Install
- ardrone autonomy
- ar_track_alvar_msgs (modified version by Jacopo)
- ar_track_alvar (modified version by Jacopo)
- try the demo in simulation
- write simulated optitrack node (same messages as Eduardo's node)
- refactor the code
- add new funcionality
-
(1/12/2014) port the code in ardrone_swarm to catkin
-
References to ar_track_alvar and ar_track_alvar_msgs should be changed to ar_track_alvar_idsia and ar_track_alvar_msgs_idsia
-
Copy useful files from ardrone_swarm to ardrone_gestures_demo
-
patch (detectorNode*):
-
Code:
//Jerome Change -> hue value are periodic in [0,180] -> filter should be 0 - min AND max - 180 if max-min > 90
//Alternatively we could use CV_BGR2HSV_FULL
if(Hmax-Hmin>90)
{
IplImage *imageColorHigh=cvCreateImage(cvGetSize(image), IPL_DEPTH_8U, 1);
cvInRangeS(imageHSV, cvScalar(0, Smin, Vmin), cvScalar(Hmin, Smax, Vmax), imageColor);
cvInRangeS(imageHSV, cvScalar(Hmax, Smin, Vmin), cvScalar(180, Smax, Vmax), imageColorHigh);
cvOr(imageColorHigh,imageColor,imageColor);
cvReleaseImage(&imageColorHigh);
}
else
{
cvInRangeS(imageHSV, cvScalar(Hmin, Smin, Vmin), cvScalar(Hmax, Smax, Vmax), imageColor); // Color threshold
}
- (1/12/2014) compile and test the demo