ptr<cv::Mat> tmp(new cv::Mat());
image.copyTo(*tmp);
snapshots.push_back(*tmp);
}
// Display the image
cv::Mat matchImage;
cv::drawMatches(last, keypointsA, image, keypointsB, matches, matchImage, cv::Scalar::all(-1), cv::Scalar::all(-1), std::vector<char>(), cv::DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS);
cv::imshow("camera", matchImage);
cv::waitKey(1);
}
// Stiching
cv::Mat result;
cv::Stitcher stitcher = cv::Stitcher::createDefault();
printf("Stitching images...\n");
if (stitcher.stitch(snapshots, result) == cv::Stitcher::OK) {
cv::imshow("result", result);
cv::imwrite("result.jpg", result);
cvWaitKey(0);
}
// See you
ardrone.close();
return 0;
}示例15: main
// --------------------------------------------------------------------------
// main(Number of arguments, Argument values)
// Description : This is the entry point of the program.
// Return value : SUCCESS:0 ERROR:-1
// --------------------------------------------------------------------------
int main(int argc, char **argv)
{
// AR.Drone class
ARDrone ardrone;
// Initialize
if (!ardrone.open()) {
printf("Failed to initialize.\n");
return -1;
}
// Main loop
while (1) {
// Key input
int key = cvWaitKey(33);
if (key == 0x1b) break;
// Update
if (!ardrone.update()) break;
// Get an image
IplImage *image = ardrone.getImage();
// Orientation
double roll = ardrone.getRoll();
double pitch = ardrone.getPitch();
double yaw = ardrone.getYaw();
printf("ardrone.roll = %3.2f [deg]\n", roll * RAD_TO_DEG);
printf("ardrone.pitch = %3.2f [deg]\n", pitch * RAD_TO_DEG);
printf("ardrone.yaw = %3.2f [deg]\n", yaw * RAD_TO_DEG);
// Altitude
double altitude = ardrone.getAltitude();
printf("ardrone.altitude = %3.2f [m]\n", altitude);
// Velocity
double vx, vy, vz;
double velocity = ardrone.getVelocity(&vx, &vy, &vz);
printf("ardrone.vx = %3.2f [m/s]\n", vx);
printf("ardrone.vy = %3.2f [m/s]\n", vy);
printf("ardrone.vz = %3.2f [m/s]\n", vz);
// Battery
int battery = ardrone.getBatteryPercentage();
printf("ardrone.battery = %d [%%]\n", battery);
// Take off / Landing
if (key == ' ') {
if (ardrone.onGround()) ardrone.takeoff();
else ardrone.landing();
}
// Move
double x = 0.0, y = 0.0, z = 0.0, r = 0.0;
if (key == 0x260000) x = 1.0;
if (key == 0x280000) x = -1.0;
if (key == 0x250000) r = 1.0;
if (key == 0x270000) r = -1.0;
ardrone.move3D(x, y, z, r);
// Change camera
static int mode = 0;
if (key == 'c') ardrone.setCamera(++mode%4);
// Display the image
cvShowImage("camera", image);
}
// See you
ardrone.close();
return 0;
}