int main(int argc, const char **argv)
{
// Instantiate a ModelManager:
ModelManager *manager = new ModelManager("Test wiimote");
nub::soft_ref<OutputFrameSeries> ofs(new OutputFrameSeries(*manager));
manager->addSubComponent(ofs);
//Create the GUI
nub::soft_ref<GeneralGUI> pwiiGUI(new GeneralGUI(*manager, "PWiiGUI", "PWiiGUI", Dims(700,512)));
manager->addSubComponent(pwiiGUI);
//Create the PWiiBot Controller
nub::soft_ref<PWiiController> controller(new PWiiController(*manager));
manager->addSubComponent(controller);
// Parse command-line:
if (manager->parseCommandLine(argc, argv, "", 0, 0) == false) return(1);
manager->exportOptions(MC_RECURSE);
manager->start();
sleep(1);
setupGUI(pwiiGUI, ofs, controller);
while(1) {
}
// sleep(1);
#ifdef HAVE_LIBWIIMOTE
/* wiimote_t wiimote = WIIMOTE_INIT;
//wiimote_report_t report = WIIMOTE_REPORT_INIT;
LINFO("Press buttons 1 and 2 on the wiimote now to connect.");
int nmotes = wiimote_discover(&wiimote, 1);
if (nmotes == 0)
LFATAL("no wiimotes were found");
LINFO("found: %s\n", wiimote.link.r_addr);
if (wiimote_connect(&wiimote, wiimote.link.r_addr) < 0) {
LFATAL("Unable to connect to wiimote");
Raster::waitForKey();
}
*/
/* Activate the first led on the wiimote. It will take effect on the
next call to wiimote_update. */
/*
wiimote.led.one = 1;
// let's get all our ModelComponent instances started:
LINFO("Open ");
LINFO("Status %i", wiimote_is_open(&wiimote));
int speed = 100;
int motor1_dir = 0;
int motor1_vel = 0;
int motor2_dir = 0;
int motor2_vel = 0;
Point2D<int> loc(128,128);
*/
// while(wiimote_is_open(&wiimote))
// {
/* The wiimote_update function is used to synchronize the wiimote
object with the real wiimote. It should be called as often as
possible in order to minimize latency. */
/* if (wiimote_update(&wiimote) < 0) {
wiimote_disconnect(&wiimote);
break;
}*/
/* The wiimote object has member 'keys' which keep track of the
current key state. */
/*
if (wiimote.keys.home) { //press home to exit
wiimote_write_byte(&wiimote, 0x04a40001, motor1_dir);
wiimote_write_byte(&wiimote, 0x04a40002, 0);
wiimote_write_byte(&wiimote, 0x04a40003, motor2_dir);
wiimote_write_byte(&wiimote, 0x04a40004, 0);
LINFO("Shutting Down Motors and Gracefully Disconnecting...");
wiimote_disconnect(&wiimote);
LINFO("Disconnected, Goodbye!");
}
*/
/* Activate the accelerometer when the 'A' key is pressed. */
//if (wiimote.keys.a) {
// wiimote.mode.acc = 1;
//}
//else {
// wiimote.mode.acc = 0;
//}
// Image<PixRGB<byte> > img(255,255,ZEROS);
// drawLine(img, Point2D<int>(128, 128), Point2D<int>(128+(int)(wiimote.force.x*400), 128), PixRGB<byte>(255,0,0),3);
// drawLine(img, Point2D<int>(128, 128), Point2D<int>(128, 128+(int)(wiimote.force.y*400)), PixRGB<byte>(0,255,0),3);
// drawLine(img, Point2D<int>(128, 128), Point2D<int>(128+(int)(wiimote.force.z*400), 128), PixRGB<byte>(0,0,255),3);
// ofs->writeRGB(img, "Output", FrameInfo("output", SRC_POS));
/*
int key = getKey(ofs);
if (key != -1)
{
switch(key)
{
case 10: //l
speed += 10;
break;
case 24:
speed -= 10;
break;
case KEY_UP:
motor1_dir = 2;
motor2_dir = 2;
break;
case KEY_DOWN:
motor1_dir = 1;
motor2_dir = 1;
break;
case KEY_LEFT:
motor1_dir = 2;
motor2_dir = 1;
break;
case KEY_RIGHT:
motor1_dir = 1;
motor2_dir = 2;
break;
case 65: //space
motor1_dir = 4; motor1_vel = 0;
motor2_dir = 4; motor2_vel = 0;
break;
}
LINFO("Key: %d -- Sending Motor Command...", key);
//send the data to the wiimote
wiimote_write_byte(&wiimote, 0x04a40001, motor1_dir);
wiimote_write_byte(&wiimote, 0x04a40002, speed);
wiimote_write_byte(&wiimote, 0x04a40003, motor2_dir);
wiimote_write_byte(&wiimote, 0x04a40004, speed);
}*/
/*
LINFO("KEYS %04x one=%d two=%d a=%d b=%d <=%d >=%d ^=%d v=%d h=%d +=%d -=%d\n",
wiimote.keys.bits,
wiimote.keys.one,
wiimote.keys.two,
wiimote.keys.a,
wiimote.keys.b,
wiimote.keys.left,
wiimote.keys.right,
wiimote.keys.up,
wiimote.keys.down,
wiimote.keys.home,
wiimote.keys.plus,
wiimote.keys.minus);
LINFO("TILT x=%.3f y=%.3f z=%.3f\n",
wiimote.tilt.x,
wiimote.tilt.y,
wiimote.tilt.z);
LINFO("FORCE x=%.3f y=%.3f z=%.3f (sum=%.3f)\n",
wiimote.force.x,
wiimote.force.y,
wiimote.force.z,
sqrt(wiimote.force.x*wiimote.force.x+wiimote.force.y*wiimote.force.y+wiimote.force.z*wiimote.force.z));*/
// }
// stop all our ModelComponents
manager->stop();
#else
LFATAL("Need the libwiimote");
#endif
// all done!
return 0;
}
int main(const int argc, const char **argv)
{
MYLOGVERB = LOG_INFO;
ModelManager *mgr = new ModelManager("Test ObjRec");
nub::ref<OutputFrameSeries> ofs(new OutputFrameSeries(*mgr));
mgr->addSubComponent(ofs);
nub::ref<InputFrameSeries> ifs(new InputFrameSeries(*mgr));
mgr->addSubComponent(ifs);
nub::ref<EnvSegmenterCannyContour> seg(new EnvSegmenterCannyContour(*mgr));
mgr->addSubComponent(seg);
mgr->exportOptions(MC_RECURSE);
if (mgr->parseCommandLine(
(const int)argc, (const char**)argv, "", 0, 0) == false)
return 1;
mgr->start();
seg->setModelParamVal("CannyMinCos", 1.0);
seg->setModelParamVal("CannyMaxArea", 6000);
seg->setModelParamVal("CannyMaxArea", 12000);
itsObjectDB.loadFrom("cards.vdb");
while(1)
{
Image< PixRGB<byte> > inputImg;
const FrameState is = ifs->updateNext();
if (is == FRAME_COMPLETE)
break;
//grab the images
GenericFrame input = ifs->readFrame();
if (!input.initialized())
break;
inputImg = input.asRgb();
Image<PixRGB<byte> > out;
const Rectangle cardbox = seg->getFoa(inputImg, Point2D<int>(), NULL, &out);
ofs->writeRGB(out, "input", FrameInfo("input", SRC_POS));
if (cardbox.isValid())
{
Image<PixRGB<byte> > card =
crop(inputImg, cardbox.getOverlap(inputImg.getBounds()));
std::string cardName = recCard(card);
if (cardName.length() == 0)
{
LINFO("Enter name for card:");
std::getline(std::cin, cardName, '\n');
if (cardName.length() > 0)
trainCard(card, cardName);
}
writeText(card, Point2D<int>(0,0), cardName.c_str(),
PixRGB<byte>(255), PixRGB<byte>(127));
ofs->writeRGB(card, "card", FrameInfo("card", SRC_POS));
}
ofs->updateNext();
}
mgr->stop();
return 0;
}