本文整理汇总了C++中ARDrone::onGround方法的典型用法代码示例。如果您正苦于以下问题：C++ ARDrone::onGround方法的具体用法？C++ ARDrone::onGround怎么用？C++ ARDrone::onGround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::onGround方法的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
// --------------------------------------------------------------------------
// 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[])
{
const std::string Training = "quad2.png";
quadrotor_matcher::image_template_gray = cv::imread(Training, 0);
if( !quadrotor_matcher::image_template_gray.data )
{
std::cout << "...Couldn't find template image." << std::endl;
return -1;
}
Draw draw;
quadrotor_affine::initialize_st();
quadrotor_job::ctrl_gain = 0.0025;
quadrotor_job::ctrl_sweetspot = 60000.0;
quadrotor_job::ctrl_gain2 = 1.55;//1.15;
pipe* stages[] = {new quadrotor_image, new quadrotor_sift, new quadrotor_matcher, new quadrotor_affine};
parallel_pipeline::pipeline quadrotor_pipeline;
quadrotor_pipeline.addStages(4, stages);
//quadrotor_pipeline.startDebugging();
//Send the template into the pipe
quadrotor_job* newjob = new quadrotor_job;
newjob->image_gray = quadrotor_matcher::image_template_gray;
quadrotor_pipeline.pushJob("Sift",newjob);
// AR.Drone class
ARDrone ardrone;
// Initialize
if (!ardrone.open(/*"192.168.1.3"*/)) {
printf("Failed to initialize.\n");
return -1;
}
ardrone.setFlatTrim();
// Instructions
printf("***************************************\n");
printf("* CV Drone Tracker Program *\n");
printf("***************************************\n");
printf("* *\n");
printf("* - Controls - *\n");
printf("* 'Space' -- Takeoff/Landing *\n");
printf("* *\n");
printf("* - Others - *\n");
printf("* 'C' -- Change camera *\n");
printf("* 'Esc' -- Exit *\n");
printf("* *\n");
printf("***************************************\n\n");
{
cv::Mat image = ardrone.getImage();
quadrotor_affine::image_center_query.at<double>(0) = (double)(image.cols)/2.0;
quadrotor_affine::image_center_query.at<double>(1) = (double)(image.rows)/2.0;
quadrotor_affine::image_center_query.at<double>(2) = 1.0;
}
{
quadrotor_affine::image_center_training.at<double>(0) = (double)(quadrotor_matcher::image_template_gray.cols)/2.0;
quadrotor_affine::image_center_training.at<double>(1) = (double)(quadrotor_matcher::image_template_gray.rows)/2.0;
quadrotor_affine::image_center_training.at<double>(2) = 1.0;
}
unsigned long curTime = timeGetTime();
unsigned long lastTime = curTime;
unsigned long lastBatteryTime = curTime;
unsigned long lastControl = curTime;
int cameraMode = 0;
cv::Mat savedControl;
while (1)
{
curTime = timeGetTime();
// Battery
if(lastBatteryTime < curTime)
{
lastBatteryTime = curTime + 10000;
printf("Battery = %d%%\n", ardrone.getBatteryPercentage());
}
// Sleep and get key
int key = cv::waitKey(30);
switch(key)
{
case 0x1b:
quadrotor_pipeline.stopDebugging();
goto quit;
case ' ':
if (ardrone.onGround())
ardrone.takeoff();
//.........这里部分代码省略.........
示例2: 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3: 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4: 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
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("***************************************\n\n");
while (1) {
// Key input
int key = cvWaitKey(33);
if (key == 0x1b) break;
// Update
if (!ardrone.update()) break;
// Get an image
IplImage *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 == 0x260000) vx = 1.0;
if (key == 0x280000) vx = -1.0;
if (key == 0x250000) vr = 1.0;
if (key == 0x270000) vr = -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
cvShowImage("camera", image);
}
// See you
ardrone.close();
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()) {
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6: main
//.........这里部分代码省略.........
0.0, 0.0, 0.1, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.3, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.3, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.3;
kalman.processNoiseCov = Q;
// Measurement noise covariance (z, vx, vy, vz)
cv::Mat1f R(4, 4);
R << 0.1, 0.0, 0.00, 0.00,
0.0, 0.1, 0.00, 0.00,
0.0, 0.0, 0.05, 0.00,
0.0, 0.0, 0.00, 0.05;
kalman.measurementNoiseCov = R;
// Main loop
while (1) {
// Key input
int key = cv::waitKey(33);
if (key == 0x1b) break;
// Update
if (!ardrone.update()) break;
// Get an image
cv::Mat image = ardrone.getImage();
// Prediction
cv::Mat prediction = kalman.predict();
// Altitude
double altitude = ardrone.getAltitude();
// Orientations
double roll = ardrone.getRoll();
double pitch = ardrone.getPitch();
double yaw = ardrone.getYaw();
// Velocities
double vx, vy, vz;
double velocity = ardrone.getVelocity(&vx, &vy, &vz);
cv::Mat V = (cv::Mat1f(3,1) << vx, vy, vz);
// Rotation matrices
cv::Mat RZ = (cv::Mat1f(3,3) << cos(yaw), -sin(yaw), 0.0,
sin(yaw), cos(yaw), 0.0,
0.0, 0.0, 1.0);
cv::Mat RY = (cv::Mat1f(3,3) << cos(pitch), 0.0, sin(pitch),
0.0, 1.0, 0.0,
-sin(pitch), 0.0, cos(pitch));
cv::Mat RX = (cv::Mat1f(3,3) << 1.0, 0.0, 0.0,
0.0, cos(roll), -sin(roll),
0.0, sin(roll), cos(roll));
// Time [s]
static int64 last = cv::getTickCount();
double dt = (cv::getTickCount() - last) / cv::getTickFrequency();
last = cv::getTickCount();
// Local movements (z, vx, vy, vz)
cv::Mat1f M = RZ * RY * RX * V * dt;
cv::Mat measurement = (cv::Mat1f(4,1) << altitude, M(0,0), M(1,0), M(2,0));
// Correction
cv::Mat1f estimated = kalman.correct(measurement);
// Position (x, y, z)
double pos[3] = {estimated(0,0), estimated(1,0), estimated(2,0)};
printf("x = %3.2fm, y = %3.2fm, z = %3.2fm\n", pos[0], pos[1], pos[2]);
// 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;
if (key == 'q') z = 1.0;
if (key == 'a') z = -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::circle(map, cv::Point(-pos[1]*100.0 + map.cols/2, -pos[0]*100.0 + map.rows/2), 2, CV_RGB(255,0,0));
cv::imshow("map", map);
cv::imshow("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()) {
std::cout << "Failed to initialize." << std::endl;
return -1;
}
// Battery
std::cout << "Battery = " << ardrone.getBatteryPercentage() << "[%]" << std::endl;
zbar::ImageScanner scanner;
scanner.set_config(zbar::ZBAR_NONE, zbar::ZBAR_CFG_ENABLE, 1);
// Main loop
while (1) {
// Key input
int key = cv::waitKey(33);
if (key == 0x1b) break;
// Get an image
cv::Mat image = ardrone.getImage();
//cout << image.channels() << " channels " << endl;
cvtColor(image, image, CV_RGB2GRAY);
//cout << image.channels() << " channels efter RGB2GRAY" << endl;
cv::Mat imgout;
//cout << image.cols << "image ardrone cols" << endl;
cvtColor(image, imgout, CV_GRAY2RGB);
//cvtColor(image, imgout);
// 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 == 'i' || key == CV_VK_UP) x = 1.0;
if (key == 'k' || key == CV_VK_DOWN) x = -1.0;
if (key == 'u' || key == CV_VK_LEFT) r = 1.0;
if (key == 'o' || key == CV_VK_RIGHT) r = -1.0;
if (key == 'j') y = 1.0;
if (key == 'l') y = -1.0;
if (key == 'q') z = 1.0;
if (key == 'a') z = -1.0;
ardrone.move3D(x, y, z, r);
// Change camera
static int mode = 0;
if (key == 'c') ardrone.setCamera(++mode%4);
//cv::cvtColor(image, image, CV_GRAY2RGB);
//cv::cvtColor(image, image, CV_RGB2GRAY);
int width = image.cols;
int height = image.rows;
uchar *raw = (uchar *) image.data;
// wrap image data
zbar::Image imageQR(width, height, "Y800", raw, width * height);
// scan the image for barcodes
int n = scanner.scan(imageQR);
// extract results
for (zbar::Image::SymbolIterator symbol = imageQR.symbol_begin();
symbol != imageQR.symbol_end();
++symbol) {
cout << "Inde i for loop" << endl;
vector<Point> vp;
// do something useful with results
cout << "decoded " << symbol->get_type_name()
<< " symbol \"" << symbol->get_data() << '"' << " " << endl;
int n = symbol->get_location_size();
for (int i = 0; i<n; i++) {
vp.push_back(Point(symbol->get_location_x(i), symbol->get_location_y(i)));
}
RotatedRect r = minAreaRect(vp);
Point2f pts[4];
r.points(pts);
for (int i = 0; i<4; i++) {
line(imgout, pts[i], pts[(i + 1) % 4], Scalar(255, 0, 0), 3);
}
cout << "Angle: " << r.angle << endl;
}
//if(imgout)
imshow("imgout.jpg", imgout);
//cout << imgout.cols << " cols" << imgout.rows << " rows" << endl;
// clean up
imageQR.set_data(NULL, 0);
//waitKey(); Med dette fjernet kan vi bruge Esc
// Display the image from camera
cv::imshow("camera", image);
//.........这里部分代码省略.........
示例8: main
//.........这里部分代码省略.........
rectangle(captureFrameMat, pt1, pt2, cvScalar(0, 255, 0, 0), 1, 8, 0);
//Center Mark
circle (captureFrameMat,cPt1,5,rcolor,-2);
//double vx=0.0, vy=0.0, vr=0.0, vz=0.0;
if((cPt1.x > 0)&&(cPt1.x < 200)){
vr = 1.0;
}
if((cPt1.x > 280)&&(cPt1.x <350)){
vr = 1.0;
}
if((cPt1.x > 450)&&(cPt1.x < 520)){
vr = -1.0;
}
if((cPt1.x > 600)&&(cPt1.x < 800)){
vr = -1.0;
}
if((cPt1.y > 0)&&(cPt1.y < 350)){
//vz = 0.75;
}else if((cPt1.y > 400)&&(cPt1.y < 600)){
//vz = -0.75;
}
if((mFaceHeight > 1)&&(mFaceHeight < 200)){
//vx = 0.75;
//vz = 0.75;
}else if((mFaceHeight > 300)&&(mFaceHeight < 600)){
//vx = -0.75;
//vz = -0.75;
}
if(!mNonDronRDebug)
{
if((!ardrone.onGround())&&(mArDroneCommandFlag == false))
{
//time_t now = time(NULL);
//struct tm *pnow = localtime(&now);
//printf("FT:%02d:%02d:%02d X:%03d Y:%03d vx:%02.1f vy:%02.1f vz:%02.1f vr:%02.1f FH:%03d\n",pnow->tm_hour,pnow->tm_min,pnow->tm_sec, cPt1.x,cPt1.y, vx, vy, vz, vr, mFaceHeight);
//ardrone.move3D(vx, vy, vz, vr);
//msleep(30);
}
}
}else
{
//Face Lostモード
if(mFaceLostFlag == false)
{
mFaceLostFlag = true;
if(!mNonDronRDebug)
{
if (!ardrone.onGround())
{
if(mArDroneCommandFlag == false)
{
//ardrone.move3D(0.0, 0.0, 0.0, 0.0);
//printf(" X:%03d Y:%03d vx:%02d vy:%02d vz:%02d vr:%02d FH:%03d\n", 0, 0, 0, 0, 0, 0, 0);
printf("Face Lostモード\n");
//msleep(100);
}
}
}
}
}
//2014.02.22
// height value enable 150 - 400示例9: goMousePoint
void goMousePoint(int x, int y, int MouseCtrlMode)
{
//printf("cmode:%02d vx:%02d vy:%02d \n",ardrone.getCameraMode(),vx,vy);
if(!mNonDronRDebug)
{
double vx=0.0, vy=0.0, vr=0.0, vz=0.0;
if (!ardrone.onGround())
{
//CameraMode 0:正面カメラ
// 1:下面カメラ
// 2:正面カメラ + 小 下面カメラ
// 3:下面カメラ + 小 正面カメラ
int threshValue = 300;
//正面カメラ
if((ardrone.getCameraMode() == 0)||(ardrone.getCameraMode() == 2))
{
//printf("cmode:%02d \n",ardrone.getCameraMode());
if((x>0)&&(x<800)&&(y>0)&&(y<600))
{
if((!MouseCtrlMode))
{
if((x>0)&&(x < 300)){
//vy = -1.5;
}
if((x>500)&&(x < 800)){
//vy = 1.5;
}
if((y>0)&&(y < 150)){
vz = 1.0;
}
if((y>450)&&(y < 600)){
vz = -1.0;
}
/*
if(((x - preX) > 5)&&((x - preX) < threshValue)){
vy = -1;
}
if(((x - preX) < -5)&&((x - preX) > (-1 * threshValue))){
vy = 1;
}
if(((y - preY) < 10)&&((y - preY) > -10)){
if((y>0)&&(y < 150)){
vz = 1;
}
if((y>450)&&(y < 600)){
vz = -1;
}
}
if(((y - preY) > 5)&&((y - preY) < threshValue/2)){
//画面下へドラッグ
//vz = -1;
}
if(((y - preY) < -5)&&((y - preY) > (-1 * threshValue/2))){
//vz = 1;
}
*/
}else{
//マルチタッチモード
//前後飛行
if(((x - preX) > 5)&&((x - preX) < threshValue)){
vz = 1.0;
}
if(((x - preX) < -5)&&((x - preX) > (-1 * threshValue))){
vz = -1.0;
}
}
}
}
//下面カメラ
if((ardrone.getCameraMode() == 1)||(ardrone.getCameraMode() == 3))
{
//printf("cmode:%02d \n",ardrone.getCameraMode());
if((x>0)&&(x<800)&&(y>0)&&(y<600))
{
if((!MouseCtrlMode))
{
if((x>0)&&(x < 300)){
vy = 1.5;
}
if((x>500)&&(x < 800)){
vy = -1.5;
}
if((y>0)&&(y < 200)){
vx = 1.5;
}
if((y>400)&&(y < 600)){
vx = -1.5;
}
/*
if(((x - preX) > 5)&&((x - preX) < threshValue)){
vy = -1;
}
if(((x - preX) < -5)&&((x - preX) > (-1 * threshValue))){
//.........这里部分代码省略.........
示例10: 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
printf("Battery = %d%%\n", ardrone.getBatteryPercentage());
// Instructions
printf(" Q - ARDRONE_ANIM_PHI_M30_DEG\n");
printf(" A - ARDRONE_ANIM_PHI_30_DEG\n");
printf(" Z - ARDRONE_ANIM_THETA_M30_DEG\n");
printf(" W - ARDRONE_ANIM_THETA_30_DEG\n");
printf(" S - ARDRONE_ANIM_THETA_20DEG_YAW_200DEG\n");
printf(" X - ARDRONE_ANIM_THETA_20DEG_YAW_M200DEG\n");
printf(" E - ARDRONE_ANIM_TURNAROUND\n");
printf(" D - ARDRONE_ANIM_TURNAROUND_GODOWN\n");
printf(" C - ARDRONE_ANIM_YAW_SHAKE\n");
printf(" R - ARDRONE_ANIM_YAW_DANCE\n");
printf(" F - ARDRONE_ANIM_PHI_DANCE\n");
printf(" V - ARDRONE_ANIM_THETA_DANCE\n");
printf(" T - ARDRONE_ANIM_VZ_DANCE\n");
printf(" G - ARDRONE_ANIM_WAVE\n");
printf(" B - ARDRONE_ANIM_PHI_THETA_MIXED\n");
printf(" Y - ARDRONE_ANIM_DOUBLE_PHI_THETA_MIXED\n");
printf(" H - ARDRONE_ANIM_FLIP_AHEAD\n");
printf(" N - ARDRONE_ANIM_FLIP_BEHIND\n");
printf(" U - ARDRONE_ANIM_FLIP_LEFT\n");
printf(" J - ARDRONE_ANIM_FLIP_RIGHT\n");
// 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();
// Take off / Landing
if (key == ' ') {
if (ardrone.onGround()) ardrone.takeoff();
else ardrone.landing();
}
// Flight animations
if (key == 'q') ardrone.setAnimation(ARDRONE_ANIM_PHI_M30_DEG, 1000);
if (key == 'a') ardrone.setAnimation(ARDRONE_ANIM_PHI_30_DEG, 1000);
if (key == 'z') ardrone.setAnimation(ARDRONE_ANIM_THETA_M30_DEG, 1000);
if (key == 'w') ardrone.setAnimation(ARDRONE_ANIM_THETA_30_DEG, 1000);
if (key == 's') ardrone.setAnimation(ARDRONE_ANIM_THETA_20DEG_YAW_200DEG, 1000);
if (key == 'x') ardrone.setAnimation(ARDRONE_ANIM_THETA_20DEG_YAW_M200DEG, 1000);
if (key == 'e') ardrone.setAnimation(ARDRONE_ANIM_TURNAROUND, 5000);
if (key == 'd') ardrone.setAnimation(ARDRONE_ANIM_TURNAROUND_GODOWN, 5000);
if (key == 'c') ardrone.setAnimation(ARDRONE_ANIM_YAW_SHAKE, 2000);
if (key == 'r') ardrone.setAnimation(ARDRONE_ANIM_YAW_DANCE, 5000);
if (key == 'f') ardrone.setAnimation(ARDRONE_ANIM_PHI_DANCE, 5000);
if (key == 'v') ardrone.setAnimation(ARDRONE_ANIM_THETA_DANCE, 5000);
if (key == 't') ardrone.setAnimation(ARDRONE_ANIM_VZ_DANCE, 5000);
if (key == 'g') ardrone.setAnimation(ARDRONE_ANIM_WAVE, 5000);
if (key == 'b') ardrone.setAnimation(ARDRONE_ANIM_PHI_THETA_MIXED, 5000);
if (key == 'y') ardrone.setAnimation(ARDRONE_ANIM_DOUBLE_PHI_THETA_MIXED, 5000);
if (key == 'h') ardrone.setAnimation(ARDRONE_ANIM_FLIP_AHEAD, 15);
if (key == 'n') ardrone.setAnimation(ARDRONE_ANIM_FLIP_BEHIND, 15);
if (key == 'u') ardrone.setAnimation(ARDRONE_ANIM_FLIP_LEFT, 15);
if (key == 'j') ardrone.setAnimation(ARDRONE_ANIM_FLIP_RIGHT, 15);
// Display the image
cvShowImage("camera", image);
}
// See you
ardrone.close();
return 0;
}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 << "* '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.........
示例12: controls
// --------------------------------------------------------------------------
// controls()
// This function sends commands to the drone using an Xbox Controller.
// --------------------------------------------------------------------------
void controls()
{
// Check for Xbox Controller
if(player1->IsConnected())
{
// 'A' button
if(player1->GetState().Gamepad.wButtons & XINPUT_GAMEPAD_A)
{
// Change camera
static int cameraToggle = 0;
ardrone.setCamera(++cameraToggle%4);
}
// 'B' button
if(player1->GetState().Gamepad.wButtons & XINPUT_GAMEPAD_B)
{
ardrone.emergency();
}
// 'X' button
if(player1->GetState().Gamepad.wButtons & XINPUT_GAMEPAD_X)
{
ardrone.flatTrim();
}
// 'Y' button
/*if(player1->GetState().Gamepad.wButtons & XINPUT_GAMEPAD_Y)
{
}*/
// 'Start' button
if(player1->GetState().Gamepad.wButtons & XINPUT_GAMEPAD_START)
{
if (ardrone.onGround())
{
ardrone.takeoff();
}
else
{
ardrone.landing();
}
}
// 'Back' button
if(player1->GetState().Gamepad.wButtons & XINPUT_GAMEPAD_BACK)
{
// Exit the program.
if (ardrone.onGround())
{
exit(0);
}
}
// Left Thumb-Stick Press
/*if(player1->GetState().Gamepad.wButtons & XINPUT_GAMEPAD_LEFT_THUMB)
{
}*/
// Right Thumb-Stick Press
/*if(player1->GetState().Gamepad.wButtons & XINPUT_GAMEPAD_RIGHT_THUMB)
{
}*/
// AR.Drone flight controls
//if (!ardrone.onGround())
{
// Check left thumbStick
double leftThumbY = player1->GetState().Gamepad.sThumbLY / STICK_RANGE;
double leftThumbX = player1->GetState().Gamepad.sThumbLX / STICK_RANGE;
// Check the dead zone
if (leftThumbY < STICK_DEAD_ZONE && leftThumbY > -STICK_DEAD_ZONE)
{
leftThumbY = 0;
}
if (leftThumbX < STICK_DEAD_ZONE && leftThumbX > -STICK_DEAD_ZONE)
{
leftThumbX = 0;
}
// Check left thumbStick
double rightThumbY = player1->GetState().Gamepad.sThumbRY / TRIGGER_RANGE;
double rightThumbX = player1->GetState().Gamepad.sThumbRX / TRIGGER_RANGE;
// Check the dead zone
if (rightThumbY < STICK_DEAD_ZONE && rightThumbY > -STICK_DEAD_ZONE)
{
rightThumbY = 0;
}
if (rightThumbX < STICK_DEAD_ZONE && rightThumbX> -STICK_DEAD_ZONE)
{
rightThumbX = 0;
}
double rightTrigger = player1->GetState().Gamepad.bRightTrigger / TRIGGER_RANGE;
double leftTrigger = player1->GetState().Gamepad.bLeftTrigger / TRIGGER_RANGE;
double gaz = rightTrigger - leftTrigger;
// Move
ardrone.move3D(rightThumbY*10, -rightThumbX*10, gaz*10, -leftThumbX*10);
}
//.........这里部分代码省略.........
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()) {
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;
// Thresholds
int minH = 0, maxH = 255;
int minS = 0, maxS = 255;
int minV = 0, maxV = 255;
// XML save data
std::string filename("thresholds.xml");
cv::FileStorage fs(filename, cv::FileStorage::READ);
// If there is a save file then read it
if (fs.isOpened()) {
maxH = fs["H_MAX"];
minH = fs["H_MIN"];
maxS = fs["S_MAX"];
minS = fs["S_MIN"];
maxV = fs["V_MAX"];
minV = fs["V_MIN"];
fs.release();
}
// Create a window
cv::namedWindow("binalized");
cv::createTrackbar("H max", "binalized", &maxH, 255);
cv::createTrackbar("H min", "binalized", &minH, 255);
cv::createTrackbar("S max", "binalized", &maxS, 255);
cv::createTrackbar("S min", "binalized", &minS, 255);
cv::createTrackbar("V max", "binalized", &maxV, 255);
cv::createTrackbar("V min", "binalized", &minV, 255);
cv::resizeWindow("binalized", 0, 0);
// Main loop
while (1) {
// Key input
int key = cv::waitKey(33);
if (key == 0x1b) break;
// 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;
// Change camera
static int mode = 0;
if (key == 'c') ardrone.setCamera(++mode % 4);
// Switch tracking ON/OFF
static int track = 0;
//.........这里部分代码省略.........
示例14: 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;
}