├── .gitignore ├── Drone_OSC.xcodeproj ├── project.pbxproj ├── project.xcworkspace │ ├── contents.xcworkspacedata │ ├── xcshareddata │ │ └── Drone_OSC.xccheckout │ └── xcuserdata │ │ └── Kleeb3.xcuserdatad │ │ └── UserInterfaceState.xcuserstate ├── xcshareddata │ └── xcschemes │ │ ├── Drone_OSC Debug.xcscheme │ │ └── Drone_OSC Release.xcscheme └── xcuserdata │ ├── Kleeb3.xcuserdatad │ └── xcschemes │ │ └── xcschememanagement.plist │ └── gabriellalevine.xcuserdatad │ └── xcschemes │ └── xcschememanagement.plist ├── Makefile ├── Project.xcconfig ├── README.md ├── addons.make ├── bin └── data │ └── .gitkeep ├── config.make ├── openFrameworks-Info.plist └── src ├── main.cpp ├── ofApp.cpp └── ofApp.h /.gitignore: -------------------------------------------------------------------------------- 1 | *.DS_Store 2 | *.app 3 | */build/ 4 | Drone_OSC.build/ 5 | Drone_OSC.xcodeproj/xcshareddata 6 | Drone_OSC.xcodeproj/xcuserstate 7 | build 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-------------------------------------------------------------------------------- 1 | 2 | 5 | 8 | 9 | 15 | 21 | 22 | 23 | 24 | 25 | 30 | 31 | 32 | 33 | 39 | 40 | 41 | 42 | 51 | 52 | 58 | 59 | 60 | 61 | 62 | 63 | 69 | 70 | 76 | 77 | 78 | 79 | 81 | 82 | 85 | 86 | 87 | -------------------------------------------------------------------------------- /Drone_OSC.xcodeproj/xcshareddata/xcschemes/Drone_OSC Release.xcscheme: -------------------------------------------------------------------------------- 1 | 2 | 5 | 8 | 9 | 15 | 21 | 22 | 23 | 24 | 25 | 30 | 31 | 32 | 33 | 39 | 40 | 41 | 42 | 51 | 52 | 58 | 59 | 60 | 61 | 62 | 63 | 69 | 70 | 76 | 77 | 78 | 79 | 81 | 82 | 85 | 86 | 87 | -------------------------------------------------------------------------------- /Drone_OSC.xcodeproj/xcuserdata/Kleeb3.xcuserdatad/xcschemes/xcschememanagement.plist: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | SuppressBuildableAutocreation 6 | 7 | E4B69B5A0A3A1756003C02F2 8 | 9 | primary 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /Drone_OSC.xcodeproj/xcuserdata/gabriellalevine.xcuserdatad/xcschemes/xcschememanagement.plist: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | SuppressBuildableAutocreation 6 | 7 | E4B69B5A0A3A1756003C02F2 8 | 9 | primary 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /Makefile: -------------------------------------------------------------------------------- 1 | # Attempt to load a config.make file. 2 | # If none is found, project defaults in config.project.make will be used. 3 | ifneq ($(wildcard config.make),) 4 | include config.make 5 | endif 6 | 7 | # make sure the the OF_ROOT location is defined 8 | ifndef OF_ROOT 9 | OF_ROOT=../../.. 10 | endif 11 | 12 | # call the project makefile! 13 | include $(OF_ROOT)/libs/openFrameworksCompiled/project/makefileCommon/compile.project.mk 14 | -------------------------------------------------------------------------------- /Project.xcconfig: -------------------------------------------------------------------------------- 1 | //THE PATH TO THE ROOT OF OUR OF PATH RELATIVE TO THIS PROJECT. 2 | //THIS NEEDS TO BE DEFINED BEFORE CoreOF.xcconfig IS INCLUDED 3 | OF_PATH = ../../.. 4 | 5 | //THIS HAS ALL THE HEADER AND LIBS FOR OF CORE 6 | #include "../../../libs/openFrameworksCompiled/project/osx/CoreOF.xcconfig" 7 | 8 | //ICONS - NEW IN 0072 9 | ICON_NAME_DEBUG = icon-debug.icns 10 | ICON_NAME_RELEASE = icon.icns 11 | ICON_FILE_PATH = $(OF_PATH)/libs/openFrameworksCompiled/project/osx/ 12 | 13 | //IF YOU WANT AN APP TO HAVE A CUSTOM ICON - PUT THEM IN YOUR DATA FOLDER AND CHANGE ICON_FILE_PATH to: 14 | //ICON_FILE_PATH = bin/data/ 15 | 16 | OTHER_LDFLAGS = $(OF_CORE_LIBS) 17 | HEADER_SEARCH_PATHS = $(OF_CORE_HEADERS) 18 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | #OSC Sending Commands to Node.JS to control AR Parrot Drone 2 | 3 | This sketch runs an OpenCV window on top of a node-browser window and transmits commands to Node.JS to fly the AR Parrot Drone. Current code includes automatic color tracking commands, as well as key press commands for the 8 movements, takeoff, and landing. 4 | 5 | OSC commands transmit every 100 ms, which are then parsed by the Node server and relayed to the drone. -------------------------------------------------------------------------------- /addons.make: -------------------------------------------------------------------------------- 1 | ofxNetwork 2 | ofxOpenCv 3 | ofxOsc 4 | ofxCv 5 | -------------------------------------------------------------------------------- /bin/data/.gitkeep: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/samyk/Drone_OSC/b8b72a705bdb097fadcbfaf35b5e8931909aa214/bin/data/.gitkeep -------------------------------------------------------------------------------- /config.make: -------------------------------------------------------------------------------- 1 | ################################################################################ 2 | # CONFIGURE PROJECT MAKEFILE (optional) 3 | # This file is where we make project specific configurations. 4 | ################################################################################ 5 | 6 | ################################################################################ 7 | # OF ROOT 8 | # The location of your root openFrameworks installation 9 | # (default) OF_ROOT = ../../.. 10 | ################################################################################ 11 | # OF_ROOT = ../../.. 12 | 13 | ################################################################################ 14 | # PROJECT ROOT 15 | # The location of the project - a starting place for searching for files 16 | # (default) PROJECT_ROOT = . (this directory) 17 | # 18 | ################################################################################ 19 | # PROJECT_ROOT = . 20 | 21 | ################################################################################ 22 | # PROJECT SPECIFIC CHECKS 23 | # This is a project defined section to create internal makefile flags to 24 | # conditionally enable or disable the addition of various features within 25 | # this makefile. For instance, if you want to make changes based on whether 26 | # GTK is installed, one might test that here and create a variable to check. 27 | ################################################################################ 28 | # None 29 | 30 | ################################################################################ 31 | # PROJECT EXTERNAL SOURCE PATHS 32 | # These are fully qualified paths that are not within the PROJECT_ROOT folder. 33 | # Like source folders in the PROJECT_ROOT, these paths are subject to 34 | # exlclusion via the PROJECT_EXLCUSIONS list. 35 | # 36 | # (default) PROJECT_EXTERNAL_SOURCE_PATHS = (blank) 37 | # 38 | # Note: Leave a leading space when adding list items with the += operator 39 | ################################################################################ 40 | # PROJECT_EXTERNAL_SOURCE_PATHS = 41 | 42 | ################################################################################ 43 | # PROJECT EXCLUSIONS 44 | # These makefiles assume that all folders in your current project directory 45 | # and any listed in the PROJECT_EXTERNAL_SOURCH_PATHS are are valid locations 46 | # to look for source code. The any folders or files that match any of the 47 | # items in the PROJECT_EXCLUSIONS list below will be ignored. 48 | # 49 | # Each item in the PROJECT_EXCLUSIONS list will be treated as a complete 50 | # string unless teh user adds a wildcard (%) operator to match subdirectories. 51 | # GNU make only allows one wildcard for matching. The second wildcard (%) is 52 | # treated literally. 53 | # 54 | # (default) PROJECT_EXCLUSIONS = (blank) 55 | # 56 | # Will automatically exclude the following: 57 | # 58 | # $(PROJECT_ROOT)/bin% 59 | # $(PROJECT_ROOT)/obj% 60 | # $(PROJECT_ROOT)/%.xcodeproj 61 | # 62 | # Note: Leave a leading space when adding list items with the += operator 63 | ################################################################################ 64 | # PROJECT_EXCLUSIONS = 65 | 66 | ################################################################################ 67 | # PROJECT LINKER FLAGS 68 | # These flags will be sent to the linker when compiling the executable. 69 | # 70 | # (default) PROJECT_LDFLAGS = -Wl,-rpath=./libs 71 | # 72 | # Note: Leave a leading space when adding list items with the += operator 73 | ################################################################################ 74 | 75 | # Currently, shared libraries that are needed are copied to the 76 | # $(PROJECT_ROOT)/bin/libs directory. The following LDFLAGS tell the linker to 77 | # add a runtime path to search for those shared libraries, since they aren't 78 | # incorporated directly into the final executable application binary. 79 | # TODO: should this be a default setting? 80 | # PROJECT_LDFLAGS=-Wl,-rpath=./libs 81 | 82 | ################################################################################ 83 | # PROJECT DEFINES 84 | # Create a space-delimited list of DEFINES. The list will be converted into 85 | # CFLAGS with the "-D" flag later in the makefile. 86 | # 87 | # (default) PROJECT_DEFINES = (blank) 88 | # 89 | # Note: Leave a leading space when adding list items with the += operator 90 | ################################################################################ 91 | # PROJECT_DEFINES = 92 | 93 | ################################################################################ 94 | # PROJECT CFLAGS 95 | # This is a list of fully qualified CFLAGS required when compiling for this 96 | # project. These CFLAGS will be used IN ADDITION TO the PLATFORM_CFLAGS 97 | # defined in your platform specific core configuration files. These flags are 98 | # presented to the compiler BEFORE the PROJECT_OPTIMIZATION_CFLAGS below. 99 | # 100 | # (default) PROJECT_CFLAGS = (blank) 101 | # 102 | # Note: Before adding PROJECT_CFLAGS, note that the PLATFORM_CFLAGS defined in 103 | # your platform specific configuration file will be applied by default and 104 | # further flags here may not be needed. 105 | # 106 | # Note: Leave a leading space when adding list items with the += operator 107 | ################################################################################ 108 | # PROJECT_CFLAGS = 109 | 110 | ################################################################################ 111 | # PROJECT OPTIMIZATION CFLAGS 112 | # These are lists of CFLAGS that are target-specific. While any flags could 113 | # be conditionally added, they are usually limited to optimization flags. 114 | # These flags are added BEFORE the PROJECT_CFLAGS. 115 | # 116 | # PROJECT_OPTIMIZATION_CFLAGS_RELEASE flags are only applied to RELEASE targets. 117 | # 118 | # (default) PROJECT_OPTIMIZATION_CFLAGS_RELEASE = (blank) 119 | # 120 | # PROJECT_OPTIMIZATION_CFLAGS_DEBUG flags are only applied to DEBUG targets. 121 | # 122 | # (default) PROJECT_OPTIMIZATION_CFLAGS_DEBUG = (blank) 123 | # 124 | # Note: Before adding PROJECT_OPTIMIZATION_CFLAGS, please note that the 125 | # PLATFORM_OPTIMIZATION_CFLAGS defined in your platform specific configuration 126 | # file will be applied by default and further optimization flags here may not 127 | # be needed. 128 | # 129 | # Note: Leave a leading space when adding list items with the += operator 130 | ################################################################################ 131 | # PROJECT_OPTIMIZATION_CFLAGS_RELEASE = 132 | # PROJECT_OPTIMIZATION_CFLAGS_DEBUG = 133 | 134 | ################################################################################ 135 | # PROJECT COMPILERS 136 | # Custom compilers can be set for CC and CXX 137 | # (default) PROJECT_CXX = (blank) 138 | # (default) PROJECT_CC = (blank) 139 | # Note: Leave a leading space when adding list items with the += operator 140 | ################################################################################ 141 | # PROJECT_CXX = 142 | # PROJECT_CC = 143 | -------------------------------------------------------------------------------- /openFrameworks-Info.plist: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | CFBundleDevelopmentRegion 6 | English 7 | CFBundleExecutable 8 | ${EXECUTABLE_NAME} 9 | CFBundleIdentifier 10 | cc.openFrameworks.ofapp 11 | CFBundleInfoDictionaryVersion 12 | 6.0 13 | CFBundlePackageType 14 | APPL 15 | CFBundleSignature 16 | ???? 17 | CFBundleVersion 18 | 1.0 19 | CFBundleIconFile 20 | ${ICON} 21 | 22 | 23 | -------------------------------------------------------------------------------- /src/main.cpp: -------------------------------------------------------------------------------- 1 | #include "ofMain.h" 2 | #include "ofApp.h" 3 | 4 | //======================================================================== 5 | int main( ){ 6 | ofSetupOpenGL(1024,768,OF_WINDOW); // <-------- setup the GL context 7 | 8 | // this kicks off the running of my app 9 | // can be OF_WINDOW or OF_FULLSCREEN 10 | // pass in width and height too: 11 | ofRunApp(new ofApp()); 12 | 13 | } 14 | 15 | -------------------------------------------------------------------------------- /src/ofApp.cpp: -------------------------------------------------------------------------------- 1 | #include "ofApp.h" 2 | using namespace cv; 3 | using namespace ofxCv; 4 | 5 | 6 | extern "C" { 7 | #include "macGlutfix.h" 8 | } 9 | 10 | //-------------------------------------------------------------- 11 | void ofApp::setup(){ 12 | 13 | timer = ofGetElapsedTimeMillis(); 14 | startTimer = ofGetElapsedTimeMillis(); 15 | 16 | ofSetVerticalSync(true); 17 | ofSetFrameRate(60); 18 | 19 | 20 | isTracking = false; 21 | isArrived = false; 22 | isScanning = false; 23 | 24 | myArea = 0; 25 | num = 0; 26 | 27 | for(int i=0; i < 12; i++){ 28 | directions.push_back(0); 29 | } 30 | 31 | // open an outgoing connection to HOST:PORT 32 | sender.setup(HOST, PORT); 33 | 34 | 35 | 36 | //ScreenGrab-------------------------------- 37 | captureWidth = ofGetWidth(); 38 | captureHeight = ofGetHeight(); 39 | image.allocate(captureWidth, captureHeight, OF_IMAGE_COLOR); 40 | //pixels.allocate(captureWidth, captureHeight, OF_IMAGE_COLOR); 41 | 42 | //cv 43 | contourFinder.setMinAreaRadius(10); 44 | contourFinder.setMaxAreaRadius(200); 45 | trackingColorMode = TRACK_COLOR_RGB; 46 | 47 | 48 | threshold = 20; 49 | targetColor = ofColor(255, 0, 0); 50 | contourFinder.setTargetColor(targetColor, trackingColorMode); 51 | 52 | 53 | } 54 | 55 | //-------------------------------------------------------------- 56 | void ofApp::update(){ 57 | 58 | 59 | //ScreenGrabStuff----------------------------------------- 60 | captureWidth = ofGetWidth(); 61 | captureHeight = ofGetHeight(); 62 | 63 | unsigned char * data = pixelsBelowWindow(ofGetWindowPositionX(), ofGetWindowPositionY(), captureWidth, captureHeight); 64 | 65 | // now, let's get the R and B data swapped, so that it's all OK: 66 | for (int i = 0; i < captureWidth * captureHeight; i++){ 67 | 68 | unsigned char r = data[i*4]; // mem A 69 | 70 | data[i*4] = data[i*4+1]; 71 | data[i*4+1] = data[i*4+2]; 72 | data[i*4+2] = data[i*4+3]; 73 | data[i*4+3] = r; 74 | } 75 | 76 | 77 | if (data!= NULL) { 78 | //tex.loadData(data, captureWidth, captureHeight, GL_RGBA); 79 | //tex.readToPixels(pixels); 80 | //image = pixels; 81 | image.setFromPixels(data, captureWidth, captureHeight, OF_IMAGE_COLOR_ALPHA, true); 82 | image.setImageType(OF_IMAGE_COLOR); 83 | image.update(); 84 | finder.findHaarObjects(image.getPixelsRef()); 85 | 86 | 87 | 88 | 89 | contourFinder.setThreshold(threshold); 90 | contourFinder.findContours(image); 91 | 92 | 93 | 94 | //blob = getCenterRect(); 95 | // if (!isScanning){ 96 | //trackingCentroid(blob); 97 | // } 98 | 99 | } 100 | else {return;} 101 | //cout << imageBelowWindow()[0] << endl; 102 | 103 | if(isFlying && ofGetElapsedTimeMillis() - startTimer > 8000){ 104 | scanning(); 105 | } 106 | 107 | 108 | 109 | if(isTracking){ 110 | 111 | trackingCentroid(getCenterRect()); 112 | } 113 | 114 | 115 | 116 | if(isArrived){ 117 | arrived(); 118 | } 119 | 120 | if(ofGetElapsedTimeMillis() - timer > 100){ 121 | 122 | sendOsc(); 123 | timer = ofGetElapsedTimeMillis(); 124 | } 125 | 126 | 127 | } 128 | 129 | //-------------------------------------------------------------- 130 | void ofApp::draw(){ 131 | 132 | /* 133 | // display instructions 134 | string buf; 135 | buf = "sending osc messages to" + string(HOST) + ofToString(PORT); 136 | ofDrawBitmapString(buf, 10, 20); 137 | ofDrawBitmapString("move the mouse to send osc message [/mouse/position ]", 10, 50); 138 | ofDrawBitmapString("click to send osc message [/mouse/button