自学教程：C++ ARDrone类代码示例

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;}

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

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

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;}

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

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.........

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

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