private void Mission2_Click(object sender, EventArgs e)
{
mDrone.droneMudarCamara(Drone.DroneCamera.FRONTAL);
mDrone.droneDescolar();
while (true)
{
while (true)
{
mDrone.imageChange += new Drone.droneImageHandler(atualizarImagemOnly);
if (ImageFrame.Bitmap != null)
{
break;
}
}
imgsize.X = ImageFrame.Width;
imgsize.Y = ImageFrame.Height;
img1 = ProImg.HsvROI(ImageFrame, m4_hsv_hlow, m4_hsv_hhi, m4_hsv_slow, m4_hsv_shi, m4_hsv_vlow, m4_hsv_vhi, m4_hsv_h, m4_hsv_s, m4_hsv_v, m4_hsv_invert);
img1 = img1.SmoothGaussian(9);
// centra circulo com o drone
Centra_Circulo_CAM1(ImageFrame, Convert.ToInt32(H_Lval.Text), Convert.ToInt32(H_Hval.Text),
Convert.ToInt32(S_Lval.Text), Convert.ToInt32(S_Hval.Text), Convert.ToInt32(V_Lval.Text),
Convert.ToInt32(V_Hval.Text), H.Checked, S.Checked, V.Checked, Invert.Checked,
Convert.ToDouble(Area.Text));
//faz circulo a volta do objeto
ProImg.Deteccao_Circulo(img1, ImageFrame, (m4_area_obj * mDrone.droneObterAltitude()));
mDrone.droneMoverPRO(droneTraj.Vel_x_drone, droneTraj.Vel_y_drone, 0.01f, droneTraj.Vel_rot_z_drone);
//renvia imagem para as picturebox's
pictureBox1.Image = ImageFrame.Bitmap;
pictureBox2.Image = img1.Bitmap;
//envia informaçoes do drone
EstadoDrone();
//mediante a area o drone vai recuando ou avançando
Segue_Objecto_CAM1(ImageFrame, Convert.ToInt32(H_Lval.Text), Convert.ToInt32(H_Hval.Text), Convert.ToInt32(S_Lval.Text), Convert.ToInt32(S_Hval.Text), Convert.ToInt32(V_Lval.Text), Convert.ToInt32(V_Hval.Text), H.Checked, S.Checked, V.Checked, Invert.Checked, Convert.ToDouble(Area.Text));
}
}
void Mission3_Click(object sender, System.EventArgs e)
{
mDrone.droneDescolar();
mDrone.iDroneCup_Hover();
resetDroneTrajVal();
do
{
mDrone.droneMoverPRO(0.2f, 0f, -0.5f, 0f);
EstadoDrone();
} while(mDrone.droneObterAltitude() < 0.75f);
resetDroneTrajVal();
mDrone.droneMudarCamara(Drone.DroneCamera.INFERIOR);
while (true)
{
//processing
while (true) //get new image
{
mDrone.imageChange += new Drone.droneImageHandler(atualizarImagemOnly);
if (ImageFrame.Bitmap != null)
{
break;
}
}
imgsize.X = ImageFrame.Width;
imgsize.Y = ImageFrame.Height;
img1 = ProImg.Deteccao_Linha(ImageFrame);
droneTraj.ObjectTracking3(ProImg.Obj_centroid, imgsize);
//outputs
mDrone.droneMoverPRO(0.25f, droneTraj.Vel_y_drone, 0f, droneTraj.Vel_rot_z_drone);
//refresh form
pictureBox1.Image = ImageFrame.Bitmap;
pictureBox2.Image = img1.Bitmap;
EstadoDrone();
//condiçao de final percurso
img1 = ProImg.HsvROI(ImageFrame, 0, 0, 0, 0, 0, 66, false, false, true, false);
img1 = img1.SmoothGaussian(9);
// TODO: select area parameter for mission 4 : function of height?
ProImg.Deteccao_Circulo(img1, ImageFrame, 100);
if ((ProImg.Obj_centroid.X == -1) || (ProImg.Obj_centroid.Y == -1))
{
resetDroneTrajVal();
break;
}
}
while (true) //aterragem
{
while (true) //get new image
{
mDrone.imageChange += new Drone.droneImageHandler(atualizarImagemOnly);
if (ImageFrame.Bitmap != null)
{
break;
}
}
imgsize.X = ImageFrame.Width;
imgsize.Y = ImageFrame.Height;
// TODO: better way to check HUE, SAT and VAL
img1 = ProImg.HsvROI(ImageFrame, 0, 0, 0, 0, 0, 66, false, false, true, false);
img1 = img1.SmoothGaussian(9);
// TODO: select area parameter for mission 4 : function of height?
ProImg.Deteccao_Circulo(img1, ImageFrame, 100);
droneTraj.ObjectTracking2(ProImg.Obj_centroid, imgsize);
//output
mDrone.droneMoverPRO(droneTraj.Vel_x_drone, droneTraj.Vel_y_drone, 0f, droneTraj.Vel_rot_z_drone);
//refresh form
pictureBox1.Image = ImageFrame.Bitmap;
pictureBox2.Image = img1.Bitmap;
EstadoDrone();
//break out
if ((Math.Abs(ProImg.Obj_centroid.X - (imgsize.X / 2)) < 10) && (Math.Abs(ProImg.Obj_centroid.Y - (imgsize.Y / 2)) < 10))
{
break;
}
}
resetDroneTrajVal();
mDrone.droneAterrar();
return;
}
