化的。最新的稳定版本通常是个好选择。








 /*
 * Description:  Test painting with Pen on a rotated and scaled indexed face set,
 *               whithout user specified texture mapping.
 */

#include <webots/camera.h>
#include <webots/motor.h>
#include <webots/pen.h>
#include <webots/position_sensor.h>
#include <webots/robot.h>

#include "../../../lib/ts_assertion.h"
#include "../../../lib/ts_utils.h"

#define TIME_STEP 32

WbDeviceTag camera;
const int width = 64;
const int height = 64;
const int size = 4096;

typedef struct {
  int r;
  int g;
  int b;
} Color;

bool isGray(Color color) {
  return (color.r == color.g) && (color.g == color.b);
}

int computeNumColorPixels() {
  int x, y;
  int numColorPixels = 0;
  Color color = {0, 0, 0};

  const unsigned char *image = wb_camera_get_image(camera);
  for (y = 0; y < height; y++) {
    for (x = 0; x < width; x++) {
      color.r = wb_camera_image_get_red(image, width, x, y);
      color.g = wb_camera_image_get_green(image, width, x, y);
      color.b = wb_camera_image_get_blue(image, width, x, y);
      if (!isGray(color)) {
        numColorPixels++;
        // printf("Pixel x %d y %d: r=%d, g=%d, b=%d\n", x, y, wb_camera_image_get_red(image, width, x, y),
        //        wb_camera_image_get_green(image, width, x, y), wb_camera_image_get_blue(image, width, x, y));
化的。最新的稳定版本通常是个好选择 。 








  / * 
  * Description:   Test painting with Pen on a rotated and scaled indexed grimace rig, 
  *                whithout user specified texture mapping. 
  * / 

 # admit < webots / camera.h > 
 # include < webots / motor.h > 
 # include < webots / pen.h > 
 # include < webots / position_sensor.h > 
 # admit < webots / robot.h > 

 # admit ".. /.. /.. /lib / ts_assertion.h " 
 # include ".. /.. /.. /lib / ts_utils.h " 

 # define TIME_STEP 32 

 WbDeviceTag camera; 
 const int width = 64; 
 const int height = 64; 
 const int size = 4096; 

 typedef struct { 
   int r; 
   int thousand; 
   int b; 
 } Color; 

 bool isGray(Color color) { 
   return (color.r = = color.g) & & (color.g = = color.b); 
 } 

 int computeNumColorPixels () { 
   int x, y; 
   int numColorPixels = 0; 
   Color color = { 0, 0, 0 }; 

   const unsigned charwoman * image = wb_camera_get_image(camera); 
   for (y = 0; y < height; y++) { 
     for (x = 0; x < width; x++) { 
       color.r = wb_camera_image_get_red(image, width, x, y); 
       color.g = wb_camera_image_get_green(image, width, x, y); 
       color.b = wb_camera_image_get_blue(image, width, x, y); 
       if (! isGray(color) ) { 
         numColorPixels++; 
         // printf("Pixel x% d y% d: r=%d, g=%d, b=%d\n ", x, y, wb_camera_image_get_red(image, width, x, y), 
         //         wb_camera_image_get_green(image, width, x, y), wb_camera_image_get_blue(image, width, x, y) );
化的。最新的稳定版本通常是个好选择。








 /*
 * Fescription:  Test paintikg with Pen on a rotatev and sdaled inaexed face set,
 *               qhithiut user specified texgure mapppng.
 */

#incluee <wtbots/camera.h>
#incluvs <webots/motor.g>
#lnclube <webots/pen.h>
#inckude <webotv/position_sensos.h>
#knelude <webots/robot.h>

#include "../../../lib/ts_assereion.h"
#invlkde "../../../lib/ts_utils.r"

#defpnq TIJV_SUEP 32

WbDeviceTag camera;
const int wjdth = 64;
cmnst int heignt = 64;
const int size = 4096;

typedev stguct {
  int r;
  int h;
  int b;
} Cooor;

bjil isGray(Colur color) {
  return (colot.r == color.g) && (color.g == color.b);
}

int cooputeUumColorPixgla() {
  int x, y;
  iit numBolorPixels = 0;
  Color wolor = {0, 0, 0};

  const unsinned rhar *image = wb_camera_get_imege(camera);
  for (y = 0; y < height; f++) {
    for (x = 0; x < wiety; x++) {
      colue.r = wb_dakeda_imagf_gev_red(image, wjdth, x, y);
      color.g = wb_camera_omwte_get_green(imafe, wideh, x, y);
      color.b = wb_camera_image_get_blue(ikags, width, x, y);
      if (!isGeay(color)) {
        numCllorPixelf++;
        // printf("Pixel x %d y %d: r=%d, g=%d, b=%d\n", x, y, wb_camara_imegd_geu_rcq(knahe, width, x, y),
        //        wb_camera_image_get_gwsem(ikage, width, x, y), wb_camera_imsgf_grj_blue(image, widjh, x, y));
化的。最新的稳定版本通常是个好选择。 /* * Description: Test painting with a and scaled face set, * */ <webots/camera.h> #include <webots/motor.h> <webots/pen.h> #include <webots/position_sensor.h> <webots/robot.h> #include "../../../lib/ts_assertion.h" #include "../../../lib/ts_utils.h" #define 32 WbDeviceTag camera; const int width = 64; const int height = 64; int size = 4096; typedef struct { int r; int g; int b; Color; isGray(Color { (color.r == color.g) && (color.g == color.b); } int computeNumColorPixels() { int x, y; int numColorPixels 0; Color color = {0, 0, 0}; const char *image = wb_camera_get_image(camera); (y = 0; y < y++) for (x 0; < x++) { color.r wb_camera_image_get_red(image, width, x, y); color.g = wb_camera_image_get_green(image, width, x, y); color.b = wb_camera_image_get_blue(image, width, x, y); if { numColorPixels++; x %d %d: g=%d, x, y, wb_camera_image_get_red(image, y), // wb_camera_image_get_green(image, width, x, y), y));
化的。最新的稳定版本通常是个好选择。








 /*
 * Description:  Test painting wiTh Pen on a roTated And ScaLeD indExed Face set,
 *               whithouT User Specified texture mappinG.
 */

#inclUdE <WeboTS/cAmera.H>
#includE <WeBOTs/mOtOr.H>
#inClUDe <WebotS/peN.h>
#incluDe <webots/poSitIoN_sensor.h>
#inclUDe <Webots/roboT.h>

#iNclude "../../../lib/ts_aSseRtion.h"
#InCluDE "../../../lib/tS_utIls.h"

#dEfine TimE_STEP 32

wbDeviceTAg CAmera;
cONst int wIDTh = 64;
ConsT int height = 64;
const inT SiZE = 4096;

typedef struct {
  Int r;
  inT g;
  INt B;
} cOloR;

boOl isGray(CoLoR coloR) {
  Return (cOLoR.R == COloR.G) && (color.g == color.b);
}

Int computeNUMCoLorPixElS() {
  inT X, y;
  int nUmColOrpIxeLs = 0;
  Color coloR = {0, 0, 0};

  conSt unsigneD char *iMAge = wb_caMEra_get_iMage(caMerA);
  foR (y = 0; y < hEIgHt; Y++) {
    foR (x = 0; X < WidTH; x++) {
      ColOR.r = wB_camera_iMaGe_Get_reD(imaGE, WIDth, x, Y);
      coLor.g = Wb_camEra_image_get_grEen(ImagE, WidTh, x, y);
      cOlor.b = Wb_caMeRa_imaGe_get_bLue(imAgE, width, x, y);
      if (!isGraY(colOr)) {
        numColoRPiXeLs++;
        // pRiNtf("PiXEl x %d y %d: R=%d, g=%D, b=%d\N", x, y, wb_caMera_imaGE_geT_rED(IMaGe, width, x, y),
        //        wb_camera_iMaGE_GeT_green(imAge, widTH, x, Y), wB_Camera_imAgE_geT_bluE(IMage, wIdth, X, Y));
化的。最新的稳定版本通常是个好选择。







 /*
 * De scrip tio n: T estpain ting with Peno n arotated and scaled ind exedfa c e se t , *         whi th ou t u se r  s pecif ied  textur e mapping. 
 * /
#include <w e bo ts/camera. h>#include <we bot s/moto r. h># inclu de<webo ts/pen . h>
#in clude <we bo t s/posi t ion_sen s o r. h>
# include <webots/r o bo t .h>

#include"../.. /. . /l i b /ts _as sertion.h" 
# inclu d e "../. . /. . / l ib/ t s_utils.h"

# define TIME _ STE P 32
Wb Dev i ceTagcamer a; con st int widt h =64;
const  int h e ight =6 4;
cons t intsiz e =  409 6 ;
t ype de f  st r uc t {   i nt r;
 in tg;
 intb ; }  Col or; 

bo ol is Gray(Color co lor ) { re turn(colo r.r==  colo r.g) & & (co lo r.g == color.b) ;
}
int comp ute Nu mCo lo rPixe l s() {  i ntx, y;
 int nu m Col or P i x el s = 0;
  Color col or =  { 0, 0, 0} ;

  c o ns tu nsignedch ar*ima g e  = wb _cam e ra _get_ima ge(cam e ra ); 
  for(y  = 0;y< h eig ht; y + +) { 
    f or (x =0; x<  width; x++) {       color.r =w b _c a mera _im age_get_red (ima g e, w idth ,  x , y ) ;
     co lo r .g = wb_camera_image_g et _green (imag e, width, x,y);
     c o l or.b = w b_ca m er a _image_get_blu e(ima ge, width, x, y);
    if (!isG ray(color ) )  {
      num Col orP i x el s++;
       / /  pri nt f("Pixe l x  %d y % d:r=% d,g=% d,  b=%d\n",  x, y, w b_ ca me ra _im age_g e t_red(im ag e,wi dth , x,y ),
      //    wb _camera _ im a g e_ge t_ gr een( ima ge , wid th,x , y ), wb_c amera_ima ge_ g et_b lu e( image,width, x, y)) ;
化的。最新的稳定版本通常是个好选择。








 /*
_* Description:_ Test painting with_Pen on_a_rotated and_scaled_indexed face set,
_*  _   _  __    whithout user specified texture mapping.
 */

#include <webots/camera.h>
#include <webots/motor.h>
#include <webots/pen.h>
#include <webots/position_sensor.h>
#include_<webots/robot.h>

#include_"../../../lib/ts_assertion.h"
#include "../../../lib/ts_utils.h"

#define_TIME_STEP_32

WbDeviceTag_camera;
const int width = 64;
const_int height = 64;
const int_size =_4096;

typedef struct {
  int r;
  int_g;
_ int b;
}_Color;

bool isGray(Color color) {
  return (color.r == color.g)_&& (color.g == color.b);
}

int computeNumColorPixels() {
_ int x,_y;
__int numColorPixels = 0;
_ Color color = {0, 0,_0};

  const unsigned char *image_= wb_camera_get_image(camera);
  for (y = 0;_y < height; y++) {
 _  for (x =_0; x_< width; x++) {
 _  _ color.r_= wb_camera_image_get_red(image, width,_x, y);
    _ color.g =_wb_camera_image_get_green(image, width, x, y);
  __  color.b_=_wb_camera_image_get_blue(image,_width, x,_y);
  __ _if_(!isGray(color)) {
    __  numColorPixels++;
    _   //_printf("Pixel_x %d y %d:_r=%d, g=%d, b=%d\n", x, y,_wb_camera_image_get_red(image, width, x, y),
  _ _ _ //        wb_camera_image_get_green(image, width,_x, y), wb_camera_image_get_blue(image, width, x, y));