void startProcess() { cout<<"process is started"<<endl; cv::pyrDown(image,image); cv::pyrDown(imageDup,imageDup); cv::pyrDown(colorDup,colorDup); cv::pyrDown(colorImage,colorImage); cv::pyrDown(finalImage,finalImage); cv::pyrDown(randomPatchImage,randomPatchImage); //cv::pyrDown(randomPatchesCreation,randomPatchesCreation); cv::pyrDown(randomPatchDup,randomPatchDup); cv::pyrDown(randomMappedImage,randomMappedImage); initiation(); propogation(); cout<<"propogation phase is completed"<<endl; cv::imshow("random patches after propogation",randomPatchDup); addtoImage(); cv::imshow("complete image with random patches after propogation",imageDup); randomSearch(40); cv::imshow("complete image after random search",imageDup); }
SonarBird::SonarBird(ros::NodeHandle nh, ros::NodeHandle nh_private): nh_(nh), nh_private_(nh_private) { ros::NodeHandle node (nh_,"SonarBird"); dummy = new DummyBird(nh_,nh_private_); ROS_INFO("Create Dummy"); sonar = new SonarEye(nh_,nh_private_); ROS_INFO("Create Sonar"); initiation(); }
void start() { ContextSettings settings; settings.antialiasingLevel = 8; RenderWindow window(VideoMode(800, 800), "Blocks", sf::Style::Default, settings); Group *group = new Group; initiation(*group); while (window.isOpen()) { update(window, *group); draw(*group, window); } delete_blocks(*group); delete group; }
BirdEye::BirdEye(ros::NodeHandle nh, ros::NodeHandle nh_private): nh_(nh), nh_private_(nh_private) { ros::NodeHandle node (nh_,"birdeye"); listener = new(tf::TransformListener); transform = new(tf::StampedTransform); targetPosClient = nh_private_.serviceClient<quadrotorTestControl::getTargetPosition>("/quad/getTargetPosition"); targetVelClient = nh_private_.serviceClient<quadrotorTestControl::getTargetVelocity>("/quad/getTargetVelocity"); //initiate variables initiation(); }
VisualBird::VisualBird(ros::NodeHandle nh, ros::NodeHandle nh_private): nh_(nh), nh_private_(nh_private) { ros::NodeHandle node (nh_,"VisualBird"); dummy = new DummyBird(nh_,nh_private_); ROS_INFO("Create Dummy"); eye = new BirdEye(nh_,nh_private_); ROS_INFO("Create Eye"); nav = new Potential(nh_,nh_private_); ROS_INFO("Create Navigation Function"); visual_sub = node.subscribe("/pos_points_temp",1,&VisualBird::visualCallback,this); initiation(); }
int main(int argc, char *argv[]) { get_info(); glutInit(&argc, argv); glutInitWindowPosition(0, 0); glutInitWindowSize(window_size_x, window_size_y); glutInitDisplayMode(GLUT_RGBA | GLUT_DOUBLE | GLUT_DEPTH); glutCreateWindow(argv[0]); initiation(); init(); glutDisplayFunc(display); glutIdleFunc(idle); glutMainLoop(); return 0; }
/** * alloue size octets de mémoire au système * @param size: taille de l'allocation memoire demandée * @return pointeur sur la zone mémoire allouée */ void *malloc(size_t size) { t_block *pnt; initiation(); pthread_mutex_lock(&list.mutex); pnt = search_free_block(size); if (pnt != NULL) { set_attribute_block(pnt, size); } else { pnt = add_block_end(size); } pthread_mutex_unlock(&list.mutex); return (pnt->pnt); }
VisualBird::VisualBird(ros::NodeHandle nh, ros::NodeHandle nh_private): nh_(nh), nh_private_(nh_private) { ros::NodeHandle node (nh_,"VisualBird"); dummy = new DummyBird(nh_,nh_private_); ROS_INFO("Create Dummy"); eye = new BirdEye(nh_,nh_private_); ROS_INFO("Create Eye"); nav = new Potential(nh_,nh_private_); ROS_INFO("Create Navigation Function"); visual_vel_sub = node.subscribe("/pos_points_temp",1,&VisualBird::visualVelCallback,this); visual_pos_sub = node.subscribe("/com_temp",1,&VisualBird::visualPosCallback,this); target_pub = node.advertise<geometry_msgs::PointStamped>("targetPoint",1); pos_points_pub = node.advertise<std_msgs::Float32MultiArray>("set_target_states", 10); initiation(); }
int main() { Conf::init_instance( CONF_FILE ); my_daemon(); Logger::init_instance(); Split::init_instance(); PageDB::init_instance(); InvertIdx::init_instance(); int start = clock(); initiation(); printf("%.3lf second\nInitialization completed\n", double( clock()-start)/ CLOCKS_PER_SEC); Conf cf = Conf::get_instance(); size_t queuesize = strtoul( cf["queuesize"].c_str() ,NULL, 0); size_t threadsnum = strtoul( cf["threadsnum"].c_str(), NULL, 0 ); ThreadPool threadpool( queuesize, threadsnum ); threadpool.start(); unsigned short port = atoi( cf["port"].c_str() ); EpollPoller epoller( cf["ip"], port, threadpool ); epoller.loop(); epoller.unloop(); threadpool.stop(); InvertIdx::shut_down(); PageDB::shut_down(); Split::shut_down(); Logger::shut_down(); return 0; }
int main(void) { initiate_variables(); initiation(); int fjarrstyrt = (PIND & 0x01); //1 då roboten är i fjärrstyrt läge initiate_request_timer(); if(fjarrstyrt == 1) // fjärrstyrt läge { for(long i = 0; i < 480000; i++){} remotecontrol(); } else // Autonom { MasterInit(); for(long i = 0; i < 480000; i++){} while(home == 0) { TransmitSensor(0); char i = 0; if(n == 0) { i = 0; } else { i = 1; } if(posdistance > 31 + i) //40/2.55125)*0.9 { updatepos(); if(n != 4) { n = n + 1; } else { n = 0; } } if(!onelap) { firstlap(); } else if(1) // else vill inte fungera på atmegan { secondlap(); } } stopp(); // Liten dans när den är på startpositionen while(1) { rotate90right(); rotate90left(); } } return 0; }
void node_simulation(int view_con){ if (first_count == 1){ initiation(); first_count--; } int i; int j; double max = 0.00375; double min = -0.00375; for (i = 0; i < num_points; i++){ if (nei[i].K > max){ nei[i].K = max; } if (nei[i].K < min){ nei[i].K = min; } } //printf("max = %lf, min = %lf\n", max, min); glPushMatrix(); //glCullFace(GL_FRONT); //glEnable(GL_BLEND); glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); //glMaterialfv(GL_FRONT, GL_DIFFUSE, blue2); glColorMaterial(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE); glEnable(GL_COLOR_MATERIAL); glDisable(GL_LIGHTING); glBegin(GL_TRIANGLES); /*for (i = 0; i < num_triangles; i++){ glVertex3d(point[triangle[i][0]][0], point[triangle[i][0]][1], point[triangle[i][0]][2]); glVertex3d(point[triangle[i][1]][0], point[triangle[i][1]][1], point[triangle[i][1]][2]); glVertex3d(point[triangle[i][2]][0], point[triangle[i][2]][1], point[triangle[i][2]][2]); }*/ #if 1 double nrml_vec[3]; for (i = 0; i < num_triangles; i++){ for (j = 0; j < 3; j++){ //if (nei[i].K > -0.07){ //glColor3d(0.0, 0.0, 1.0); //normal(point[triangle[nei[i].T[j]][0]], point[triangle[nei[i].T[j]][1]], point[triangle[nei[i].T[j]][2]], nrml_vec); //glNormal3d(nrml_vec[0], nrml_vec[1], nrml_vec[2]); if (nei[triangle[i][j]].K < (max - min) / 2){ //printf("%lf, %lf\n", point[triangle[i][j]][0], point[triangle[i][j]][1]); //glColor3d(0.0, (nei[triangle[i][j]].K - min) / ((max + min) / 2 - min), 1.0 - (nei[triangle[i][j]].K - min) / ((max + min) / 2 - min)); glColor3d(0.0, (nei[triangle[i][j]].K - min) / ((max + min) / 2 - min), ((max + min) / 2.0 - nei[triangle[i][j]].K) / ((max + min) / 2.0 - min)); glVertex3d(point[triangle[i][j]][0], point[triangle[i][j]][1], point[triangle[i][j]][2]); } else{ //glColor3d((nei[triangle[i][j]].K - min) / ((max + min) / 2 - min), 1.0 - (nei[triangle[i][j]].K - min) / ((max + min) / 2 - min), 0.0); glColor3d((nei[triangle[i][j]].K - (max + min) / 2.0) / ((max + min) / 2 - min), 0.0, (max - nei[triangle[i][j]].K) / ((max + min) / 2 - min)); glVertex3d(point[triangle[i][j]][0], point[triangle[i][j]][1], point[triangle[i][j]][2]); } // } } } #endif glEnd(); glPopMatrix(); }