/* * tests the distance() function */ void testDistance(){ double result = imageProcessor.distance(cv::Point(100, 15), cv::Point(75, 36)); assert(result < 32.64 + DELTA && result > 32.64 - DELTA); result = imageProcessor.distance(cv::Point(3, 5), cv::Point(9, 7)); assert(result < 6.32 + DELTA && result > 6.32 - DELTA); result = imageProcessor.distance(cv::Point(572, 641), cv::Point(894, 127)); assert(result < 606.53 + DELTA && result > 606.53 - DELTA); printf("distance() test passed.\n"); }
int main(int argc, char **argv) { if (argc != 2) { exit(1); } signal(SIGINT, intHandler); std::string arg = argv[1]; cv::VideoCapture capture(arg); //try to open string, this will attempt if (!capture.isOpened()) //if this fails, try to open as a video camera capture.open(atoi(arg.c_str())); if (!capture.isOpened()) { std::cerr << "Failed to open a video device or video file!\n" << std::endl; return 1; } ImageProcessor *ip = new HSV_Region_Processor_Min_Alloc(capture); BotController *bt = new BotController(); Region *dp; cv::Mat frame; ip->initialiseWindow(); std::vector<Region *> *regionList; while (keepRunning) { capture >> frame; ip->cleanRegionList(); regionList = ip->processFrame(frame); std::sort(regionList->begin(), regionList->end(), compareBySize); dp = (*regionList)[0]; if (dp != NULL && dp->getSize() > 100) { double angle = ip->angle(frame, *dp); double distance = ip->distance(frame, *dp); std::cout << angle << " - " << distance << std::endl; bt->move(angle, distance); ip->drawArrow(frame, angle, distance); //ip->saveFrame(frame); } else { std::cout << "No object found, sitting still" << std::endl; bt->stop(); } ip->drawFrame(frame); cv::waitKey(5); // ip->processKeys(frame); } std::cout << "Shutting down" << std::endl; bt->stop(); }