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OpenCV_Sample.pde

+import com.shigeodayo.ardrone.processing.*;
+import java.util.Timer;
+import gab.opencv.*;
+import java.awt.*; // for Rectangle
+
+ARDroneForP5 ardrone;
+OpenCV opencv;
+
+boolean stop = false;
+char state = 'n';
+int start_time = 0;
+
+void setup() {
+  size(640, 360);
+
+  ardrone=new ARDroneForP5("192.168.1.1");
+  // connect to the AR.Drone
+  ardrone.connect();
+  // for getting sensor information
+  ardrone.connectNav();
+  // for getting video information
+  ardrone.connectVideo();
+  // start to control AR.Drone and get sensor and video data of it
+  ardrone.start();
+  
+  // set OpenCV window
+  opencv = new OpenCV(this, width, height);
+  
+  // set dataset for OpenCV
+  opencv.loadCascade(OpenCV.CASCADE_FRONTALFACE); // face data
+  //opencv.loadCascade(OpenCV.CASCADE_EYE); // eye data
+  //opencv.loadCascade(OpenCV.CASCADE_MOUTH); // mouth data
+}
+
+void draw() {
+  background(204);
+  // getting image from AR.Drone
+  // true: resizeing image automatically;
+  // false: not resizing
+  PImage img = ardrone.getVideoImage(false);
+  if (img == null)
+    return;
+
+  // load an image ("img") to opencv 
+  opencv.loadImage(img);
+  
+  // Image Processing
+  //opencv.findCannyEdges(50, 200); // edge detection
+  //opencv.blur(12); // shading off
+  //img = opencv.getSnapshot();
+
+  image(img, 0, 0); // display the processed image
+  
+  /**
+  Rectangle[] faces = opencv.detect(); // detection
+  noFill();
+  stroke(0, 255, 0);
+  strokeWeight(5);
+  for (int i = 0; i < faces.length; i++) {
+    rect(faces[i].x, faces[i].y, faces[i].width, faces[i].height);
+  }
+  **/
+
+  // print out AR.Drone information
+  // ardrone.printARDroneInfo();
+
+  // getting sensor information of AR.Drone
+  float pitch = ardrone.getPitch();
+  float roll = ardrone.getRoll();
+  float yaw = ardrone.getYaw();
+  float altitude = ardrone.getAltitude();
+  float[] velocity = ardrone.getVelocity();
+  int battery = ardrone.getBatteryPercentage();
+
+  String attitude = "pitch:" + pitch + "\nroll:" + roll + "\nyaw:" + yaw + "\naltitude:" + altitude;
+  text(attitude, 20, 85);
+  String vel = "vx:" + velocity[0] + "\nvy:" + velocity[1];
+  text(vel, 20, 140);
+  String bat = "battery:" + battery + " %";
+  text(bat, 20, 170);
+
+  float vx = velocity[0], vy = velocity[1];
+  if(stop){
+    int lr = (int)vy / 15;
+    int fb = (int)vx / 15;
+    ardrone.parallel(-lr, fb);
+  }
+
+  int ms = millis();
+  String time = "time:" + ms;
+  text(time, 20, 210);
+  
+  if(state=='w'){
+    square(ms);
+  }
+}
+
+//PC AR.Drone
+// controlling AR.Drone through key input
+void keyPressed() {
+  stop = false;
+  if (key == CODED) {
+    if (keyCode == UP) {
+      state='f';
+      ardrone.forward(); // go forward
+    } 
+    else if (keyCode == DOWN) {
+      state='b';
+      ardrone.backward(); // go backward
+    } 
+    else if (keyCode == LEFT) {
+      state='l';
+      ardrone.goLeft(); // go left
+    } 
+    else if (keyCode == RIGHT) {
+      state='r';
+      ardrone.goRight(); // go right
+    } 
+    else if (keyCode == SHIFT) {
+      ardrone.takeOff(); // take off, AR.Drone cannot move while landing
+      stop = true;
+    } 
+    else if (keyCode == CONTROL) {
+      state = 'n';
+      ardrone.landing();
+      // landing
+    }
+  }
+  else {
+    if (key =='w'){
+      state='w';
+      start_time = millis();
+
+    }
+    else if (key == 's') {
+      state = 's';
+      stop = true;
+      ardrone.stop();
+    } 
+    else if (key == 'r') {
+      ardrone.spinRight(); // spin right
+    } 
+    else if (key == 'l') {
+      ardrone.spinLeft(); // spin left
+    } 
+    else if (key == 'u') {
+      ardrone.up(); // go up
+    }
+    else if (key == 'd') {
+      ardrone.down(); // go down
+    }
+    else if (key == '1') {
+      ardrone.setHorizontalCamera(); // set front camera
+    }
+    else if (key == '2') {
+      ardrone.setHorizontalCameraWithVertical(); // set front camera with second camera (upper left)
+    }
+    else if (key == '3') {
+      ardrone.setVerticalCamera(); // set second camera
+    }
+    else if (key == '4') {
+      ardrone.setVerticalCameraWithHorizontal(); //set second camera with front camera (upper left)
+    }
+    else if (key == '5') {
+      ardrone.toggleCamera(); // set next camera setting
+    }
+    else if (key == 'e'){
+      ardrone.parallel(-5,5);
+    }
+  }
+}
+
+void square(int ms){
+  int time = ms - start_time;
+  int speed = 10;
+  if(time <1000){
+    stop=true;
+  }else  if(time < 4000){
+    stop=false;
+    ardrone.forward(speed);
+  }else  if(time < 8000){
+    stop = true;
+  } else if (time < 11000){
+    stop=false;
+    ardrone.goRight(speed);
+  } else if(time < 16000){
+    stop = true;
+  } else {
+    stop = false;
+    state = 'n';
+    ardrone.landing();
+  }
+}
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