def __init__(self):
self.qrt = qtm.QRT("127.0.0.1", 22223) # Qualysis Port
self.qrt.connect(on_connect=self.on_connect,
on_disconnect=self.on_disconnect,
on_event=self.on_event)
# Vectors to enter available filter data
self.nChannels = 6
self.yawVectorAvailableData = range(0, 360, 5)
self.xPositionAvailableData = range(1, 17)
self.YPositionAvailableData = range(1, 17)
self.xPositionOffset = -225
self.yPositionOffset = -225
self.yawOffset = 0
# one step relates to 25cm
self.stepSize = 25
# Create OSC client
self.client = OSCMultiClient()
self.client.setOSCTarget((ip, port))
# Defaults
self.posX, self.posY, self.posZ, self.roll, self.pitch, self.yaw = [
0, 0, 0, 0, 0, 0
]
def __init__(self):
self.qrt = qtm.QRT("127.0.0.1", 22223)
self.qrt.connect(on_connect=self.on_connect,
on_disconnect=self.on_disconnect,
on_event=self.on_event)
self.init = False
self.connection = None
def __init__(self):
self.qrt = qtm.QRT(
"192.168.10.2", 22223
) ## set to the IP address of the computer running Qualisys (can be this one)
self.qrt.connect(on_connect=self.on_connect,
on_disconnect=self.on_disconnect,
on_event=self.on_event)
def __init__(self):
global g
print("Connecting to QTM...")
self.qrt = qtm.QRT("127.0.0.1", g.QTM_RT_PORT)
self.qrt.connect(
on_connect=self.on_connect,
on_disconnect=self.on_disconnect,
on_event=self.on_event)
def __init__(self):
self.qrt = qtm.QRT("10.100.20.174", 22223)
self.qrt.connect(on_connect=self.on_connect,
on_disconnect=self.on_disconnect,
on_event=self.on_event)
self.init = False
self.connection = None
#sonification script
self.son_model = son.generate_random_son_model()
enc_model_name = "cross_fit_enc_60_markers_test.pth"
self.enc_model = son.load_enc_model(enc_model_name)
self.frames = []
self.client = son.init_sonification()
print_status("Following {} with offset ()...".format(
(TARGET_RIGIDBODY_NAME, FOLLOW_OFFSET)))
target = follow_position
else:
print_status("Going home to ({})...".format(HOME_POSITION))
target = HOME_POSITION
target = convert_coords_to_setpoint(target)
cf.commander.send_setpoint(*target)
else:
cf.commander.send_stop_setpoint()
print("Tracking lost, terminating.")
os._exit(1)
if __name__ == '__main__':
print("~ Qualisys x CrazyFlie ~")
# Initialize the low-level drivers (don't list the debug drivers)
cflib.crtp.init_drivers(enable_debug_driver=False)
# Connect to QTM on a specific ip
qrt = qtm.QRT(QTM_IP, 22223, version='1.17')
qrt.connect(on_connect=on_qtm_connect,
on_disconnect=on_qtm_disconnect,
on_event=on_qtm_event)
# Start Crazyflie flight controller on a new thread
threads.deferToThread(crazyflie_controller)
# Start running the processes
qtm.start()
def __init__(self):
self.qrt = qtm.QRT("10.100.20.174", 22223)
self.qrt.connect(on_connect=self.on_connect, on_disconnect=self.on_disconnect, on_event=self.on_event)