Exemple #1
0
int main(int argc, char *argv[]) {
    ARDrone ardrone;
    if(!ardrone.open()) {
        std::cerr << "Error: Failed to initialization of ARDrone." << std::endl;
        return 1;
    }
    
    
    
    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;
    }

    // Image of AR.Drone's camera
    IplImage *image = ardrone.getImage();

    // Read intrincis camera parameters
    CvFileStorage *fs = cvOpenFileStorage("camera.xml", 0, CV_STORAGE_READ);
    CvMat *intrinsic = (CvMat*)cvRead(fs, cvGetFileNodeByName(fs, NULL, "intrinsic"));
    CvMat *distortion = (CvMat*)cvRead(fs, cvGetFileNodeByName(fs, NULL, "distortion"));

    // Initialize undistortion maps
    CvMat *mapx = cvCreateMat(image->height, image->width, CV_32FC1);
    CvMat *mapy = cvCreateMat(image->height, image->width, CV_32FC1);
    cvInitUndistortMap(intrinsic, distortion, mapx, mapy);

    // Main loop
    while (1) {
        // Key input
        int key = cvWaitKey(1);
        if (key == 0x1b) break;

        // Update
        if (!ardrone.update()) break;

        // Get an image
        image = ardrone.getImage();

        // Remap the image
        cvRemap(image, image, mapx, mapy);

        // Display the image
        cvShowImage("camera", image);
    }

    // Release the matrices
    cvReleaseMat(&mapx);
    cvReleaseMat(&mapy);
    cvReleaseFileStorage(&fs);

    // 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;
    }

    // Recording flag
    int rec = 0;
    printf("Press 'R' to start/stop recording.");

    // Main loop
    while (!GetAsyncKeyState(VK_ESCAPE)) {
        // Update
        if (!ardrone.update()) break;

        // Get an image
        IplImage *image = ardrone.getImage();

        // Video recording start / stop
        if (KEY_PUSH('R')) {
            if (rec) {
                ardrone.stopVideoRecord();
                rec = 0;
            }
            else {
                ardrone.startVideoRecord();
                rec = 1;
            }
        }

        // Show recording state
        if (rec) {
            static CvFont font = cvFont(1.0);
            cvPutText(image, "REC", cvPoint(10, 20), &font, CV_RGB(255,0,0));
        }

        // Display the image
        cvShowImage("camera", image);
        cvWaitKey(1);
    }

    // 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;
    }

    // Recording flag
    bool rec = false;
    printf("Press 'R' to start/stop recording.");

    // Main loop
    while (1) {
        // Key input
        int key = cvWaitKey(1);
        if (key == 0x1b) break;

        // Update
        if (!ardrone.update()) break;

        // Get an image
        IplImage *image = ardrone.getImage();

        // Video recording start / stop
        if (key == 'r') {
            rec = !rec;
            ardrone.setVideoRecord(rec);
        }

        // Show recording state
        if (rec) {
            static CvFont font = cvFont(1.0);
            cvPutText(image, "REC", cvPoint(10, 20), &font, CV_RGB(255,0,0));
        }

        // Display the image
        cvShowImage("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;
    }

    // Image of AR.Drone's camera
    cv::Mat image = ardrone.getImage();
    
    // Video name
    std::time_t t = std::time(NULL);
    std::tm *local = std::localtime(&t);
    std::ostringstream stream;
    stream << 1900 + local->tm_year << "-" << 1 + local->tm_mon << "-" << local->tm_mday << "-" << local->tm_hour << "-" << local->tm_min << "-" << local->tm_sec << ".avi";

    // Create a video writer
    cv::VideoWriter writer(stream.str(), cv::VideoWriter::fourcc('D', 'I', 'B', ' '), 30, cv::Size(image.cols, image.rows));

    // Main loop
    while (1) {
        // Key input
        int key = cv::waitKey(33);
        if (key == 0x1b) break;

        // Get an image
        image = ardrone.getImage();

        // Write a frame
        writer << image;

        // Display the image
        imshow("camera", image);
    }

    // Output the video
    writer.release();

    // See you
    ardrone.close();

    return 0;
}
Exemple #6
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();

    // Filename
    char filename[256];
    SYSTEMTIME st;
    GetLocalTime(&st);
    sprintf(filename, "cam%d%02d%02d%02d%02d%02d.avi", st.wYear, st.wMonth, st.wDay, st.wHour, st.wMinute, st.wSecond);

    // Create a video writer
    CvVideoWriter *video = cvCreateVideoWriter(filename, CV_FOURCC('D','I','B',' '), 30, cvGetSize(image));

    // Main loop
    while (!GetAsyncKeyState(VK_ESCAPE)) {
        // Update
        if (!ardrone.update()) break;

        // Get an image
        image = ardrone.getImage();

        // Write a frame
        cvWriteFrame(video, image);

        // Display the image
        cvShowImage("camera", image);
        cvWaitKey(33);
    }

    // Save video
    cvReleaseVideoWriter(&video);

    // See you
    ardrone.close();

    return 0;
}
Exemple #7
0
int main(){
	cout<<"Hol<"<<endl;

	//Mat img=imread("/home/mottamx/Pictures/batman.jpg");
	//namedWindow("batman");
	//imshow("batman", img);
	//waitKey(1);
	cout<<"Hol<<"<<endl;
	ARDrone ardrone;
	if (!ardrone.open()){
		cout<<"error de comunicación"<<endl;
		return -1;
	}
	cout<<"Bat: "<<ardrone.getBatteryPercentage()<<endl;
	sleep(2);
	cout<<"Bat: "<<ardrone.getBatteryPercentage()<<endl;
	sleep(2);
	cout<<"Bat: "<<ardrone.getBatteryPercentage()<<endl;
	sleep(2);
	time_t start, end;
	time (&start);
	cout.flush();
	double elapsed=0;
	namedWindow("dron");
	namedWindow("dron2");
	while(elapsed<5){
		//sleep(2);
		IplImage *im=ardrone.getImage();
		Mat img = Mat(im);
		Mat img2;
		resize(img, img2, Size(), 2,2, INTER_AREA);
		resize(img, img, Size(), 2,2, INTER_LANCZOS4);
		imshow("dron", img);
		waitKey(1);
		imshow("dron2", img2);
		waitKey(1);
		time(&end);
		elapsed=difftime(end,start);
	}
	cout<<"Tiempo: "<<setprecision(3)<<elapsed<<"segundos"<<endl;
	cout<<"<dios"<<endl;

	ardrone.close();
	ardrone.emergency();
return 0;
}
Exemple #8
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;
}
Exemple #9
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
    int battery = ardrone.getBatteryPercentage();
    printf("ardrone.battery = %d [%%]\n", battery);

    // Instructions
    printf("***************************************\n");
    printf("*       CV Drone sample program       *\n");
    printf("*           - Haw 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("*    'Shift+Up'    -- Move upward     *\n");
    printf("*    'Shift+Down'  -- Move downward   *\n");
    printf("*    'Shift+Left'  -- Move left       *\n");
    printf("*    'Shift+Right' -- Move right      *\n");
    printf("*                                     *\n");
    printf("* - Others -                          *\n");
    printf("*    'C'     -- Change camera         *\n");
    printf("*    'Esc'   -- Exit                  *\n");
    printf("*                                     *\n");
    printf("***************************************\n\n");

    // Main loop
    while (!GetAsyncKeyState(VK_ESCAPE)) {
        // Update
        if (!ardrone.update()) break;

        // Get an image
        IplImage *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_SHIFT)) {
            if (KEY_DOWN(VK_UP))    vz =  1.0;
            if (KEY_DOWN(VK_DOWN))  vz = -1.0;
            if (KEY_DOWN(VK_LEFT))  vy =  1.0;
            if (KEY_DOWN(VK_RIGHT)) vy = -1.0;
        }
        else {
            if (KEY_DOWN(VK_UP))    vx =  1.0;
            if (KEY_DOWN(VK_DOWN))  vx = -1.0;
            if (KEY_DOWN(VK_LEFT))  vr =  1.0;
            if (KEY_DOWN(VK_RIGHT)) vr = -1.0;
        }
        ardrone.move3D(vx, vy, vz, vr);

        // Change camera
        static int mode = 0;
        if (KEY_PUSH('C')) ardrone.setCamera(++mode%4);

        // Display the image
        cvShowImage("camera", image);
        cvWaitKey(1);
    }

    // See you
    ardrone.close();

    return 0;
}
Exemple #10
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[])
{
	const std::string Training = "quad2.png";
	quadrotor_matcher::image_template_gray = cv::imread(Training, 0);
	if( !quadrotor_matcher::image_template_gray.data )
	{
		std::cout << "...Couldn't find template image." << std::endl;
		return -1;
	}

	Draw draw;

	quadrotor_affine::initialize_st();

	quadrotor_job::ctrl_gain = 0.0025;
	quadrotor_job::ctrl_sweetspot = 60000.0;
	quadrotor_job::ctrl_gain2 = 1.55;//1.15;
	
	pipe* stages[] = {new quadrotor_image, new quadrotor_sift, new quadrotor_matcher, new quadrotor_affine};

	parallel_pipeline::pipeline quadrotor_pipeline;
	quadrotor_pipeline.addStages(4, stages);
	//quadrotor_pipeline.startDebugging();

	//Send the template into the pipe
	quadrotor_job* newjob = new quadrotor_job;
	newjob->image_gray = quadrotor_matcher::image_template_gray;
	quadrotor_pipeline.pushJob("Sift",newjob);

	// AR.Drone class
	ARDrone ardrone;

	// Initialize
	if (!ardrone.open(/*"192.168.1.3"*/)) {
		printf("Failed to initialize.\n");
		return -1;
	}

	ardrone.setFlatTrim();
	
	// Instructions
	printf("***************************************\n");
	printf("*      CV Drone Tracker Program       *\n");
	printf("***************************************\n");
	printf("*                                     *\n");
	printf("* - Controls -                        *\n");
	printf("*    'Space' -- Takeoff/Landing       *\n");
	printf("*                                     *\n");
	printf("* - Others -                          *\n");
	printf("*    'C'     -- Change camera         *\n");
	printf("*    'Esc'   -- Exit                  *\n");
	printf("*                                     *\n");
	printf("***************************************\n\n");

	{
		cv::Mat image = ardrone.getImage();
		quadrotor_affine::image_center_query.at<double>(0) = (double)(image.cols)/2.0;
		quadrotor_affine::image_center_query.at<double>(1) = (double)(image.rows)/2.0;
		quadrotor_affine::image_center_query.at<double>(2) = 1.0;
	}

	{		
		quadrotor_affine::image_center_training.at<double>(0) = (double)(quadrotor_matcher::image_template_gray.cols)/2.0;
		quadrotor_affine::image_center_training.at<double>(1) = (double)(quadrotor_matcher::image_template_gray.rows)/2.0;
		quadrotor_affine::image_center_training.at<double>(2) = 1.0;
	}

	unsigned long curTime = timeGetTime();
	unsigned long lastTime = curTime;
	unsigned long lastBatteryTime = curTime;
	unsigned long lastControl = curTime;
	int cameraMode = 0;

	cv::Mat savedControl;
	while (1)
	{
		curTime = timeGetTime();

		// Battery
		if(lastBatteryTime < curTime)
		{
			lastBatteryTime = curTime + 10000;
			printf("Battery = %d%%\n", ardrone.getBatteryPercentage());
		}

		// Sleep and get key
		int key = cv::waitKey(30);
		switch(key)
		{
		case 0x1b:
			quadrotor_pipeline.stopDebugging();
			goto quit;
		case ' ':
			if (ardrone.onGround()) 
				ardrone.takeoff();
			else                    
				ardrone.landing();
			break;
		case 'c':
			ardrone.setCamera(++cameraMode%4);
			break;
		}
		
		if(ardrone.willGetNewImage())
		{
			quadrotor_job* newjob = new quadrotor_job;
			newjob->image_color = ardrone.getImage();
			quadrotor_pipeline.pushJob("Image",newjob);
		}
		
		std::vector<std::shared_ptr<job_base>> finished_jobs;
		quadrotor_pipeline.getFinishedJobs(finished_jobs);

		if(!finished_jobs.empty())
		{
			std::shared_ptr<quadrotor_job> job = std::dynamic_pointer_cast<quadrotor_job, job_base>(finished_jobs.back());
			if (job->good_match)
			{
				savedControl = job->control;
				lastControl = curTime+500;
				draw.drawContour(quadrotor_matcher::image_template_gray, job->image_gray, quadrotor_affine::Contour, quadrotor_matcher::keypoints_template, job->keypoints, job->Inliers_T, job->Inliers_Q, job->AT, cv::Scalar(0,255,255), "video", true);
			}
			else
			{
				//cout << "WARNING!  No Affine Transformation could be computed" << endl;
				draw.drawMatches(quadrotor_matcher::image_template_gray, job->image_gray, quadrotor_matcher::keypoints_template, job->keypoints, job->Initial_Matches_T, job->Initial_Matches_Q,"video",true);
			}
		}

		if(curTime < lastControl)
		{
			ardrone.move3D(savedControl.at<double>(0), savedControl.at<double>(1), savedControl.at<double>(2), savedControl.at<double>(3));
		}
	}
	// See you
	quit:;
	ardrone.close();

	return 0;
}
Exemple #11
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;
}
Exemple #12
0
int runArdrone(void)
{
    // AR.Drone class
    ARDrone ardrone;

    // Initialize
    if (!ardrone.open()) {
        printf("Failed to initialize.\n");
        return -1;
    }

    // Battery
    battery = ardrone.getBatteryPercentage();

    int tmpOrder = -99;
    int nbLabelPos = 8;
    int occLabelPos[nbLabelPos];
    list<int> listOrder(5,-1);


float vx = 0.0, vy = 0.0, vz = 0.0, vr = 0.0;

    while (1) {
        usleep(33000);

        imgFromKarmen = ardrone.getImage();

        battery = ardrone.getBatteryPercentage();
        tmpOrder = -99;

        for (int i = 0; i < nbLabelPos; i++)
            occLabelPos[i] = 0;

        // Key input
        //       int key = cvWaitKey(0);
        //        if (key == 0x1b) break; //TODO

        // Get an image

        // Move
        vx = 0.0;
        vy = 0.0;
        vz = 0.0;
        vr = 0.0;

        if(order == 100){
            orderName  = "Land";
            ardrone.landing();   // Land
            newOrder = false;
        }
        else{
            if(newOrder){
                newOrder = false;
                listOrder.pop_front();
                listOrder.push_back(order);
            }

            for (list<int>::iterator it=listOrder.begin(); it != listOrder.end(); ++it){
                if(*it >= 0 && *it < nbLabelPos)
                    occLabelPos[*it]++;
            }

            for (int i = 0; i < nbLabelPos; i++){
                if(occLabelPos[i] >= 3){
                    tmpOrder = i;
                    break;
                }
            }


            switch (tmpOrder) {
            case 0 :
                orderName = "Up";
                vz = 1.0;
                break;
            case 1 :
                orderName  = "Down";
                vz = -1.0;
                break;
            case 2 :
                orderName  = "Left";
                vy = 1.0;
                break;
            case 3 :
                orderName  = "Right";
                vy = -1.0;
                break;
            case 4 :
                orderName  = "Land";
                ardrone.landing();   // Land
                break;
            case 5 :
                if (ardrone.onGround()){
                    orderName  = "Take Off";
                    ardrone.takeoff();    // Take-off
                }
                break;
            case 6 :
                orderName  = "Forward";
                vx = 1.0;
                break;
            case 7 :
                orderName  = "Backward";
                vx = -1.0;
                break;
            default :
                orderName  = "Nothing";
                break;
            }

            ardrone.move3D(vx, vy, vz, vr);
            vx = 0.0;
            vy = 0.0;
            vz = 0.0;
            vr = 0.0;
        }
    }
    // See you
    ardrone.close();

    return 0;
}
// --------------------------------------------------------------------------
// main(Number of arguments, Value of arguments)
// 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;
    }

    // Main loop
    while (!GetAsyncKeyState(VK_ESCAPE)) {
        // Update your AR.Drone
        if (!ardrone.update()) break;

        // Get an image
        IplImage *image = ardrone.getImage();

        // Battery
        printf("ardrone.battery = %d [��] (�c���%d��)\n", battery, 12*battery/100);

        // Take off / Landing
        if (KEY_PUSH(VK_SPACE)) {
            if (ardrone.onGround()) ardrone.takeoff();
            else                    ardrone.landing();
        }

        // Emergency stop
        if (KEY_PUSH(VK_RETURN)) ardrone.emergency();

        // AR.Drone is flying
        if (!ardrone.onGround()) {
            double x = 0.0, y = 0.0, z = 0.0, r = 0.0;

            // Keyboard
            if (KEY_DOWN(VK_UP))    x =  0.5;
            if (KEY_DOWN(VK_DOWN))  x = -0.5;
            if (KEY_DOWN(VK_LEFT))  r =  0.5;
            if (KEY_DOWN(VK_RIGHT)) r = -0.5;
            if (KEY_DOWN('Q'))      z =  0.5;
            if (KEY_DOWN('A'))      z = -0.5;

            // Joypad
            JOYINFOEX JoyInfoEx;
            JoyInfoEx.dwSize = sizeof(JOYINFOEX);
            JoyInfoEx.dwFlags = JOY_RETURNALL;

            // Get joypad infomations
            if (joyGetPosEx(0, &JoyInfoEx) == JOYERR_NOERROR) {
                int y_pad = -((int)JoyInfoEx.dwXpos - 0x7FFF) / 32512.0*100.0;
                int x_pad = -((int)JoyInfoEx.dwYpos - 0x7FFF) / 32512.0*100.0;
                int r_pad = -((int)JoyInfoEx.dwZpos - 0x7FFF) / 32512.0*100.0;
                int z_pad =  ((int)JoyInfoEx.dwRpos - 0x7FFF) / 32512.0*100.0;

                printf("X = %d  ", x_pad);
                printf("Y = %d  ", y_pad);
                printf("Z = %d  ", z_pad);
                printf("R = %d\n", r_pad);

                x = 0.5 * x_pad / 100;
                y = 0.5 * y_pad / 100;
                z = 0.5 * z_pad / 100;
                r = 0.5 * r_pad / 100;

                if (JoyInfoEx.dwButtons & JOY_BUTTON1) ardrone.takeoff();
                if (JoyInfoEx.dwButtons & JOY_BUTTON2) ardrone.landing();
            }

            // Move
		    ardrone.move3D(x, y, z, r);
        }


        // Display the image
        cvShowImage("camera", image);
        cvWaitKey(1);
    }

    // See you
    ardrone.close();

    return 0;
}
Exemple #14
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 == 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);

        // Display the image
        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());

    // 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()) {
        printf("Failed to initialize.\n");
        return -1;
    }

    // Images
    std::vector<IplImage*> images;
    printf("Press space key to take a sample picture !\n");

    // Main loop
    while (1) {
        // Key input
        int key = cvWaitKey(1);
        if (key == 0x1b) break;

        // Update
        if (!ardrone.update()) break;

        // Get an image
        IplImage *image = ardrone.getImage();

        // Convert the camera image to grayscale
        IplImage *gray = cvCreateImage(cvGetSize(image), IPL_DEPTH_8U, 1);
        cvCvtColor(image, gray, CV_BGR2GRAY);

        // Detect the chessboard
        int corner_count = 0;
        CvSize size = cvSize(PAT_COL, PAT_ROW);
        CvPoint2D32f corners[PAT_SIZE];
        int found = cvFindChessboardCorners(gray, size, corners, &corner_count, CV_CALIB_CB_ADAPTIVE_THRESH+CV_CALIB_CB_NORMALIZE_IMAGE|CV_CALIB_CB_FAST_CHECK);

        // Chessboard detected
        if (found) {
            // Draw corners
            cvDrawChessboardCorners(image, size, corners, corner_count, found);

            // If you push Space key
            if (key == ' ') {
                // Add to buffer
                images.push_back(gray);
            }
            else {
                // Release the image
                cvReleaseImage(&gray);
            }
        }
        // Failed to detect
        else {
            // Release the image
            cvReleaseImage(&gray);
        }

        // Display the image
        cvDrawText(image, cvPoint(15, 20), "NUM = %d", (int)images.size());
        cvShowImage("camera", image);
    }

    // Destroy the window
    cvDestroyWindow("camera");

    // At least one image was taken
    if (!images.empty()) {
        // Total number of images
        const int num = (int)images.size();

        //// For debug
        //for (int i = 0; i < num; i++) {
        //    char name[256];
        //    sprintf(name, "images[%d/%d]", i+1, num);
        //    cvShowImage(name, images[i]);
        //    cvWaitKey(0);
        //    cvDestroyWindow(name);
        //}

        // Ask save parameters or not
        if (cvAsk("Do you save the camera parameters ? (y/n)\n")) {
            // Detect coners
            int *p_count = (int*)malloc(sizeof(int) * num);
            CvPoint2D32f *corners = (CvPoint2D32f*)cvAlloc(sizeof(CvPoint2D32f) * num * PAT_SIZE);
            for (int i = 0; i < num; i++) {
                // Detect chessboard
                int corner_count = 0;
                CvSize size = cvSize(PAT_COL, PAT_ROW);
                int found = cvFindChessboardCorners(images[i], size, &corners[i * PAT_SIZE], &corner_count);

                // Convert the corners to sub-pixel
                cvFindCornerSubPix(images[i], &corners[i * PAT_SIZE], corner_count, cvSize(3, 3), cvSize(-1, -1), cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS, 20, 0.03));
                p_count[i] = corner_count;
            }

            // Set the 3D position of patterns
            CvPoint3D32f *objects = (CvPoint3D32f*)cvAlloc(sizeof(CvPoint3D32f) * num * PAT_SIZE);
            for (int i = 0; i < num; i++) {
                for (int j = 0; j < PAT_ROW; j++) {
                    for (int k = 0; k < PAT_COL; k++) {
                        objects[i * PAT_SIZE + j * PAT_COL + k].x = j * CHESS_SIZE;
                        objects[i * PAT_SIZE + j * PAT_COL + k].y = k * CHESS_SIZE;
                        objects[i * PAT_SIZE + j * PAT_COL + k].z = 0.0;
                    }
                }
            }

            // Create matrices
            CvMat object_points, image_points, point_counts;
            cvInitMatHeader(&object_points, num * PAT_SIZE, 3, CV_32FC1, objects);
            cvInitMatHeader(&image_points,  num * PAT_SIZE, 1, CV_32FC2, corners);
            cvInitMatHeader(&point_counts,  num,            1, CV_32SC1, p_count);

            // Estimate intrinsic parameters and distortion coefficients
            printf("Calicurating parameters...");
            CvMat *intrinsic   = cvCreateMat(3, 3, CV_32FC1);
            CvMat *distortion  = cvCreateMat(1, 4, CV_32FC1);
            cvCalibrateCamera2(&object_points, &image_points, &point_counts, cvGetSize(images[0]), intrinsic, distortion);
            printf("Finished !\n");

            // Output a file
            printf("Generating a XML file...");
            CvFileStorage *fs = cvOpenFileStorage("camera.xml", 0, CV_STORAGE_WRITE);
            cvWrite(fs, "intrinsic", intrinsic);
            cvWrite(fs, "distortion", distortion);
            cvReleaseFileStorage(&fs);    
            printf("Finished !\n");

            // Release the matrices
            free(p_count);
            cvFree(&corners);
            cvFree(&objects);
            cvReleaseMat(&intrinsic);
            cvReleaseMat(&distortion);
        }

        // Release the images
        for (int i = 0; i < num; i++) cvReleaseImage(&images[i]);
    }

    // See you
    ardrone.close();

    return 0;
}
Exemple #17
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;
    }

    // Snapshots
    std::vector<cv::Mat> snapshots;

    // Key frame
    cv::Mat last = cv::Mat(ardrone.getImage(), true);

    // ORB detector/descriptor
    cv::OrbFeatureDetector detector;
    cv::OrbDescriptorExtractor extractor;

    // Main loop
    while (!GetAsyncKeyState(VK_ESCAPE)) {
        // Update
        if (!ardrone.update()) break;

        // Get an image
        cv::Mat image = cv::Mat(ardrone.getImage());

        // Detect key points
        cv::Mat descriptorsA, descriptorsB;
        std::vector<cv::KeyPoint> keypointsA, keypointsB;
        detector.detect(last, keypointsA);
        detector.detect(image, keypointsB);
        extractor.compute(last, keypointsA, descriptorsA);
        extractor.compute(image, keypointsB, descriptorsB);

        // Match key points
        std::vector<cv::DMatch> matches;
        cv::BFMatcher matcher(cv::NORM_HAMMING, true);
        matcher.match(descriptorsA, descriptorsB, matches);

        // Count matches
        int count = 0;
        for (int i = 0; i < (int)matches.size(); i++) {
            if (matches[i].queryIdx == matches[i].trainIdx) count++; // Yet, strange way
        }

        // Take a snapshot when scene was changed
        if (count == 0) {
            image.copyTo(last);
            cv::Ptr<cv::Mat> tmp(new cv::Mat());
            image.copyTo(*tmp);
            snapshots.push_back(*tmp);
        }

        // Display the image
        cv::Mat matchImage;
        cv::drawMatches(last, keypointsA, image, keypointsB, matches, matchImage, cv::Scalar::all(-1), cv::Scalar::all(-1), std::vector<char>(), cv::DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS);
        cv::imshow("camera", matchImage);
        cv::waitKey(1);
    }

    // Stiching
    cv::Mat result;
    cv::Stitcher stitcher = cv::Stitcher::createDefault();
    printf("Stitching images...\n");
    if (stitcher.stitch(snapshots, result) == cv::Stitcher::OK) {
        cv::imshow("result", result);
        cv::imwrite("result.jpg", result);
        cvWaitKey(0);
    }

    // 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;
    }

    // Get a image
    IplImage* image = ardrone.getImage();

    // Images
    IplImage *gray   = cvCreateImage(cvGetSize(image), image->depth, 1);
    IplImage *smooth = cvCreateImage(cvGetSize(image), image->depth, 1);
    IplImage *canny  = cvCreateImage(cvGetSize(image), image->depth, 1);

    // Canny thresholds
    int th1 = 50, th2 = 100;
    cvNamedWindow("canny");
    cvCreateTrackbar("th1", "canny", &th1, 255);
    cvCreateTrackbar("th2", "canny", &th2, 255);

    // Main loop
    while (1) {
        // Key input
        int key = cvWaitKey(1);
        if (key == 0x1b) break;

        // Update
        if (!ardrone.update()) break;

        // Get an image
        image = ardrone.getImage();

        // Convert to gray scale
        cvCvtColor(image, gray, CV_BGR2GRAY);

        // De-noising
        cvSmooth(gray, smooth, CV_GAUSSIAN, 23, 23);

        // Detect edges
        cvCanny(smooth, canny, th1, th2, 3);

        // Detect circles
        CvMemStorage *storage = cvCreateMemStorage(0);
        CvSeq *circles = cvHoughCircles(smooth, storage, CV_HOUGH_GRADIENT, 1.0, 10.0, MAX(th1,th2), 20);

        // Draw circles
        for (int i = 0; i < circles->total; i++) {
            float *p = (float*) cvGetSeqElem(circles, i);
            cvCircle(image, cvPoint(cvRound(p[0]), cvRound(p[1])), cvRound(p[2]), CV_RGB(0,255,0), 3, 8, 0);
        }

        // Release memory
        cvReleaseMemStorage(&storage);

        // Change camera
        static int mode = 0;
        if (key == 'c') ardrone.setCamera(++mode%4);

        // Display the image
        cvShowImage("camera", image);
        cvShowImage("canny", canny);
    }

    // Release memories
    cvReleaseImage(&gray);
    cvReleaseImage(&smooth);
    cvReleaseImage(&canny);

    // See you
    ardrone.close();

    return 0;
}
Exemple #19
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;
    }

    // Main loop
    while (1) {
        // Key input
        int key = cvWaitKey(33);
        if (key == 0x1b) break;

        // Update
        if (!ardrone.update()) break;

        // Get an image
        IplImage *image = ardrone.getImage();

        // Orientation
        double roll  = ardrone.getRoll();
        double pitch = ardrone.getPitch();
        double yaw   = ardrone.getYaw();
        printf("ardrone.roll  = %3.2f [deg]\n", roll  * RAD_TO_DEG);
        printf("ardrone.pitch = %3.2f [deg]\n", pitch * RAD_TO_DEG);
        printf("ardrone.yaw   = %3.2f [deg]\n", yaw   * RAD_TO_DEG);

        // Altitude
        double altitude = ardrone.getAltitude();
        printf("ardrone.altitude = %3.2f [m]\n", altitude);

        // Velocity
        double vx, vy, vz;
        double velocity = ardrone.getVelocity(&vx, &vy, &vz);
        printf("ardrone.vx = %3.2f [m/s]\n", vx);
        printf("ardrone.vy = %3.2f [m/s]\n", vy);
        printf("ardrone.vz = %3.2f [m/s]\n", vz);

        // Battery
        int battery = ardrone.getBatteryPercentage();
        printf("ardrone.battery = %d [%%]\n", battery);

        // 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;
        ardrone.move3D(x, y, z, r);

        // 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;
}
// --------------------------------------------------------------------------
// 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;
    }

    // Thresholds
    int minH = 0, maxH = 255;
    int minS = 0, maxS = 255;
    int minV = 0, maxV = 255;

    // Create a window
    cvNamedWindow("binalized");
    cvCreateTrackbar("H max", "binalized", &maxH, 255);
    cvCreateTrackbar("H min", "binalized", &minH, 255);
    cvCreateTrackbar("S max", "binalized", &maxS, 255);
    cvCreateTrackbar("S min", "binalized", &minS, 255);
    cvCreateTrackbar("V max", "binalized", &maxV, 255);
    cvCreateTrackbar("V min", "binalized", &minV, 255);
    cvResizeWindow("binalized", 0, 0);

    // Main loop
    while (1) {
        // Key input
        int key = cvWaitKey(33);
        if (key == 0x1b) break;

        // Update
        if (!ardrone.update()) break;

        // Get an image
        IplImage *image = ardrone.getImage();

        // HSV image
        IplImage *hsv = cvCloneImage(image);
        cvCvtColor(image, hsv, CV_RGB2HSV_FULL);

        // Binalized image
        IplImage *binalized = cvCreateImage(cvGetSize(image), IPL_DEPTH_8U, 1);

        // Binalize
        CvScalar lower = cvScalar(minH, minS, minV);
        CvScalar upper = cvScalar(maxH, maxS, maxV);
        cvInRangeS(image, lower, upper, binalized);

        // Show result
        cvShowImage("binalized", binalized);

        // De-noising
        cvMorphologyEx(binalized, binalized, NULL, NULL, CV_MOP_CLOSE);
 
        // Detect contours
        CvSeq *contour = NULL, *maxContour = NULL;
        CvMemStorage *contourStorage = cvCreateMemStorage();
        cvFindContours(binalized, contourStorage, &contour, sizeof(CvContour), CV_RETR_EXTERNAL, CV_CHAIN_APPROX_SIMPLE);

        // Find largest contour
        double max_area = 0.0;
        while (contour) {
            double area = fabs(cvContourArea(contour));
            if (area > max_area) {
                maxContour = contour;
                max_area = area;
            }
            contour = contour->h_next;
        }

        // Object detected
        if (maxContour) {
            // Show result
            CvRect rect = cvBoundingRect(maxContour);
            CvPoint minPoint, maxPoint;
            minPoint.x = rect.x;
            minPoint.y = rect.y;
            maxPoint.x = rect.x + rect.width;
            maxPoint.y = rect.y + rect.height;
            cvRectangle(image, minPoint, maxPoint, CV_RGB(0,255,0));
        }

        // Release memory
        cvReleaseMemStorage(&contourStorage);

        // Display the image
        cvShowImage("camera", image);

        // Release images
        cvReleaseImage(&hsv);
        cvReleaseImage(&binalized);
    }

    // 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("  Q - ARDRONE_ANIM_PHI_M30_DEG\n");
    printf("  A - ARDRONE_ANIM_PHI_30_DEG\n");
    printf("  Z - ARDRONE_ANIM_THETA_M30_DEG\n");
    printf("  W - ARDRONE_ANIM_THETA_30_DEG\n");
    printf("  S - ARDRONE_ANIM_THETA_20DEG_YAW_200DEG\n");
    printf("  X - ARDRONE_ANIM_THETA_20DEG_YAW_M200DEG\n");
    printf("  E - ARDRONE_ANIM_TURNAROUND\n");
    printf("  D - ARDRONE_ANIM_TURNAROUND_GODOWN\n");
    printf("  C - ARDRONE_ANIM_YAW_SHAKE\n");
    printf("  R - ARDRONE_ANIM_YAW_DANCE\n");
    printf("  F - ARDRONE_ANIM_PHI_DANCE\n");
    printf("  V - ARDRONE_ANIM_THETA_DANCE\n");
    printf("  T - ARDRONE_ANIM_VZ_DANCE\n");
    printf("  G - ARDRONE_ANIM_WAVE\n");
    printf("  B - ARDRONE_ANIM_PHI_THETA_MIXED\n");
    printf("  Y - ARDRONE_ANIM_DOUBLE_PHI_THETA_MIXED\n");
    printf("  H - ARDRONE_ANIM_FLIP_AHEAD\n");
    printf("  N - ARDRONE_ANIM_FLIP_BEHIND\n");
    printf("  U - ARDRONE_ANIM_FLIP_LEFT\n");
    printf("  J - ARDRONE_ANIM_FLIP_RIGHT\n");

    // Main loop
    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();
        }

        // Flight animations
        if (key == 'q') ardrone.setAnimation(ARDRONE_ANIM_PHI_M30_DEG,             1000);
        if (key == 'a') ardrone.setAnimation(ARDRONE_ANIM_PHI_30_DEG,              1000);
        if (key == 'z') ardrone.setAnimation(ARDRONE_ANIM_THETA_M30_DEG,           1000);
        if (key == 'w') ardrone.setAnimation(ARDRONE_ANIM_THETA_30_DEG,            1000);
        if (key == 's') ardrone.setAnimation(ARDRONE_ANIM_THETA_20DEG_YAW_200DEG,  1000);
        if (key == 'x') ardrone.setAnimation(ARDRONE_ANIM_THETA_20DEG_YAW_M200DEG, 1000);
        if (key == 'e') ardrone.setAnimation(ARDRONE_ANIM_TURNAROUND,              5000);
        if (key == 'd') ardrone.setAnimation(ARDRONE_ANIM_TURNAROUND_GODOWN,       5000);
        if (key == 'c') ardrone.setAnimation(ARDRONE_ANIM_YAW_SHAKE,               2000);
        if (key == 'r') ardrone.setAnimation(ARDRONE_ANIM_YAW_DANCE,               5000);
        if (key == 'f') ardrone.setAnimation(ARDRONE_ANIM_PHI_DANCE,               5000);
        if (key == 'v') ardrone.setAnimation(ARDRONE_ANIM_THETA_DANCE,             5000);
        if (key == 't') ardrone.setAnimation(ARDRONE_ANIM_VZ_DANCE,                5000);
        if (key == 'g') ardrone.setAnimation(ARDRONE_ANIM_WAVE,                    5000);
        if (key == 'b') ardrone.setAnimation(ARDRONE_ANIM_PHI_THETA_MIXED,         5000);
        if (key == 'y') ardrone.setAnimation(ARDRONE_ANIM_DOUBLE_PHI_THETA_MIXED,  5000);
        if (key == 'h') ardrone.setAnimation(ARDRONE_ANIM_FLIP_AHEAD,                15);
        if (key == 'n') ardrone.setAnimation(ARDRONE_ANIM_FLIP_BEHIND,               15);
        if (key == 'u') ardrone.setAnimation(ARDRONE_ANIM_FLIP_LEFT,                 15);
        if (key == 'j') ardrone.setAnimation(ARDRONE_ANIM_FLIP_RIGHT,                15);

        // Display the image
        cvShowImage("camera", image);
    }

    // See you
    ardrone.close();

    return 0;
}
Exemple #22
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;

    // 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()) {
        std::cout << "Failed to initialize." << std::endl;
        return -1;
    }

    // Battery
    std::cout << "Battery = " << ardrone.getBatteryPercentage() << "[%]" << std::endl;

	zbar::ImageScanner scanner;
	scanner.set_config(zbar::ZBAR_NONE, zbar::ZBAR_CFG_ENABLE, 1);
    
	// Main loop
	while (1) {
		// Key input
		int key = cv::waitKey(33);
		if (key == 0x1b) break;

		// Get an image
		cv::Mat image = ardrone.getImage();
		//cout << image.channels() << " channels " << endl;
		cvtColor(image, image, CV_RGB2GRAY);
		//cout << image.channels() << " channels efter RGB2GRAY" << endl;
		cv::Mat imgout;
		//cout << image.cols << "image ardrone cols" << endl;
		cvtColor(image, imgout, CV_GRAY2RGB);
		//cvtColor(image, imgout);


		// 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)    x = 1.0;
		if (key == 'k' || key == CV_VK_DOWN)  x = -1.0;
		if (key == 'u' || key == CV_VK_LEFT)  r = 1.0;
		if (key == 'o' || key == CV_VK_RIGHT) r = -1.0;
		if (key == 'j') y = 1.0;
		if (key == 'l') y = -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);

		//cv::cvtColor(image, image, CV_GRAY2RGB);
		//cv::cvtColor(image, image, CV_RGB2GRAY);
		int width = image.cols;
		int height = image.rows;
		uchar *raw = (uchar *) image.data;
		// wrap image data  
		zbar::Image imageQR(width, height, "Y800", raw, width * height);
		// scan the image for barcodes  
		int n = scanner.scan(imageQR);
		// extract results  
		for (zbar::Image::SymbolIterator symbol = imageQR.symbol_begin();
			symbol != imageQR.symbol_end();
			++symbol) {
			cout << "Inde i for loop" << endl;
			vector<Point> vp;
			// do something useful with results  
			cout << "decoded " << symbol->get_type_name()
				<< " symbol \"" << symbol->get_data() << '"' << " " << endl;
			int n = symbol->get_location_size();
			for (int i = 0; i<n; i++) {
				vp.push_back(Point(symbol->get_location_x(i), symbol->get_location_y(i)));
			}
			RotatedRect r = minAreaRect(vp);
			Point2f pts[4];
			r.points(pts);
			for (int i = 0; i<4; i++) {
				line(imgout, pts[i], pts[(i + 1) % 4], Scalar(255, 0, 0), 3);
			}
			cout << "Angle: " << r.angle << endl;
		}
		//if(imgout)
		imshow("imgout.jpg", imgout);
		//cout << imgout.cols << " cols" << imgout.rows << " rows" << endl;
		// clean up  
		imageQR.set_data(NULL, 0);
		//waitKey(); Med dette fjernet kan vi bruge Esc

        // Display the image from camera
        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;
    }

    // Kalman filter
    CvKalman *kalman = cvCreateKalman(4, 2);

    // Setup
    cvSetIdentity(kalman->measurement_matrix, cvRealScalar(1.0));
    cvSetIdentity(kalman->process_noise_cov, cvRealScalar(1e-5));
    cvSetIdentity(kalman->measurement_noise_cov, cvRealScalar(0.1));
    cvSetIdentity(kalman->error_cov_post, cvRealScalar(1.0));

    // Linear system
    kalman->DynamMatr[0]  = 1.0; kalman->DynamMatr[1]  = 0.0; kalman->DynamMatr[2]  = 1.0; kalman->DynamMatr[3]  = 0.0; 
    kalman->DynamMatr[4]  = 0.0; kalman->DynamMatr[5]  = 1.0; kalman->DynamMatr[6]  = 0.0; kalman->DynamMatr[7]  = 1.0; 
    kalman->DynamMatr[8]  = 0.0; kalman->DynamMatr[9]  = 0.0; kalman->DynamMatr[10] = 1.0; kalman->DynamMatr[11] = 0.0; 
    kalman->DynamMatr[12] = 0.0; kalman->DynamMatr[13] = 0.0; kalman->DynamMatr[14] = 0.0; kalman->DynamMatr[15] = 1.0; 

    // Thresholds
    int minH = 0, maxH = 255;
    int minS = 0, maxS = 255;
    int minV = 0, maxV = 255;

    // Create a window
    cvNamedWindow("binalized");
    cvCreateTrackbar("H max", "binalized", &maxH, 255);
    cvCreateTrackbar("H min", "binalized", &minH, 255);
    cvCreateTrackbar("S max", "binalized", &maxS, 255);
    cvCreateTrackbar("S min", "binalized", &minS, 255);
    cvCreateTrackbar("V max", "binalized", &maxV, 255);
    cvCreateTrackbar("V min", "binalized", &minV, 255);
    cvResizeWindow("binalized", 0, 0);

    // Main loop
    while (1) {
        // Key input
        int key = cvWaitKey(1);
        if (key == 0x1b) break;

        // Update
        if (!ardrone.update()) break;

        // Get an image
        IplImage *image = ardrone.getImage();

        // HSV image
        IplImage *hsv = cvCloneImage(image);
        cvCvtColor(image, hsv, CV_RGB2HSV_FULL);

        // Binalized image
        IplImage *binalized = cvCreateImage(cvGetSize(image), IPL_DEPTH_8U, 1);

        // Binalize
        CvScalar lower = cvScalar(minH, minS, minV);
        CvScalar upper = cvScalar(maxH, maxS, maxV);
        cvInRangeS(image, lower, upper, binalized);

        // Show result
        cvShowImage("binalized", binalized);

        // De-noising
        cvMorphologyEx(binalized, binalized, NULL, NULL, CV_MOP_CLOSE);
 
        // Detect contours
        CvSeq *contour = NULL, *maxContour = NULL;
        CvMemStorage *contourStorage = cvCreateMemStorage();
        cvFindContours(binalized, contourStorage, &contour, sizeof(CvContour), CV_RETR_EXTERNAL, CV_CHAIN_APPROX_SIMPLE);

        // Find largest contour
        double max_area = 0.0;
        while (contour) {
            double area = fabs(cvContourArea(contour));
            if ( area > max_area) {
                maxContour = contour;
                max_area = area;
            }
            contour = contour->h_next;
        }

        // Object detected
        if (maxContour) {
            // Draw a contour
            cvZero(binalized);
            cvDrawContours(binalized, maxContour, cvScalarAll(255), cvScalarAll(255), 0, CV_FILLED);

            // Calculate the moments
            CvMoments moments;
            cvMoments(binalized, &moments, 1);
            int my = (int)(moments.m01/moments.m00);
            int mx = (int)(moments.m10/moments.m00);

            // Measurements
            float m[] = {mx, my};
            CvMat measurement = cvMat(2, 1, CV_32FC1, m);

            // Correct phase
            const CvMat *correction = cvKalmanCorrect(kalman, &measurement);
        }

        // Prediction phase
        const CvMat *prediction = cvKalmanPredict(kalman);

        // Display the image
        cvCircle(image, cvPointFrom32f(cvPoint2D32f(prediction->data.fl[0], prediction->data.fl[1])), 10, CV_RGB(0,255,0));
        cvShowImage("camera", image);

        // Release the memories
        cvReleaseImage(&hsv);
        cvReleaseImage(&binalized);
        cvReleaseMemStorage(&contourStorage);
    }

    // Release the kalman filter
    cvReleaseKalman(&kalman);

    // See you
    ardrone.close();

    return 0;
}
Exemple #25
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;
}
// --------------------------------------------------------------------------
// 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;
    }

    // Image of AR.Drone's camera
    IplImage *image = ardrone.getImage();

    // Variables for optical flow
    int corner_count = 50;
    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 (1) {
        // Key input
        int key = cvWaitKey(33);
        if (key == 0x1b) break;

        // Update
        if (!ardrone.update()) break;

        // Get an image
        image = ardrone.getImage();

        // 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);
            }

            // Release the memory
            free(status);
        }

        // Save the last frame
        cvCopy(gray, prev);

        // Display the image
        cvShowImage("camera", image);
    }

    // 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;
}
Exemple #27
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;
    }

    // Main loop
    while (1) {
        // Key input
        int key = cv::waitKey(33);
        if (key == 0x1b) break;

        // Get an image
        cv::Mat image= ardrone.getImage();

        // Orientation
        double roll  = ardrone.getRoll();
        double pitch = ardrone.getPitch();
        double yaw   = ardrone.getYaw();
        std::cout << "ardrone.roll  = " << roll  * RAD_TO_DEG << " [deg]" << std::endl;
        std::cout << "ardrone.pitch = " << pitch * RAD_TO_DEG << " [deg]" << std::endl;
        std::cout << "ardrone.yaw   = " << yaw   * RAD_TO_DEG << " [deg]" << std::endl;

        // Altitude
        double altitude = ardrone.getAltitude();
        std::cout << "ardrone.altitude = " << altitude << " [m]" << std::endl;

        // Velocity
        double vx, vy, vz;
        double velocity = ardrone.getVelocity(&vx, &vy, &vz);
        std::cout << "ardrone.vx = " << vx << " [m/s]" << std::endl;
        std::cout << "ardrone.vy = " << vy << " [m/s]" << std::endl;
        std::cout << "ardrone.vz = " << vz << " [m/s]" << std::endl;

        // Battery
        int battery = ardrone.getBatteryPercentage();
        std::cout << "ardrone.battery = " << battery << " [%%]" << 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 == 0x260000) x =  1.0;
        if (key == 0x280000) x = -1.0;
        if (key == 0x250000) r =  1.0;
        if (key == 0x270000) r = -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::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;
}
Exemple #29
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;
    }

    // Thresholds
    int minH = 0, maxH = 255;
    int minS = 0, maxS = 255;
    int minV = 0, maxV = 255;

    // 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;

        // Update
        if (!ardrone.update()) break;

        // 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(image, 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 (int 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) {
            // Show result
            cv::Rect rect = cv::boundingRect(contours[contour_index]);
            cv::rectangle(image, rect, cv::Scalar(0,255,0));
            //cv::drawContours(image, contours, contour_index, cv::Scalar(0,255,0));
        }

        // Display the image
        cv::imshow("camera", image);
    }

    // See you
    ardrone.close();

    return 0;
}