diff --git a/python-ardrone-master/log.txt b/python-ardrone-master/log.txt
diff --git a/python-ardrone-master/main.py b/python-ardrone-master/main.py
@@ -3,6 +3,8 @@
 import libardrone
 import pygame
 import move
+import time
+import cv2
 
 f = open('log.txt','a\n')
 
@@ -11,11 +13,21 @@
 screen = pygame.display.set_mode((W, H))
 clock = pygame.time.Clock()
 
+
 # drone = move.Drone(clock)
 drone = move.Drone(clock)
 # drone.reset()
 # drone.takeoff()
 
+drone.useDemoMode(True)                            # Set 15 basic dataset/sec
+
+##### Mainprogram begin #####
+drone.setConfigAllID()                              # Go to multiconfiguration-mode
+drone.sdVideo()                                     # Choose lower resolution (try hdVideo())
+drone.frontCam()                                    # Choose front view
+CDC = drone.ConfigDataCount
+while CDC==drone.ConfigDataCount: time.sleep(0.001) # Wait until it is done (after resync)
+drone.startVideo()                                  # Start video-function                                  # Display the video
 
 def move_in_m(drone, count, clock):
     i = 0
@@ -26,6 +38,7 @@ def move_in_m(drone, count, clock):
 
 
 running = True
+iter = 0
 while running:
         for event in pygame.event.get():
             if event.type == pygame.QUIT:
@@ -89,6 +102,12 @@ def move_in_m(drone, count, clock):
                 if event.key == pygame.K_b:
                     print('rotation')
                     drone.back_circle()
+                if event.key == pygame.K_p:
+                    print('image has been saved')
+                    frame = drone.getImage()
+                    img_process(frame)
+                    i+=1
+                    cv2.imwrite('test'+ i +'.jpeg', frame)
 
 #<<<<<<< Updated upstream:python-ardrone-master/main.py
         # try:

diff --git a/python-ardrone-master/new.py b/python-ardrone-master/new.py
@@ -0,0 +1,29 @@
+import libardrone
+import pygame
+pygame.init()
+W, H = 320, 240
+screen = pygame.display.set_mode((W, H))
+
+drone = libardrone.ARDrone()
+drone.reset()
+drone.takeoff()
+running = True
+while running:
+        #print('hello')
+        for event in pygame.event.get():
+            if event.type == pygame.QUIT:
+                running = False
+            elif event.type == pygame.KEYDOWN:
+                if event.key == pygame.K_SPACE:
+                    print('hello')
+                    drone.land()
+                if event.key == pygame.K_UP:
+                    drone.move_up()
+                    print('move_up')
+                if event.key == pygame.K_ESCAPE:
+                    running = False
+                if event.key == pygame.K_DOWN:
+                    drone.move_down()
+
+drone.land()
+drone.halt()
diff --git a/python-ardrone-master/opencv.py b/python-ardrone-master/opencv.py
@@ -0,0 +1,37 @@
+import os
+import sys
+import cv2
+import numpy as np
+import logging
+
+MODEL_FILE = "model.mdl"
+
+def detect(img, cascade):
+  gray = to_grayscale(img)
+  rects = cascade.detectMultiScale(gray, scaleFactor=1.3, minNeighbors=2, minSize=(15, 15), flags = cv2.CASCADE_SCALE_IMAGE)
+
+  if len(rects) == 0:
+    return []
+  return rects
+  #haarcascade_frontalface_alt.xml
+  #haarcascade_fullbody.xml
+def detect_faces(img):
+  cascade = cv2.CascadeClassifier("haarcascade_frontalface_alt.xml")
+  return detect(img, cascade)
+
+def to_grayscale(img):
+  gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
+  gray = cv2.equalizeHist(gray)
+  return gray
+
+def contains_face(img):
+  return len(detect_faces(img)) > 0
+
+def save(path, img):
+  cv2.imwrite(path, img)
+
+def crop_faces(img, faces):
+  for face in faces:
+    x, y, h, w = [result for result in face]
+    return img[y:y+h,x:x+w]
+
diff --git a/python-ardrone-master/ps_drone.py b/python-ardrone-master/ps_drone.py
@@ -93,8 +93,16 @@ def __init__(self):
 		self.__pYellowStr = 			"\033[93m"
 		self.__pBlueStr = 				"\033[94m"
 		self.__pPurpleStr = 			"\033[95m"
-		self.__pLineUpStr = 			"\033[1A"
+		self._show_pLineUpStr = 			"\033[1A"
 
+	def getImage(self):
+		vPath = self.__VidPipePath
+		capture = 	cv2.VideoCapture(vPath)
+		success, image = 	capture.read()
+		return image
+		##################################
+		#img_process(image)
+
 	###### Connect to the drone and start all procedures
 	def startup(self):
 		# Check for drone in the network and wake it up
@@ -1007,12 +1015,14 @@ def vCapture(VidPipePath, parent_pipe):
 	codecOK = 		False
 	lastKey =		""
 	cc=0
-
+	'''
 	while not commitsuicideV:
 		decTimeRev = 		time.time()
 		receiveWatchdog = threading.Timer(2.0, VideoReceiveWatchdog, [parent_pipe,"vCapture", debugV])	# Resets video if something hangs
 		receiveWatchdog.start()
 		success, image = 	capture.read()
+		##################################
+		#img_process(image)
 		cc+=1
 		receiveWatchdog.cancel()
 		decTime =			decTimeRev-time.time()
@@ -1058,7 +1068,7 @@ def vCapture(VidPipePath, parent_pipe):
 	cv2.destroyAllWindows()
 	capture.release()
 	if debugV:	print "vCapture-Thread :    committed suicide"
-
+	'''
 ### Process to decode the videostream in the FIFO-Pipe, stored there from main-loop.
 # Storing and decoding must not be processed in the same process, thats why decoding is external.
 # vDecode controls the vCapture-thread which captures and decodes finally the videostream.

diff --git a/python-ardrone-master/t1.py b/python-ardrone-master/t1.py
@@ -0,0 +1,16 @@
+import sys
+import cv2
+import numpy
+
+img = cv2.imread('5.jpg')
+template = cv2.imread('4.jpg')
+th, tw = template.shape[:2]
+
+result = cv2.matchTemplate(img, template, cv2.TM_CCORR_NORMED)
+num = 0
+n = 0
+for i in result:
+	num += reduce(lambda x, y: x + y, i) / len(i)
+	n+=1
+num/=n
+print num
diff --git a/test.py b/test.py
@@ -20,8 +20,10 @@ def img_process(frame):
 		sum_sqr_rect += w*h
 		cv2.rectangle(frame, (x, y), (x+w, y+h), (0, 255, 0), 2)
 
-	main_rect = (main_rect[0]/len(faces),main_rect[1]/len(faces))
-
+	if 0 != len(faces):
+		main_rect = (main_rect[0]/len(faces),main_rect[1]/len(faces))
+	else:
+		return 0
 	w, h = frame.shape[:2]
 
 	return main_rect[0]-h/2, main_rect[1]-w/2, sum_sqr_rect