C++ ARDrone::update方法代码示例

// --------------------------------------------------------------------------
// 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;
}

// --------------------------------------------------------------------------
// 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;
}

// --------------------------------------------------------------------------
// 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;
}

// --------------------------------------------------------------------------
// 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;
}

// --------------------------------------------------------------------------
// 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;
}

// --------------------------------------------------------------------------
// 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;
}

// --------------------------------------------------------------------------
// 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;
}

// --------------------------------------------------------------------------
// 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;
    }

    // Thresholds
    int minH = 0, maxH = 255;
    int minS = 0, maxS = 255;
    int minV = 0, maxV = 255;

    // Create a window
    cvNamedWindow("binalized");
    cvCreateTrackbar("H max", "binalized", &maxH, 255);
    cvCreateTrackbar("H min", "binalized", &minH, 255);
    cvCreateTrackbar("S max", "binalized", &maxS, 255);
    cvCreateTrackbar("S min", "binalized", &minS, 255);
    cvCreateTrackbar("V max", "binalized", &maxV, 255);
    cvCreateTrackbar("V min", "binalized", &minV, 255);
    cvResizeWindow("binalized", 0, 0);

    // 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();

        // HSV image
        IplImage *hsv = cvCloneImage(image);
        cvCvtColor(image, hsv, CV_RGB2HSV_FULL);

        // Binalized image
        IplImage *binalized = cvCreateImage(cvGetSize(image), IPL_DEPTH_8U, 1);

        // Binalize
        CvScalar lower = cvScalar(minH, minS, minV);
        CvScalar upper = cvScalar(maxH, maxS, maxV);
        cvInRangeS(image, lower, upper, binalized);

        // Show result
        cvShowImage("binalized", binalized);

        // De-noising
        cvMorphologyEx(binalized, binalized, NULL, NULL, CV_MOP_CLOSE);
 
        // Detect contours
        CvSeq *contour = NULL, *maxContour = NULL;
        CvMemStorage *contourStorage = cvCreateMemStorage();
        cvFindContours(binalized, contourStorage, &contour, sizeof(CvContour), CV_RETR_EXTERNAL, CV_CHAIN_APPROX_SIMPLE);

        // Find largest contour
        double max_area = 0.0;
        while (contour) {
            double area = fabs(cvContourArea(contour));
            if (area > max_area) {
                maxContour = contour;
                max_area = area;
            }
            contour = contour->h_next;
        }

        // Object detected
        if (maxContour) {
            // Show result
            CvRect rect = cvBoundingRect(maxContour);
            CvPoint minPoint, maxPoint;
            minPoint.x = rect.x;
            minPoint.y = rect.y;
            maxPoint.x = rect.x + rect.width;
            maxPoint.y = rect.y + rect.height;
            cvRectangle(image, minPoint, maxPoint, CV_RGB(0,255,0));
        }

        // Release memory
        cvReleaseMemStorage(&contourStorage);

        // Display the image
        cvShowImage("camera", image);

        // Release images
        cvReleaseImage(&hsv);
        cvReleaseImage(&binalized);
    }

//.........这里部分代码省略.........

//.........这里部分代码省略.........
	//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。
	cvSetMouseCallback( "camera", &mMouseEventfunc, &mparam );

	time_t now = time(NULL);
	struct tm *pnow = localtime(&now);

    while (1) 
	{
        // Key input
        int key = cvWaitKey(33);
        //int key = cvWaitKey(15);
		if (key == 0x1b){
			break;
		}

		//2014.03.09 add
		vx = 0.0;
		vy = 0.0;
		vz = 0.0;
		vr = 0.0;

		//音声出力タイミング用ワーク
		if (mSendCommandflag == true)
		{
			if(mSendCommandcounter++ > 50)
			{
				mSendCommandflag = false;
				mSendCommandcounter = 0;
			}
		}
        // Update
		if(mNonDronDebug == false)
		{
	        if (!ardrone.update()) 
				break;

			// Get an image
			image = ardrone.getImage();
			if((mbatValue = ardrone.getBatteryPercentage()) < 30){
				printf("Battery = %d%%\n",mbatValue );

				if(mArDroneCommandFlag == false)
					ardrone.move3D(0.0, 0.0, 0.0, 0.0);
				msleep(80);
				ardrone.landing();
				printf("Landing\n");
				msleep(180);
			}
		//}
	
#ifndef FACEDETECT
		try{
			//2014.02.15　FaceDetection追加
			// (3)メモリを確保し，読み込んだ画像のグレースケール化，ヒストグラムの均一化を行う
			CvMemStorage *storage = 0;
			storage = cvCreateMemStorage (0);
			cvClearMemStorage (storage);

			//Mat captureFrame;
			//Mat grayscaleFrame;
			Mat captureFrameMat = cvarrToMat(image);
			cvtColor(captureFrameMat, grayscaleFrame, CV_BGR2GRAY);
			equalizeHist(grayscaleFrame, grayscaleFrame);
 
			//　mFaceDetectMode：Fキーにてスイッチ
			if((mFaceDetectMode == true)

// --------------------------------------------------------------------------
// 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;
    }

    // Thresholds
    int minH = 0, maxH = 255;
    int minS = 0, maxS = 255;
    int minV = 0, maxV = 255;

    // 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;

        // Update
        if (!ardrone.update()) break;

        // Get an image
        cv::Mat image = ardrone.getImage();

        // HSV image
        cv::Mat hsv;
        cv::cvtColor(image, hsv, cv::COLOR_BGR2HSV_FULL);

        // Binalize
        cv::Mat binalized;
        cv::Scalar lower(minH, minS, minV);
        cv::Scalar upper(maxH, maxS, maxV);
        cv::inRange(image, lower, upper, binalized);

        // Show result
        cv::imshow("binalized", binalized);

        // De-noising
        cv::Mat kernel = getStructuringElement(cv::MORPH_RECT, cv::Size(3, 3));
        cv::morphologyEx(binalized, binalized, cv::MORPH_CLOSE, kernel);
        //cv::imshow("morphologyEx", binalized);

        // Detect contours
        std::vector<std::vector<cv::Point>> contours;
        cv::findContours(binalized.clone(), contours, cv::RETR_CCOMP, cv::CHAIN_APPROX_SIMPLE);

        // Find largest contour
        int contour_index = -1;
        double max_area = 0.0;
        for (int i = 0; i < contours.size(); i++) {
            double area = fabs(cv::contourArea(contours[i]));
            if (area > max_area) {
                contour_index = i;
                max_area = area;
            }
        }

        // Object detected
        if (contour_index >= 0) {
            // Show result
            cv::Rect rect = cv::boundingRect(contours[contour_index]);
            cv::rectangle(image, rect, cv::Scalar(0,255,0));
            //cv::drawContours(image, contours, contour_index, cv::Scalar(0,255,0));
        }

        // Display the image
        cv::imshow("camera", image);
    }

    // See you
    ardrone.close();

    return 0;
}

// --------------------------------------------------------------------------
// 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;
}

// --------------------------------------------------------------------------
// 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;
}

// --------------------------------------------------------------------------
// 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;
    }

    // Kalman filter
    CvKalman *kalman = cvCreateKalman(4, 2);

    // Setup
    cvSetIdentity(kalman->measurement_matrix, cvRealScalar(1.0));
    cvSetIdentity(kalman->process_noise_cov, cvRealScalar(1e-5));
    cvSetIdentity(kalman->measurement_noise_cov, cvRealScalar(0.1));
    cvSetIdentity(kalman->error_cov_post, cvRealScalar(1.0));

    // Linear system
    kalman->DynamMatr[0]  = 1.0; kalman->DynamMatr[1]  = 0.0; kalman->DynamMatr[2]  = 1.0; kalman->DynamMatr[3]  = 0.0; 
    kalman->DynamMatr[4]  = 0.0; kalman->DynamMatr[5]  = 1.0; kalman->DynamMatr[6]  = 0.0; kalman->DynamMatr[7]  = 1.0; 
    kalman->DynamMatr[8]  = 0.0; kalman->DynamMatr[9]  = 0.0; kalman->DynamMatr[10] = 1.0; kalman->DynamMatr[11] = 0.0; 
    kalman->DynamMatr[12] = 0.0; kalman->DynamMatr[13] = 0.0; kalman->DynamMatr[14] = 0.0; kalman->DynamMatr[15] = 1.0; 

    // Thresholds
    int minH = 0, maxH = 255;
    int minS = 0, maxS = 255;
    int minV = 0, maxV = 255;

    // Create a window
    cvNamedWindow("binalized");
    cvCreateTrackbar("H max", "binalized", &maxH, 255);
    cvCreateTrackbar("H min", "binalized", &minH, 255);
    cvCreateTrackbar("S max", "binalized", &maxS, 255);
    cvCreateTrackbar("S min", "binalized", &minS, 255);
    cvCreateTrackbar("V max", "binalized", &maxV, 255);
    cvCreateTrackbar("V min", "binalized", &minV, 255);
    cvResizeWindow("binalized", 0, 0);

    // 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();

        // HSV image
        IplImage *hsv = cvCloneImage(image);
        cvCvtColor(image, hsv, CV_RGB2HSV_FULL);

        // Binalized image
        IplImage *binalized = cvCreateImage(cvGetSize(image), IPL_DEPTH_8U, 1);

        // Binalize
        CvScalar lower = cvScalar(minH, minS, minV);
        CvScalar upper = cvScalar(maxH, maxS, maxV);
        cvInRangeS(image, lower, upper, binalized);

        // Show result
        cvShowImage("binalized", binalized);

        // De-noising
        cvMorphologyEx(binalized, binalized, NULL, NULL, CV_MOP_CLOSE);
 
        // Detect contours
        CvSeq *contour = NULL, *maxContour = NULL;
        CvMemStorage *contourStorage = cvCreateMemStorage();
        cvFindContours(binalized, contourStorage, &contour, sizeof(CvContour), CV_RETR_EXTERNAL, CV_CHAIN_APPROX_SIMPLE);

        // Find largest contour
        double max_area = 0.0;
        while (contour) {
            double area = fabs(cvContourArea(contour));
            if ( area > max_area) {
                maxContour = contour;
                max_area = area;
            }
            contour = contour->h_next;
        }

        // Object detected
        if (maxContour) {
            // Draw a contour
            cvZero(binalized);
            cvDrawContours(binalized, maxContour, cvScalarAll(255), cvScalarAll(255), 0, CV_FILLED);

            // Calculate the moments
            CvMoments moments;
//.........这里部分代码省略.........

// --------------------------------------------------------------------------
// 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;
}

// --------------------------------------------------------------------------
// 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();

    // Variables for optical flow
    int corner_count = 50;
    IplImage *gray = cvCreateImage(cvGetSize(image), IPL_DEPTH_8U, 1);
    IplImage *prev = cvCreateImage(cvGetSize(image), IPL_DEPTH_8U, 1);
    cvCvtColor(image, prev, CV_BGR2GRAY);
    IplImage *eig_img = cvCreateImage(cvGetSize(image), IPL_DEPTH_32F, 1);
    IplImage *tmp_img = cvCreateImage(cvGetSize(image), IPL_DEPTH_32F, 1);
    IplImage *prev_pyramid = cvCreateImage(cvSize(image->width+8, image->height/3), IPL_DEPTH_8U, 1);
    IplImage *curr_pyramid = cvCreateImage(cvSize(image->width+8, image->height/3), IPL_DEPTH_8U, 1);
    CvPoint2D32f *corners1 = (CvPoint2D32f*)malloc(corner_count * sizeof(CvPoint2D32f));
    CvPoint2D32f *corners2 = (CvPoint2D32f*)malloc(corner_count * sizeof(CvPoint2D32f));

    // Main loop
    while (1) {
        // Key input
        int key = cvWaitKey(33);
        if (key == 0x1b) break;

        // Update
        if (!ardrone.update()) break;

        // Get an image
        image = ardrone.getImage();

        // Convert the camera image to grayscale
        cvCvtColor(image, gray, CV_BGR2GRAY);

        // Detect features
        int corner_count = 50;
        cvGoodFeaturesToTrack(prev, eig_img, tmp_img, corners1, &corner_count, 0.1, 5.0, NULL);

        // Corner detected
        if (corner_count > 0) {
            char *status = (char*)malloc(corner_count * sizeof(char));

            // Calicurate optical flows
            CvTermCriteria criteria = cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS, 20, 0.3);
            cvCalcOpticalFlowPyrLK(prev, gray, prev_pyramid, curr_pyramid, corners1, corners2, corner_count, cvSize(10, 10), 3, status, NULL, criteria, 0);

            // Drow the optical flows
            for (int i = 0; i < corner_count; i++) {
                cvCircle(image, cvPointFrom32f(corners1[i]), 1, CV_RGB (255, 0, 0));
                if (status[i]) cvLine(image, cvPointFrom32f(corners1[i]), cvPointFrom32f(corners2[i]), CV_RGB (0, 0, 255), 1, CV_AA, 0);
            }

            // Release the memory
            free(status);
        }

        // Save the last frame
        cvCopy(gray, prev);

        // Display the image
        cvShowImage("camera", image);
    }

    // Release the images
    cvReleaseImage(&gray);
    cvReleaseImage(&prev);
    cvReleaseImage(&eig_img);
    cvReleaseImage(&tmp_img);
    cvReleaseImage(&prev_pyramid);
    cvReleaseImage(&curr_pyramid);
    free(corners1);
    free(corners2);

    // See you
    ardrone.close();

    return 0;
}