void goMousePoint(int x, int y, int MouseCtrlMode)
{
//printf("cmode:%02d vx:%02d vy:%02d \n",ardrone.getCameraMode(),vx,vy);
if(!mNonDronRDebug)
{
double vx=0.0, vy=0.0, vr=0.0, vz=0.0;
if (!ardrone.onGround())
{
//CameraMode 0:正面カメラ
// 1:下面カメラ
// 2:正面カメラ + 小 下面カメラ
// 3:下面カメラ + 小 正面カメラ
int threshValue = 300;
//正面カメラ
if((ardrone.getCameraMode() == 0)||(ardrone.getCameraMode() == 2))
{
//printf("cmode:%02d \n",ardrone.getCameraMode());
if((x>0)&&(x<800)&&(y>0)&&(y<600))
{
if((!MouseCtrlMode))
{
if((x>0)&&(x < 300)){
//vy = -1.5;
}
if((x>500)&&(x < 800)){
//vy = 1.5;
}
if((y>0)&&(y < 150)){
vz = 1.0;
}
if((y>450)&&(y < 600)){
vz = -1.0;
}
/*
if(((x - preX) > 5)&&((x - preX) < threshValue)){
vy = -1;
}
if(((x - preX) < -5)&&((x - preX) > (-1 * threshValue))){
vy = 1;
}
if(((y - preY) < 10)&&((y - preY) > -10)){
if((y>0)&&(y < 150)){
vz = 1;
}
if((y>450)&&(y < 600)){
vz = -1;
}
}
if(((y - preY) > 5)&&((y - preY) < threshValue/2)){
//画面下へドラッグ
//vz = -1;
}
if(((y - preY) < -5)&&((y - preY) > (-1 * threshValue/2))){
//vz = 1;
}
*/
}else{
//マルチタッチモード
//前後飛行
if(((x - preX) > 5)&&((x - preX) < threshValue)){
vz = 1.0;
}
if(((x - preX) < -5)&&((x - preX) > (-1 * threshValue))){
vz = -1.0;
}
}
}
}
//下面カメラ
if((ardrone.getCameraMode() == 1)||(ardrone.getCameraMode() == 3))
{
//printf("cmode:%02d \n",ardrone.getCameraMode());
if((x>0)&&(x<800)&&(y>0)&&(y<600))
{
if((!MouseCtrlMode))
{
if((x>0)&&(x < 300)){
vy = 1.5;
}
if((x>500)&&(x < 800)){
vy = -1.5;
}
if((y>0)&&(y < 200)){
vx = 1.5;
}
if((y>400)&&(y < 600)){
vx = -1.5;
}
/*
if(((x - preX) > 5)&&((x - preX) < threshValue)){
vy = -1;
}
if(((x - preX) < -5)&&((x - preX) > (-1 * threshValue))){
vy = 1;
}
if(((y - preY) > 5)&&((y - preY) < threshValue/2)){
vx = 1;
}
if(((y - preY) < -5)&&((y - preY) > (-1 * threshValue/2))){
vx = -1;
}
*/
}else{
//マルチタッチモード
//昇降下降
if(((x - preX) > 5)&&((x - preX) < threshValue)){
vz = 1.0;
}
if(((x - preX) < -5)&&((x - preX) > (-1 * threshValue))){
vz = -1.0;
}
}
}
}
printf("cmode:%02d pX:%02d-%02d pY:%02d-%02d vx:%02.1f vy:%02.1f vz:%02.1f vr:%02.1f \n",ardrone.getCameraMode(), preX, x, preY, y, vx, vy, vz, vr);
//ardrone.move3D(vx, vy, vz, vr);
if(mArDroneCommandFlag == false)
{
MouseARMode = true;
ardrone.move3D(vx, vy, vz, vr);
msleep(200);
MouseARMode = false;
}
preX = x;
preY = y;
}
//ardrone.move3D(0, 0, 0, 0);
}
}
// --------------------------------------------------------------------------
// main(Number of arguments, Argument values)
// Description : This is the entry point of the program.
// Return value : SUCCESS:0 ERROR:-1
// --------------------------------------------------------------------------
int main(int argc, char *argv[])
{
// AR.Drone class
ARDrone ardrone;
// Initialize
if (!ardrone.open()) {
std::cout << "Failed to initialize." << std::endl;
return -1;
}
// Battery
std::cout << "Battery = " << ardrone.getBatteryPercentage() << "[%]" << std::endl;
// Instructions
std::cout << "***************************************" << std::endl;
std::cout << "* CV Drone sample program *" << std::endl;
std::cout << "* - How to play - *" << std::endl;
std::cout << "***************************************" << std::endl;
std::cout << "* *" << std::endl;
std::cout << "* - Controls - *" << std::endl;
std::cout << "* 'Space' -- Takeoff/Landing *" << std::endl;
std::cout << "* 'Up' -- Move forward *" << std::endl;
std::cout << "* 'Down' -- Move backward *" << std::endl;
std::cout << "* 'Left' -- Turn left *" << std::endl;
std::cout << "* 'Right' -- Turn right *" << std::endl;
std::cout << "* 'Q' -- Move upward *" << std::endl;
std::cout << "* 'A' -- Move downward *" << std::endl;
std::cout << "* *" << std::endl;
std::cout << "* - Others - *" << std::endl;
std::cout << "* 'T' -- Track marker *" << std::endl;
std::cout << "* 'C' -- Change camera *" << std::endl;
std::cout << "* 'Esc' -- Exit *" << std::endl;
std::cout << "* *" << std::endl;
std::cout << "***************************************" << std::endl;
while (1) {
double cx = 0;
double cy = 0;
cv::Rect trackRect;
// Key input
int key = cv::waitKey(33);
if (key == 0x1b) break;
// Get an image
cv::Mat image = ardrone.getImage();
// Take off / Landing
if (key == ' ') {
if (ardrone.onGround()) ardrone.takeoff();
else ardrone.landing();
}
// Move
double vx = 0.0, vy = 0.0, vz = 0.0, vr = 0.0;
if (key == 'i' || key == CV_VK_UP) vx = 1.0;
if (key == 'k' || key == CV_VK_DOWN) vx = -1.0;
if (key == 'u' || key == CV_VK_LEFT) vr = 1.0;
if (key == 'o' || key == CV_VK_RIGHT) vr = -1.0;
if (key == 'j') vy = 1.0;
if (key == 'l') vy = -1.0;
if (key == 'q') vz = 1.0;
if (key == 'a') vz = -1.0;
ardrone.move3D(vx, vy, vz, vr);
// Change camera
static int mode = 0;
if (key == 'c') ardrone.setCamera(++mode % 4);
// Switch tracking ON/OFF
static int track = 0;
if (key == 't') track = !track;
// People detect
trackRect = ardrone.detectHuman(image);
cx = trackRect.x + (trackRect.width / 2);
cy = trackRect.y + (trackRect.height / 2);
cv::Point2f mc = cv::Point2f(cx, cy);
//std::cout << "cx: " << cx << " cy: " << cy <<std::endl;
cv::circle(image, mc, 5, cv::Scalar(0,0,255));
//std::cout << "rect size: " << trackRect.width * trackRect.height << std::endl;
// Tracking
if (track) {
if (cx == 0 && cy == 0)
{
vx = 0.0;
vy = 0.0;
vr = 0.0;
vz = 0.0;
} else {
const double kp = 0.005;
const double ka = 0.005;
const double first_area = 30000;
double rec_area = trackRect.width * trackRect.height;
vx = ka * (first_area - rec_area);
vy = 0.0;
vr = kp * (image.cols / 2 - mc.x);
vz = kp * (image.rows / 2 - mc.y);
// const double kp = 0.005;
// vx = 0.1;
// vy = 0.0;
// vz = kp * (image.rows / 2 - cy);
// vr = kp * (image.cols / 2 - cx);
}
}
// Display the image
cv::putText(image, (track) ? "track on" : "track off", cv::Point(10, 20), cv::FONT_HERSHEY_SIMPLEX, 0.5, (track) ? cv::Scalar(0, 0, 255) : cv::Scalar(0, 255, 0), 1, cv::LINE_AA);
cv::imshow("camera", image);
ardrone.move3D(vx, vy, vz, vr);
}
// See you
ardrone.close();
return 0;
}
int main(int argc, char **argv)
{
//int i;
//static IplImage *src_img = 0, *src_gray = 0;
CascadeClassifier face_cascade;
//OK 2014.02.14 精度は荒いが速度はよい ※速度重視
face_cascade.load("..\\..\\data\\haarcascade_frontalface_alt2.xml");
//setup image files used in the capture process
Mat captureFrame;
Mat grayscaleFrame;
static pLeapData pLeapData;
pLeapData.init();
static bool mLeapnot = false;
static bool mTakOffFlag = false;
static bool mSendCommandflag = false;
static int mSendCommandcounter = 0;
static int mSoundCommandcounter = 0;
static int mSoundCommandOKcounter = 20;
float pitch = 0; //前p：-0.5 後p： 0.9
float yaw = 0; //左y：-1.0 右y： 0.7
float roll = 0; //左R： 0.8 右R：-1.0
float pitch_pre = 0; //前p：-0.5 後p： 0.9
float yaw_pre = 0; //左y：-1.0 右y： 0.7
float roll_pre = 0; //左R： 0.8 右R：-1.0
float PosX = 0; //左右 左 -150 〜 右 150
float PosY = 0; //上下昇降 下 50 〜 上 300
float PosZ = 0; //前後 手前-100 〜 奥 100
float PosX_pre = 0; //左右 左 -150 〜 右 150
float PosY_pre = 0; //上下昇降 下 50 〜 上 300
float PosZ_pre = 0; //前後 手前-100 〜 奥 100
float Para_pre = 0.80f; //
float Para_cur = 0.2f; //
Leap::Frame frame; // controller is a Leap::Controller object
Leap::HandList hands;
Leap::Hand firstHand;
//double vx = 0.0, vy = 0.0, vz = 0.0, vr = 0.0;
int mbatValue = 0;
//マウスイベント用
//http://ameblo.jp/banquet-of-merry-widow/entry-11101618791.html
MouseParam mparam;
mparam.x = 0; mparam.y = 0; mparam.event = 0; mparam.flags = 0;
//ウインドウへコールバック関数とコールバック関数からイベント情報を受け取る変数を渡す。
//setMouseCallback( wname, &mfunc, &mparam );
// AR.Drone class
// ARDrone ardrone;
if(mNonDronDebug == true)
{
}else
{
// Initialize
//if (!ardrone.open()) {
if ( initdrone(&ardrone) == -1) {
printf("Failed to initialize.\n");
return -1;
}
}
#ifdef MCISOUND
PlayWaveSound();
#endif
// Battery
printf("Battery = %d%%\n", ardrone.getBatteryPercentage());
// Instructions
printf("***************************************\n");
printf("* CV Drone sample program *\n");
printf("* - How to Play - *\n");
printf("***************************************\n");
printf("* *\n");
printf("* - Controls - *\n");
printf("* 'Space' -- Takeoff/Landing *\n");
printf("* 'Up' -- Move forward *\n");
printf("* 'Down' -- Move backward *\n");
printf("* 'Left' -- Turn left *\n");
printf("* 'Right' -- Turn right *\n");
printf("* 'Q' -- Move upward *\n");
printf("* 'A' -- Move downward *\n");
printf("* *\n");
printf("* - Others - *\n");
printf("* 'C' -- Change camera *\n");
printf("* 'Esc' -- Exit *\n");
printf("* *\n");
printf("* 'F' --mFaceDetectMode：スイッチ *\n");
printf("* 'L' --LeapMode：スイッチ *\n");
printf("* *\n");
printf("***************************************\n\n");
//
//2014.01.15 add
Leap::Controller leapController;
// Get an image
static IplImage *image;
//ardrone.setCamera(0);
ardrone.setCamera(1);//下面カメラ指定
//顔検出後の枠用
CvPoint pt1;
pt1.x = 100;
pt1.y = 100;
CvScalar rcolor;
rcolor = CV_RGB( 128, 80, 128);
//ウィンドウの表示
cvNamedWindow ("FaceDetectW", CV_WINDOW_AUTOSIZE);
cvNamedWindow ("camera", CV_WINDOW_AUTOSIZE);
//ウインドウへコールバック関数とコールバック関数からイベント情報を受け取る変数を渡す。
cvSetMouseCallback( "camera", &mMouseEventfunc, &mparam );
time_t now = time(NULL);
struct tm *pnow = localtime(&now);
while (1)
{
// Key input
int key = cvWaitKey(33);
//int key = cvWaitKey(15);
if (key == 0x1b){
break;
}
//2014.03.09 add
vx = 0.0;
vy = 0.0;
vz = 0.0;
vr = 0.0;
//音声出力タイミング用ワーク
if (mSendCommandflag == true)
{
if(mSendCommandcounter++ > 50)
{
mSendCommandflag = false;
mSendCommandcounter = 0;
}
}
// Update
if(mNonDronDebug == false)
{
if (!ardrone.update())
break;
// Get an image
image = ardrone.getImage();
if((mbatValue = ardrone.getBatteryPercentage()) < 30){
printf("Battery = %d%%\n",mbatValue );
if(mArDroneCommandFlag == false)
ardrone.move3D(0.0, 0.0, 0.0, 0.0);
msleep(80);
ardrone.landing();
printf("Landing\n");
msleep(180);
}
//}
#ifndef FACEDETECT
try{
//2014.02.15 FaceDetection追加
// (3)メモリを確保し，読み込んだ画像のグレースケール化，ヒストグラムの均一化を行う
CvMemStorage *storage = 0;
storage = cvCreateMemStorage (0);
cvClearMemStorage (storage);
//Mat captureFrame;
//Mat grayscaleFrame;
Mat captureFrameMat = cvarrToMat(image);
cvtColor(captureFrameMat, grayscaleFrame, CV_BGR2GRAY);
equalizeHist(grayscaleFrame, grayscaleFrame);
// mFaceDetectMode：Fキーにてスイッチ
if((mFaceDetectMode == true)
&&((ardrone.getCameraMode() == 0)||(ardrone.getCameraMode() == 2)))//正面カメラの場合に有効
{
// (4)物体（顔）検出
//create a vector array to store the face found
std::vector<Rect> faces;
face_cascade.detectMultiScale(grayscaleFrame, faces, 1.2, 4, CV_HAAR_FIND_BIGGEST_OBJECT|CV_HAAR_SCALE_IMAGE, Size(30,30));
//printf("FaceNum:%02d\n",faces.size());
// (5)検出された全ての顔位置に，四角を描画する
Point pt1;
Point pt2;
Point cPt1;//Center Mark
int mFaceHeight=0;
int mFaceWidth=0;
//複数検出の場合は、最大のものをTrackingする。
for(int i = 0; i < (signed)faces.size(); i++)
{
if(i==0)
{
pt1.x = faces[i].x + faces[i].width;
pt1.y = faces[i].y + faces[i].height;
mFaceHeight = faces[i].height;
mFaceWidth = faces[i].width;
pt2.x = faces[i].x ;
pt2.y = faces[i].y ;
cPt1.x = faces[i].x + faces[i].width/2;
cPt1.y = faces[i].y + faces[i].height/2;
}else
{
//最大の検出対象の値をキープ
if(faces[i-1].height < faces[i].height)
{
pt1.x = faces[i].x + faces[i].width;
pt1.y = faces[i].y + faces[i].height;
mFaceHeight = faces[i].height;
mFaceWidth = faces[i].width;
pt2.x = faces[i].x;
pt2.y = faces[i].y;
cPt1.x = faces[i].x + faces[i].width/2;
cPt1.y = faces[i].y + faces[i].height/2;
}
}
}
//printf("FaceNum:%02d",faces.size());
if(faces.size() > 0)
{
//顔検出した場合の処理
mFaceLostFlag = false;
rectangle(captureFrameMat, pt1, pt2, cvScalar(0, 255, 0, 0), 1, 8, 0);
//Center Mark
circle (captureFrameMat,cPt1,5,rcolor,-2);
//double vx=0.0, vy=0.0, vr=0.0, vz=0.0;
if((cPt1.x > 0)&&(cPt1.x < 200)){
vr = 1.0;
}
if((cPt1.x > 280)&&(cPt1.x <350)){
vr = 1.0;
}
if((cPt1.x > 450)&&(cPt1.x < 520)){
vr = -1.0;
}
if((cPt1.x > 600)&&(cPt1.x < 800)){
vr = -1.0;
}
if((cPt1.y > 0)&&(cPt1.y < 350)){
//vz = 0.75;
}else if((cPt1.y > 400)&&(cPt1.y < 600)){
//vz = -0.75;
}
if((mFaceHeight > 1)&&(mFaceHeight < 200)){
//vx = 0.75;
//vz = 0.75;
}else if((mFaceHeight > 300)&&(mFaceHeight < 600)){
//vx = -0.75;
//vz = -0.75;
}
if(!mNonDronRDebug)
{
if((!ardrone.onGround())&&(mArDroneCommandFlag == false))
{
//time_t now = time(NULL);
//struct tm *pnow = localtime(&now);
//printf("FT:%02d:%02d:%02d X:%03d Y:%03d vx:%02.1f vy:%02.1f vz:%02.1f vr:%02.1f FH:%03d\n",pnow->tm_hour,pnow->tm_min,pnow->tm_sec, cPt1.x,cPt1.y, vx, vy, vz, vr, mFaceHeight);
//ardrone.move3D(vx, vy, vz, vr);
//msleep(30);
}
}
}else
{
//Face Lostモード
if(mFaceLostFlag == false)
{
mFaceLostFlag = true;
if(!mNonDronRDebug)
{
if (!ardrone.onGround())
{
if(mArDroneCommandFlag == false)
{
//ardrone.move3D(0.0, 0.0, 0.0, 0.0);
//printf(" X:%03d Y:%03d vx:%02d vy:%02d vz:%02d vr:%02d FH:%03d\n", 0, 0, 0, 0, 0, 0, 0);
printf("Face Lostモード\n");
//msleep(100);
}
}
}
}
}
//2014.02.22
// height value enable 150 - 400
// x 150 - 600 center:400
// y 150 - 600 center:400
//printf(" x:%02d y:%02d w:%02d h:%02d",faces[0].x,faces[0].y,faces[0].width,faces[0].height);
//printf(" cx:%02d cy:%02d w:%02d h:%02d",cPt1.x,cPt1.y,faces[0].width,faces[0].height);
//printf("\n");
//
IplImage wimage = captureFrameMat;
//static IplImage wimage = grayscaleFrame;
//cvCopy( image, wimage);
image = &wimage;
}
}catch(char *e)
{
printf("%s\n",e);
}
#endif
}
//2014.03.09 add
if((mLeapnot != true)&&(pLeapData.mLeapMode == true)&&(leapController.isConnected()))
{
frame = leapController.frame(); // controller is a Leap::Controller object
hands = frame.hands();
firstHand = hands[0];
pitch_pre = pitch;
pitch = firstHand.direction().pitch();//前p：-0.5 後p： 0.9
pitch = pitch_pre*Para_pre + pitch*Para_cur; //Para_pre:0.80 Para_cur:0.20
yaw_pre = yaw; //左y：-1.0 右y： 0.7
yaw = firstHand.direction().yaw(); //左y：-1.0 右y： 0.7
yaw = yaw_pre*Para_pre + yaw*Para_cur;
roll_pre = roll; //左R： 0.8 右R：-1.0
roll = firstHand.palmNormal().roll(); //左R： 0.8 右R：-1.0
roll = roll_pre*Para_pre + roll*Para_cur;
PosX = frame.pointables().leftmost().tipPosition().x; //左右 左-150 〜 右 150
PosY = frame.pointables().leftmost().tipPosition().y; //上下昇降 下 50 〜 上 300
PosZ = frame.pointables().leftmost().tipPosition().z * (1); //前後 手前-100 〜 奥 100
if(pLeapData.mLeapDebugPrint == true){
printf("%03d XYZ:%03.02f:%03.02f:%03.02f p:%03.02f y:%03.02f r:%03.02f TF:%01i: %i\n",mSoundCommandcounter, PosX,PosY,PosZ,pitch,yaw,roll,(int)mTakOffFlag,mSendCommandcounter);
}
//LeapMotion Value set
//LeapMotionに近づけると TakeOFF
if((PosY > 50) && (PosY < 75) && (mTakOffFlag == true))
{
if(mNonDronDebug == false)
{
if (ardrone.onGround())
{
mTakOffFlag = false;
}else
{
if(mSoundCommandcounter>mSoundCommandOKcounter){
sndPlaySound("..\\..\\src\\resource\\HackathonUser1orimasu.wav", SND_ASYNC);//orimasu
mSoundCommandcounter = 0;
}
if(!mNonDronRDebug) {
ardrone.landing();
}
mTakOffFlag = false;
mSendCommandflag = true;
if(!mNonDronRDebug)
if((pLeapData.mLeapMode == true)&&(mArDroneCommandFlag == false))
ardrone.move3D(0.0, 0.0, 0.0, 0.0);
msleep(250);
}
}
}
if((PosY > 200) && (PosY < 250) && (mTakOffFlag == false))
{
if(mNonDronDebug == false)
{
if (ardrone.onGround())
{
if(pLeapData.mLeapMode == true)
{
mSendCommandflag = true;
if(!mNonDronRDebug)
ardrone.takeoff();
msleep(250);
printf("Leap takeoff\n");
mTakOffFlag = true;
ardrone.move3D(0.0, 0.0, 0.0, 0.0);
//msleep(50);
msleep(100);
}
}
}
}
if((pitch > -0.6) && (pitch < -0.45)){
//前進
//vx = 1.0;
}else if((pitch < 0.9)&&(pitch > 0.5)){
//back
//vx = -1.0;
}
if((roll > 0.5)&&(roll < 0.8)){
//左傾斜
//vy = 1.0;
}else if((roll < -1.0)&&(roll > -1.4)){
//右傾斜
//vy = -1.0;
}else if((vx == 0) &&(vy == 0))
{
//左向き
if((yaw < -0.5)&&(yaw > -0.8)){
vr = 1.0;
}
//右向き
if((yaw > 0.05)&&(yaw < 0.5)){
vr = -1.0;
}
}else
{
vr = 0.0;
}
if(!pLeapData.mLeapDebugPrint == true){
printf("vxyr:%02.01f %02.01f %02.01f: %02.01f %02.01f \n",vx,vy,vr,roll,roll_pre);
}
}//(mLeapnot != true)
//キーコントロール入力
// Take off / Landing
if(mNonDronDebug == false)
{
if (key == ' ')
{
if (ardrone.onGround())
{
if(!mNonDronRDebug)
ardrone.takeoff();
msleep(300);
printf("takeoff\n");
if(mArDroneCommandFlag == false)
{
ardrone.move3D(0.0, 0.0, 0.0, 0.0);
msleep(200);
}
if(mSoundCommandcounter>mSoundCommandOKcounter)
{
sndPlaySound("..\\..\\src\\resource\\HackathonUser1tobimasu.wav", SND_ASYNC);//orimasu
mSoundCommandcounter = 0;
}
mTakOffFlag = true;
mSendCommandflag = true;
//msleep(500);
}else//
{
if(!mNonDronRDebug)// false
{
ardrone.landing();
printf("Landing\n");
msleep(500);
ardrone.move3D(0.0, 0.0, 0.0, 0.0);
msleep(200);
}
if(mSoundCommandcounter>mSoundCommandOKcounter)
{
sndPlaySound("..\\..\\src\\resource\\HackathonUser1orimasu.wav", SND_ASYNC);//orimasu
mSoundCommandcounter = 0;
}
mTakOffFlag = false;
mSendCommandflag = true;
//msleep(500);
}
}//'Space'
}
//printf("* 'Space' -- Takeoff/Landing *\n");
//printf("* 'Up' -- Move forward *\n");
//printf("* 'Down' -- Move backward *\n");
//printf("* 'Left' -- Turn left *\n");
//printf("* 'Right' -- Turn right *\n");
//printf("* 'Q' -- Move upward *\n");
//printf("* 'A' -- Move downward *\n");
// Move
//vx = 0.0, vy = 0.0, vz = 0.0, vr = 0.0;
if (key == 0x260000) vx = 1.0;//Up arrow
if (key == 0x280000) vx = -1.0;//Down arrow key
if (key == 0x250000) vr = 1.0;//Left arrow key
if (key == 0x270000) vr = -1.0;//Right arrow key
if (key == 'q') vz = 1.0;
if (key == 'a') vz = -1.0;
if (key == 'r')
{
//Reset
//ardrone.emergency();
if(mNonDronDebug == true)
{
}else
{
//2014.03.09 add
vx = 0.0;
vy = 0.0;
vz = 0.0;
vr = 0.0;
//ardrone.close();
if ( initdrone(&ardrone) == -1) {
printf("Failed to initialize.\n");
return -1;
}
}
}
// 2014.03.02 add
if((key == 'f')||(key == 'F')){
mFaceDetectMode = !mFaceDetectMode;
printf("Face Mode:%02X Battery = %d%%\n",mFaceDetectMode, ardrone.getBatteryPercentage());
}
if((key == 'l')||(key == 'L')){
pLeapData.mLeapMode = !pLeapData.mLeapMode;
printf("Leap Mode:%02X Battery = %d%%\n",pLeapData.mLeapMode, ardrone.getBatteryPercentage());
}
if((key == 'v')||(key == 'V')){
printf("Btry:%d%% mSendCommandflag:%02d\n", ardrone.getBatteryPercentage(), mSendCommandflag);
}
if((key == '0')||(key == '0')){
printf("Btry:%d%% reset setFlatTrim():%02d\n", ardrone.getBatteryPercentage(), key);
ardrone.setFlatTrim();
msleep(500);
}
if(mNonDronDebug == false)
{
gotoPlaySound(vx, vy, vr, mSoundCommandcounter, mSoundCommandOKcounter);
if((!mNonDronRDebug)&&(!ardrone.onGround()))
{
if((mArDroneCommandFlag == false)&&(MouseARMode == false))
{
ardrone.move3D(vx, vy, vz, vr);
//ardrone.move3D(vx, vy, vz, vr);
//ardrone.move3D(vx, vr, 0.0, vy);
msleep(150);
time_t now = time(NULL);
struct tm *pnow = localtime(&now);
printf("KLT:%02d:%02d:%02d vx:%02.1f vy:%02.1f vz:%02.1f vr:%02.1f \n",pnow->tm_hour,pnow->tm_min,pnow->tm_sec, vx, vy, vz, vr);
}
}
//ardrone.move3D(0, 0, 0, 0);
}
// Change camera
if(mNonDronDebug == false)
{
static int mode = 0;
if((key == 'c')||(key == 'C'))
ardrone.setCamera(++mode%2);
//ardrone.setCamera(++mode%4);
// Display the image
//cvCircle (image,pt1,30,rcolor,2);
IplImage wGrayImage = grayscaleFrame;
cvShowImage ("FaceDetectW", &wGrayImage);
cvShowImage("camera", image);
cvMoveWindow( "FaceDetectW", 600, 0 );
cvMoveWindow( "camera", 50, 0 );
//WindowFromPoint(point(100,200));
if ((key == 's') && (ardrone.getCameraMode() == 1))
{
imgSave("..\\..\\SaveFileName.jpg", &wGrayImage);
}
}
}//while loop
// See you
if(mNonDronDebug == false)
{
ardrone.close();
cvDestroyWindow ("camera");
cvDestroyWindow ("FaceDetectW");
}
return 0;
}
// --------------------------------------------------------------------------
// main(Number of arguments, Argument values)
// Description : This is the entry point of the program.
// Return value : SUCCESS:0 ERROR:-1
// --------------------------------------------------------------------------
int main(int argc, char *argv[])
{
// AR.Drone class
ARDrone ardrone;
// Initialize
if (!ardrone.open()) {
std::cout << "Failed to initialize." << std::endl;
return -1;
}
// Battery
std::cout << "Battery = " << ardrone.getBatteryPercentage() << "[%]" << std::endl;
// Instructions
std::cout << "***************************************" << std::endl;
std::cout << "* CV Drone sample program *" << std::endl;
std::cout << "* - How to play - *" << std::endl;
std::cout << "***************************************" << std::endl;
std::cout << "* *" << std::endl;
std::cout << "* - Controls - *" << std::endl;
std::cout << "* 'Space' -- Takeoff/Landing *" << std::endl;
std::cout << "* 'Up' -- Move forward *" << std::endl;
std::cout << "* 'Down' -- Move backward *" << std::endl;
std::cout << "* 'Left' -- Turn left *" << std::endl;
std::cout << "* 'Right' -- Turn right *" << std::endl;
std::cout << "* 'Q' -- Move upward *" << std::endl;
std::cout << "* 'A' -- Move downward *" << std::endl;
std::cout << "* *" << std::endl;
std::cout << "* - Others - *" << std::endl;
std::cout << "* 'C' -- Change camera *" << std::endl;
std::cout << "* 'Esc' -- Exit *" << std::endl;
std::cout << "* *" << std::endl;
std::cout << "***************************************" << std::endl;
while (1) {
// Key input
int key = cv::waitKey(33);
if (key != -1) std::cout << "Key pressed: " << key << std::endl;
if (key == 0x1b) break;
// Get an image
cv::Mat image = ardrone.getImage();
// Take off / Landing
if (key == ' ') {
if (ardrone.onGround()) ardrone.takeoff();
else ardrone.landing();
}
// Move
double vx = 0.0, vy = 0.0, vz = 0.0, vr = 0.0;
if (key == 'i' || key == CV_VK_UP) vx = 1.0;
//if (key == 2490368) vx = 1.0; // Key up
if (key == 'k' || key == CV_VK_DOWN) vx = -1.0;
//if (key == 2621440) vx = -1.0; // Key down
if (key == 'u' || key == CV_VK_LEFT) vr = 1.0;
//if (key == 2424832) vr = 1.0; // Key left
if (key == 'o' || key == CV_VK_RIGHT) vr = -1.0;
//if (key == 2555904) vr = -1.0; // Key right
if (key == 'j') vy = 1.0;
if (key == 'l') vy = -1.0;
if (key == 'q') vz = 1.0;
if (key == 'a') vz = -1.0;
//ardrone.move3D(1.0, 0.0, 0.0, 0.0);
//std::cout << "vx: " << vx << ", vy: " << vy << ", vz: " << vz << ", vr: " << vr << std::endl;
ardrone.move3D(vx, vy, vz, vr);
// Change camera
static int mode = 0;
if (key == 'c') ardrone.setCamera(++mode % 4);
// Display the image
cv::imshow("Camera", image);
}
// See you
ardrone.close();
return 0;
}
// --------------------------------------------------------------------------
// main(Number of arguments, Value of arguments)
// Description : This is the main function.
// Return value : SUCCESS:0 ERROR:-1
// --------------------------------------------------------------------------
int main(int argc, char **argv)
{
// AR.Drone class
ARDrone ardrone;
// Initialize
if (!ardrone.open()) {
printf("Failed to initialize.\n");
return -1;
}
// Image of AR.Drone's camera
IplImage *image = ardrone.getImage();
// Valuables for optical flow
IplImage *gray = cvCreateImage(cvGetSize(image), IPL_DEPTH_8U, 1);
IplImage *prev = cvCreateImage(cvGetSize(image), IPL_DEPTH_8U, 1);
cvCvtColor(image, prev, CV_BGR2GRAY);
IplImage *eig_img = cvCreateImage(cvGetSize(image), IPL_DEPTH_32F, 1);
IplImage *tmp_img = cvCreateImage(cvGetSize(image), IPL_DEPTH_32F, 1);
IplImage *prev_pyramid = cvCreateImage(cvSize(image->width+8, image->height/3), IPL_DEPTH_8U, 1);
IplImage *curr_pyramid = cvCreateImage(cvSize(image->width+8, image->height/3), IPL_DEPTH_8U, 1);
CvPoint2D32f *corners1 = (CvPoint2D32f*)malloc(corner_count * sizeof(CvPoint2D32f));
CvPoint2D32f *corners2 = (CvPoint2D32f*)malloc(corner_count * sizeof(CvPoint2D32f));
// Main loop
while (!GetAsyncKeyState(VK_ESCAPE)) {
// Update
if (!ardrone.update()) break;
// Get an image
image = ardrone.getImage();
// Take off / Landing
if (KEY_PUSH(VK_SPACE)) {
if (ardrone.onGround()) ardrone.takeoff();
else ardrone.landing();
}
// Move
double vx = 0.0, vy = 0.0, vz = 0.0, vr = 0.0;
if (KEY_DOWN(VK_UP)) vx = 0.5;
if (KEY_DOWN(VK_DOWN)) vx = -0.5;
if (KEY_DOWN(VK_LEFT)) vr = 0.5;
if (KEY_DOWN(VK_RIGHT)) vr = -0.5;
if (KEY_DOWN('Q')) vz = 0.5;
if (KEY_DOWN('A')) vz = -0.5;
ardrone.move3D(vx, vy, vz, vr);
// Convert the camera image to grayscale
cvCvtColor(image, gray, CV_BGR2GRAY);
// Detect features
int corner_count = 50;
cvGoodFeaturesToTrack(prev, eig_img, tmp_img, corners1, &corner_count, 0.1, 5.0, NULL);
// Corner detected
if (corner_count > 0) {
char *status = (char*)malloc(corner_count * sizeof(char));
// Calicurate optical flows
CvTermCriteria criteria = cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS, 20, 0.3);
cvCalcOpticalFlowPyrLK(prev, gray, prev_pyramid, curr_pyramid, corners1, corners2, corner_count, cvSize(10, 10), 3, status, NULL, criteria, 0);
// Drow the optical flows
for (int i = 0; i < corner_count; i++) {
cvCircle(image, cvPointFrom32f(corners1[i]), 1, CV_RGB (255, 0, 0));
if (status[i]) cvLine(image, cvPointFrom32f(corners1[i]), cvPointFrom32f(corners2[i]), CV_RGB (0, 0, 255), 1, CV_AA, 0);
}
free(status);
}
// Save the last frame
cvCopy(gray, prev);
// Display the image
cvShowImage("camera", image);
cvWaitKey(1);
}
// Release the images
cvReleaseImage(&gray);
cvReleaseImage(&prev);
cvReleaseImage(&eig_img);
cvReleaseImage(&tmp_img);
cvReleaseImage(&prev_pyramid);
cvReleaseImage(&curr_pyramid);
free(corners1);
free(corners2);
// See you
ardrone.close();
return 0;
}
// --------------------------------------------------------------------------
// controls()
// This function sends commands to the drone using an Xbox Controller.
// --------------------------------------------------------------------------
void controls()
{
// Check for Xbox Controller
if(player1->IsConnected())
{
// 'A' button
if(player1->GetState().Gamepad.wButtons & XINPUT_GAMEPAD_A)
{
// Change camera
static int cameraToggle = 0;
ardrone.setCamera(++cameraToggle%4);
}
// 'B' button
if(player1->GetState().Gamepad.wButtons & XINPUT_GAMEPAD_B)
{
ardrone.emergency();
}
// 'X' button
if(player1->GetState().Gamepad.wButtons & XINPUT_GAMEPAD_X)
{
ardrone.flatTrim();
}
// 'Y' button
/*if(player1->GetState().Gamepad.wButtons & XINPUT_GAMEPAD_Y)
{
}*/
// 'Start' button
if(player1->GetState().Gamepad.wButtons & XINPUT_GAMEPAD_START)
{
if (ardrone.onGround())
{
ardrone.takeoff();
}
else
{
ardrone.landing();
}
}
// 'Back' button
if(player1->GetState().Gamepad.wButtons & XINPUT_GAMEPAD_BACK)
{
// Exit the program.
if (ardrone.onGround())
{
exit(0);
}
}
// Left Thumb-Stick Press
/*if(player1->GetState().Gamepad.wButtons & XINPUT_GAMEPAD_LEFT_THUMB)
{
}*/
// Right Thumb-Stick Press
/*if(player1->GetState().Gamepad.wButtons & XINPUT_GAMEPAD_RIGHT_THUMB)
{
}*/
// AR.Drone flight controls
//if (!ardrone.onGround())
{
// Check left thumbStick
double leftThumbY = player1->GetState().Gamepad.sThumbLY / STICK_RANGE;
double leftThumbX = player1->GetState().Gamepad.sThumbLX / STICK_RANGE;
// Check the dead zone
if (leftThumbY < STICK_DEAD_ZONE && leftThumbY > -STICK_DEAD_ZONE)
{
leftThumbY = 0;
}
if (leftThumbX < STICK_DEAD_ZONE && leftThumbX > -STICK_DEAD_ZONE)
{
leftThumbX = 0;
}
// Check left thumbStick
double rightThumbY = player1->GetState().Gamepad.sThumbRY / TRIGGER_RANGE;
double rightThumbX = player1->GetState().Gamepad.sThumbRX / TRIGGER_RANGE;
// Check the dead zone
if (rightThumbY < STICK_DEAD_ZONE && rightThumbY > -STICK_DEAD_ZONE)
{
rightThumbY = 0;
}
if (rightThumbX < STICK_DEAD_ZONE && rightThumbX> -STICK_DEAD_ZONE)
{
rightThumbX = 0;
}
double rightTrigger = player1->GetState().Gamepad.bRightTrigger / TRIGGER_RANGE;
double leftTrigger = player1->GetState().Gamepad.bLeftTrigger / TRIGGER_RANGE;
double gaz = rightTrigger - leftTrigger;
// Move
ardrone.move3D(rightThumbY*10, -rightThumbX*10, gaz*10, -leftThumbX*10);
}
}
}
// --------------------------------------------------------------------------
// main(Number of arguments, Argument values)
// Description : This is the entry point of the program.
// Return value : SUCCESS:0 ERROR:-1
// --------------------------------------------------------------------------
int main(int argc, char *argv[])
{
// AR.Drone class
ARDrone ardrone;
// Initialize
if (!ardrone.open()) {
std::cout << "Failed to initialize." << std::endl;
return -1;
}
// Battery
std::cout << "Battery = " << ardrone.getBatteryPercentage() << "%" << std::endl;
// Instructions
std::cout << "***************************************" << std::endl;
std::cout << "* CV Drone sample program *" << std::endl;
std::cout << "* - How to Play - *" << std::endl;
std::cout << "***************************************" << std::endl;
std::cout << "* *" << std::endl;
std::cout << "* - Controls - *" << std::endl;
std::cout << "* 'Space' -- Takeoff/Landing *" << std::endl;
std::cout << "* 'Up' -- Move forward *" << std::endl;
std::cout << "* 'Down' -- Move backward *" << std::endl;
std::cout << "* 'Left' -- Turn left *" << std::endl;
std::cout << "* 'Right' -- Turn right *" << std::endl;
std::cout << "* 'Q' -- Move upward *" << std::endl;
std::cout << "* 'A' -- Move downward *" << std::endl;
std::cout << "* *" << std::endl;
std::cout << "* - Others - *" << std::endl;
std::cout << "* 'T' -- Track marker *" << std::endl;
std::cout << "* 'C' -- Change camera *" << std::endl;
std::cout << "* 'Esc' -- Exit *" << std::endl;
std::cout << "* *" << std::endl;
std::cout << "***************************************" << std::endl;
// Thresholds
int minH = 0, maxH = 255;
int minS = 0, maxS = 255;
int minV = 0, maxV = 255;
// XML save data
std::string filename("thresholds.xml");
cv::FileStorage fs(filename, cv::FileStorage::READ);
// If there is a save file then read it
if (fs.isOpened()) {
maxH = fs["H_MAX"];
minH = fs["H_MIN"];
maxS = fs["S_MAX"];
minS = fs["S_MIN"];
maxV = fs["V_MAX"];
minV = fs["V_MIN"];
fs.release();
}
// Create a window
cv::namedWindow("binalized");
cv::createTrackbar("H max", "binalized", &maxH, 255);
cv::createTrackbar("H min", "binalized", &minH, 255);
cv::createTrackbar("S max", "binalized", &maxS, 255);
cv::createTrackbar("S min", "binalized", &minS, 255);
cv::createTrackbar("V max", "binalized", &maxV, 255);
cv::createTrackbar("V min", "binalized", &minV, 255);
cv::resizeWindow("binalized", 0, 0);
// Main loop
while (1) {
// Key input
int key = cv::waitKey(33);
if (key == 0x1b) break;
// Take off / Landing
if (key == ' ') {
if (ardrone.onGround()) ardrone.takeoff();
else ardrone.landing();
}
// Move
double vx = 0.0, vy = 0.0, vz = 0.0, vr = 0.0;
if (key == 'i' || key == CV_VK_UP) vx = 1.0;
if (key == 'k' || key == CV_VK_DOWN) vx = -1.0;
if (key == 'u' || key == CV_VK_LEFT) vr = 1.0;
if (key == 'o' || key == CV_VK_RIGHT) vr = -1.0;
if (key == 'j') vy = 1.0;
if (key == 'l') vy = -1.0;
if (key == 'q') vz = 1.0;
if (key == 'a') vz = -1.0;
// Change camera
static int mode = 0;
if (key == 'c') ardrone.setCamera(++mode % 4);
// Switch tracking ON/OFF
static int track = 0;
if (key == 't') track = !track;
// Get an image
cv::Mat image = ardrone.getImage();
// HSV image
cv::Mat hsv;
cv::cvtColor(image, hsv, cv::COLOR_BGR2HSV_FULL);
// Binalize
cv::Mat binalized;
cv::Scalar lower(minH, minS, minV);
cv::Scalar upper(maxH, maxS, maxV);
cv::inRange(hsv, lower, upper, binalized);
// Show result
cv::imshow("binalized", binalized);
// De-noising
cv::Mat kernel = getStructuringElement(cv::MORPH_RECT, cv::Size(3, 3));
cv::morphologyEx(binalized, binalized, cv::MORPH_CLOSE, kernel);
//cv::imshow("morphologyEx", binalized);
// Detect contours
std::vector< std::vector<cv::Point> > contours;
cv::findContours(binalized.clone(), contours, cv::RETR_CCOMP, cv::CHAIN_APPROX_SIMPLE);
// Find largest contour
int contour_index = -1;
double max_area = 0.0;
for (size_t i = 0; i < contours.size(); i++) {
double area = fabs(cv::contourArea(contours[i]));
if (area > max_area) {
contour_index = i;
max_area = area;
}
}
// Object detected
if (contour_index >= 0) {
// Moments
cv::Moments moments = cv::moments(contours[contour_index], true);
double marker_y = (int)(moments.m01 / moments.m00);
double marker_x = (int)(moments.m10 / moments.m00);
// Show result
cv::Rect rect = cv::boundingRect(contours[contour_index]);
cv::rectangle(image, rect, cv::Scalar(0, 255, 0));
// Tracking
if (track) {
const double kp = 0.005;
vx = 0.1;
vy = 0.0;
vz = kp * (binalized.rows / 2 - marker_y);
vr = kp * (binalized.cols / 2 - marker_x);
}
}
// Display the image
cv::putText(image, (track) ? "track on" : "track off", cv::Point(10, 20), cv::FONT_HERSHEY_SIMPLEX, 0.5, (track) ? cv::Scalar(0, 0, 255) : cv::Scalar(0, 255, 0), 1, cv::LINE_AA);
cv::imshow("camera", image);
ardrone.move3D(vx, vy, vz, vr);
}
// Save thresholds
fs.open(filename, cv::FileStorage::WRITE);
if (fs.isOpened()) {
cv::write(fs, "H_MAX", maxH);
cv::write(fs, "H_MIN", minH);
cv::write(fs, "S_MAX", maxS);
cv::write(fs, "S_MIN", minS);
cv::write(fs, "V_MAX", maxV);
cv::write(fs, "V_MIN", minV);
fs.release();
}
// See you
ardrone.close();
return 0;
}
// --------------------------------------------------------------------------
// main(Number of arguments, Argument values)
// Description : This is the entry point of the program.
// Return value : SUCCESS:0 ERROR:-1
// --------------------------------------------------------------------------
int main(int argc, char **argv)
{
// AR.Drone class
ARDrone ardrone;
// Initialize
if (!ardrone.open()) {
printf("Failed to initialize.\n");
return -1;
}
// Battery
printf("Battery = %d%%\n", ardrone.getBatteryPercentage());
// Map
cv::Mat map = cv::Mat::zeros(500, 500, CV_8UC3);
// Kalman filter
cv::KalmanFilter kalman(6, 4, 0);
// Sampling time [s]
const double dt = 0.033;
// Transition matrix (x, y, z, vx, vy, vz)
cv::Mat1f F(6, 6);
F << 1.0, 0.0, 0.0, dt, 0.0, 0.0,
0.0, 1.0, 0.0, 0.0, dt, 0.0,
0.0, 0.0, 1.0, 0.0, 0.0, dt,
0.0, 0.0, 0.0, 1.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 1.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 1.0;
kalman.transitionMatrix = F;
// Measurement matrix (0, 0, z, vx, vy, vz)
cv::Mat1f H(4, 6);
H << 0, 0, 1, 0, 0, 0,
0, 0, 0, 1, 0, 0,
0, 0, 0, 0, 1, 0,
0, 0, 0, 0, 0, 1;
kalman.measurementMatrix = H;
// Process noise covairance (x, y, z, vx, vy, vz)
cv::Mat1f Q(6, 6);
Q << 0.1, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.1, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.1, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.3, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.3, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.3;
kalman.processNoiseCov = Q;
// Measurement noise covariance (z, vx, vy, vz)
cv::Mat1f R(4, 4);
R << 0.1, 0.0, 0.00, 0.00,
0.0, 0.1, 0.00, 0.00,
0.0, 0.0, 0.05, 0.00,
0.0, 0.0, 0.00, 0.05;
kalman.measurementNoiseCov = R;
// Main loop
while (1) {
// Key input
int key = cv::waitKey(33);
if (key == 0x1b) break;
// Update
if (!ardrone.update()) break;
// Get an image
cv::Mat image = ardrone.getImage();
// Prediction
cv::Mat prediction = kalman.predict();
// Altitude
double altitude = ardrone.getAltitude();
// Orientations
double roll = ardrone.getRoll();
double pitch = ardrone.getPitch();
double yaw = ardrone.getYaw();
// Velocities
double vx, vy, vz;
double velocity = ardrone.getVelocity(&vx, &vy, &vz);
cv::Mat V = (cv::Mat1f(3,1) << vx, vy, vz);
// Rotation matrices
cv::Mat RZ = (cv::Mat1f(3,3) << cos(yaw), -sin(yaw), 0.0,
sin(yaw), cos(yaw), 0.0,
0.0, 0.0, 1.0);
cv::Mat RY = (cv::Mat1f(3,3) << cos(pitch), 0.0, sin(pitch),
0.0, 1.0, 0.0,
-sin(pitch), 0.0, cos(pitch));
cv::Mat RX = (cv::Mat1f(3,3) << 1.0, 0.0, 0.0,
0.0, cos(roll), -sin(roll),
0.0, sin(roll), cos(roll));
// Time [s]
static int64 last = cv::getTickCount();
double dt = (cv::getTickCount() - last) / cv::getTickFrequency();
last = cv::getTickCount();
// Local movements (z, vx, vy, vz)
cv::Mat1f M = RZ * RY * RX * V * dt;
cv::Mat measurement = (cv::Mat1f(4,1) << altitude, M(0,0), M(1,0), M(2,0));
// Correction
cv::Mat1f estimated = kalman.correct(measurement);
// Position (x, y, z)
double pos[3] = {estimated(0,0), estimated(1,0), estimated(2,0)};
printf("x = %3.2fm, y = %3.2fm, z = %3.2fm\n", pos[0], pos[1], pos[2]);
// Take off / Landing
if (key == ' ') {
if (ardrone.onGround()) ardrone.takeoff();
else ardrone.landing();
}
// Move
double x = 0.0, y = 0.0, z = 0.0, r = 0.0;
if (key == 0x260000) x = 1.0;
if (key == 0x280000) x = -1.0;
if (key == 0x250000) r = 1.0;
if (key == 0x270000) r = -1.0;
if (key == 'q') z = 1.0;
if (key == 'a') z = -1.0;
ardrone.move3D(x, y, z, r);
// Change camera
static int mode = 0;
if (key == 'c') ardrone.setCamera(++mode%4);
// Display the image
cv::circle(map, cv::Point(-pos[1]*100.0 + map.cols/2, -pos[0]*100.0 + map.rows/2), 2, CV_RGB(255,0,0));
cv::imshow("map", map);
cv::imshow("camera", image);
}
// See you
ardrone.close();
return 0;
}
// --------------------------------------------------------------------------
// main(Number of arguments, Argument values)
// Description : This is the entry point of the program.
// Return value : SUCCESS:0 ERROR:-1
// --------------------------------------------------------------------------
int main(int argc, char *argv[])
{
// AR.Drone class
ARDrone ardrone;
// Initialize
if (!ardrone.open()) {
std::cout << "Failed to initialize." << std::endl;
return -1;
}
// Battery
std::cout << "Battery = " << ardrone.getBatteryPercentage() << " [%]" << std::endl;
// Map
cv::Mat map = cv::Mat::zeros(500, 500, CV_8UC3);
// Position matrix
cv::Mat P = cv::Mat::zeros(3, 1, CV_64FC1);
// Main loop
while (1) {
// Key input
int key = cv::waitKey(33);
if (key == 0x1b) break;
// Get an image
cv::Mat image = ardrone.getImage();
// Altitude
double altitude = ardrone.getAltitude();
// Orientations
double roll = ardrone.getRoll();
double pitch = ardrone.getPitch();
double yaw = ardrone.getYaw();
// Velocities
double vx, vy, vz;
double velocity = ardrone.getVelocity(&vx, &vy, &vz);
cv::Mat V = (cv::Mat1f(3, 1) << vx, vy, vz);
// Rotation matrices
cv::Mat RZ = (cv::Mat1f(3, 3) << cos(yaw), -sin(yaw), 0.0,
sin(yaw), cos(yaw), 0.0,
0.0, 0.0, 1.0);
cv::Mat RY = (cv::Mat1f(3, 3) << cos(pitch), 0.0, sin(pitch),
0.0, 1.0, 0.0,
-sin(pitch), 0.0, cos(pitch));
cv::Mat RX = (cv::Mat1f(3, 3) << 1.0, 0.0, 0.0,
0.0, cos(roll), -sin(roll),
0.0, sin(roll), cos(roll));
// Time [s]
static int64 last = cv::getTickCount();
double dt = (cv::getTickCount() - last) / cv::getTickFrequency();
last = cv::getTickCount();
// Dead-reckoning
P = P + RZ * RY * RX * V * dt;
// Position (x, y, z)
double pos[3] = { P.at<double>(0, 0), P.at<double>(1, 0), P.at<double>(2, 0) };
std::cout << "x = " << pos[0] << "[m], " << "y = " << pos[1] << "[m], " << "z = " << pos[2] << "[m]" << std::endl;
// Take off / Landing
if (key == ' ') {
if (ardrone.onGround()) ardrone.takeoff();
else ardrone.landing();
}
// Move
double x = 0.0, y = 0.0, z = 0.0, r = 0.0;
if (key == 'i' || key == CV_VK_UP) vx = 1.0;
if (key == 'k' || key == CV_VK_DOWN) vx = -1.0;
if (key == 'u' || key == CV_VK_LEFT) vr = 1.0;
if (key == 'o' || key == CV_VK_RIGHT) vr = -1.0;
if (key == 'j') vy = 1.0;
if (key == 'l') vy = -1.0;
if (key == 'q') vz = 1.0;
if (key == 'a') vz = -1.0;
ardrone.move3D(x, y, z, r);
// Change camera
static int mode = 0;
if (key == 'c') ardrone.setCamera(++mode % 4);
// Display the image
cv::circle(map, cv::Point(-pos[1] * 100.0 + map.cols / 2, -pos[0] * 100.0 + map.rows / 2), 2, CV_RGB(255, 0, 0));
cv::imshow("map", map);
cv::imshow("camera", image);
}
// See you
ardrone.close();
return 0;
}
// --------------------------------------------------------------------------
// main(Number of arguments, Argument values)
// Description : This is the entry point of the program.
// Return value : SUCCESS:0 ERROR:-1
// --------------------------------------------------------------------------
int main(int argc, char **argv)
{
// AR.Drone class
ARDrone ardrone;
// Initialize
if (!ardrone.open()) {
printf("Failed to initialize.\n");
return -1;
}
// Battery
printf("Battery = %d%%\n", ardrone.getBatteryPercentage());
// Instructions
printf("***************************************\n");
printf("* CV Drone sample program *\n");
printf("* - How to Play - *\n");
printf("***************************************\n");
printf("* *\n");
printf("* - Controls - *\n");
printf("* 'Space' -- Takeoff/Landing *\n");
printf("* 'Up' -- Move forward *\n");
printf("* 'Down' -- Move backward *\n");
printf("* 'Left' -- Turn left *\n");
printf("* 'Right' -- Turn right *\n");
printf("* 'Q' -- Move upward *\n");
printf("* 'A' -- Move downward *\n");
printf("* *\n");
printf("* - Others - *\n");
printf("* 'C' -- Change camera *\n");
printf("* 'Esc' -- Exit *\n");
printf("* *\n");
printf("***************************************\n\n");
while (1) {
// Key input
int key = cvWaitKey(33);
if (key == 0x1b) break;
// Update
if (!ardrone.update()) break;
// Get an image
IplImage *image = ardrone.getImage();
// Take off / Landing
if (key == ' ') {
if (ardrone.onGround()) ardrone.takeoff();
else ardrone.landing();
}
// Move
double vx = 0.0, vy = 0.0, vz = 0.0, vr = 0.0;
if (key == 0x260000) vx = 1.0;
if (key == 0x280000) vx = -1.0;
if (key == 0x250000) vr = 1.0;
if (key == 0x270000) vr = -1.0;
if (key == 'q') vz = 1.0;
if (key == 'a') vz = -1.0;
ardrone.move3D(vx, vy, vz, vr);
// Change camera
static int mode = 0;
if (key == 'c') ardrone.setCamera(++mode%4);
// Display the image
cvShowImage("camera", image);
}
// See you
ardrone.close();
return 0;
}