本文整理汇总了C++中ARDrone::detectHuman方法的典型用法代码示例。如果您正苦于以下问题：C++ ARDrone::detectHuman方法的具体用法？C++ ARDrone::detectHuman怎么用？C++ ARDrone::detectHuman使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类ARDrone的用法示例。
在下文中一共展示了ARDrone::detectHuman方法的1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
// --------------------------------------------------------------------------
// 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 << "* 'T' -- Track marker *" << 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) {
double cx = 0;
double cy = 0;
cv::Rect trackRect;
// 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);
// Switch tracking ON/OFF
static int track = 0;
if (key == 't') track = !track;
// People detect
trackRect = ardrone.detectHuman(image);
cx = trackRect.x + (trackRect.width / 2);
cy = trackRect.y + (trackRect.height / 2);
cv::Point2f mc = cv::Point2f(cx, cy);
//std::cout << "cx: " << cx << " cy: " << cy <<std::endl;
cv::circle(image, mc, 5, cv::Scalar(0,0,255));
//std::cout << "rect size: " << trackRect.width * trackRect.height << std::endl;
// Tracking
if (track) {
if (cx == 0 && cy == 0)
{
vx = 0.0;
vy = 0.0;
vr = 0.0;
vz = 0.0;
} else {
const double kp = 0.005;
const double ka = 0.005;
//.........这里部分代码省略.........