Changeset 239 in flair-src for trunk/demos/CircleFollower/uav

Timestamp:

May 15, 2018, 4:42:44 PM (7 years ago)

Author:

Bayard Gildas

Message:

tests

Location:

trunk/demos/CircleFollower/uav/src

Files:

• CircleFollower.cpp (modified) (2 diffs)
• CircleFollower.h (modified) (2 diffs)
• main.cpp (modified) (2 diffs)

trunk/demos/CircleFollower/uav/src/CircleFollower.cpp

@@ -32 +32 @@
 #include <AhrsData.h>
 #include <Camera.h>
+#include <CvtColor.h>
 
 using namespace std;
@@ -51 +52 @@
     stopCircle=new PushButton(GetButtonsLayout()->LastRowLastCol(),"stop_circle");
     positionHold=new PushButton(GetButtonsLayout()->LastRowLastCol(),"position hold");
+
+    greyCameraImage=new CvtColor(uav->GetVerticalCamera(),"gray",CvtColor::Conversion_t::ToGray);
+    uav->GetVerticalCamera()->UseDefaultPlot(greyCameraImage->Output()); // Le defaultPlot de la caméra peut afficher n'importe quoi?
 
     if(vrpnclient->UseXbee()==true) {

trunk/demos/CircleFollower/uav/src/CircleFollower.h

@@ -23 +23 @@
     namespace filter {
         class TrajectoryGenerator2DCircle;
+        class CvtColor;
     }
     namespace meta {
@@ -38 +39 @@
 
     private:
-        enum class BehaviourMode_t {
+        flair::filter::CvtColor* greyCameraImage;
+
+        enum class BehaviourMode_t {
             Default,
             PositionHold,

trunk/demos/CircleFollower/uav/src/main.cpp

@@ -18 +18 @@
 #include <tclap/CmdLine.h>
 #include <TargetEthController.h>
+#include <VisionFilter.h>
 
 using namespace TCLAP;
@@ -38 +39 @@
 int main(int argc, char* argv[]) {
     parseOptions(argc,argv);
+
+    if(!InitVisionFilter("file=tutu")) {
+        exit(1);
+    }
 
     FrameworkManager *manager;