# show the frame and the binary image
cv2.imshow("Drone", frame)
cv2.waitKey(10)
cv2.imshow("Binary", blue)
def video_start():
print("Starting video...")
cv2.namedWindow("Drone")
cv2.namedWindow("Binary")
def video_end():
print("Ending video...")
cv2.destroyWindow("Drone")
cv2.destroyWindow("Binary")
# Have to send waitKey several times on Unix to make window disappear
for i in range(1, 5):
cv2.waitKey(1)
print("Connecting to drone..")
drone = Bebop()
drone.video_callbacks(video_start, video_end, video_frame)
drone.videoEnable()
print("Connected.")
for i in xrange(10000):
drone.update()
print("Battery:", drone.battery)
def video2stdout():
drone = Bebop( metalog=None, onlyIFrames=False )
drone.videoCbk = videoCallback
drone.videoEnable()
while True:
drone.update()
pan = clip(pan + panDelta, panMin, panMax)
# Reset camera on B
if joystick.get_button(1) == 1:
tilt = 0
pan = 0
if joystick.get_button(5) == 1:
print("Flying to altitude: 1.5")
drone.flyToAltitude(1.25)
drone.moveCamera(tilt, pan)
# All movement updated here
if userMovement:
drone.update(cmd=movePCMDCmd(True, roll, pitch, yaw, gaz))
elif drone.findSphero:
roll = (drone.objectCenterX -
(drone.frameWidth >> 1)) * drone.moveScaler
pitch = ((drone.frameHeight >> 1) -
drone.objectCenterY) * drone.moveScaler
roll = clip(roll, -50, 50)
pitch = clip(pitch, -50, 50)
# print("Finding Sphero")
# print(roll)
# print(pitch)
spheroMoveCounter += 1
# if (drone.sinceLastSphero % 3) == 0 and drone.altitude >= 1:
# check to see if any contours were found
if len(cnts) > 0:
# sort the contours and find the largest one -- we
# will assume this contour correspondes to the area
# of my phone
cnt = sorted(cnts, key=cv2.contourArea, reverse=True)[0]
# compute the (rotated) bounding box around then
# contour and then draw it
rect = np.int32(cv2.boxPoints(cv2.minAreaRect(cnt)))
print(rect);
cv2.drawContours(frame, [rect], -1, (0, 255, 0), 2)
# show the frame and the binary image
cv2.imshow("Tracking", frame)
cv2.waitKey(10)
cv2.imshow("Binary", blue)
print("Connecting to drone..")
drone = Bebop( metalog=None, onlyIFrames=False, jpegStream=True )
drone.videoCbk = videoCallback
drone.videoEnable()
print("Connected.")
for i in xrange(10000):
drone.update( );
print("Battery:", drone.battery)
if joystick.get_button(0) == 1 and hat_x == -1:
print("Executing Left Flip")
drone.leftFlip()
if joystick.get_button(1) == 1:
print("Battery: " + str(drone.battery))
# --- Flying ---
# Power values
roll = scale(joystick.get_axis(0), MAX_SPEED)
pitch = -scale(joystick.get_axis(1), MAX_SPEED)
yaw = scale(joystick.get_axis(3), MAX_SPEED)
gaz = -scale(joystick.get_axis(4), MAX_SPEED)
drone.update(cmd=movePCMDCmd(True, roll, pitch, yaw, gaz))
# --- Move camera ---
# Triggers to tilt
if not(joystick.get_button(0) == 1) and joystick.get_axis(2) > 0.05:
tiltDelta = scale(joystick.get_axis(2), -10)
if not(joystick.get_button(0) == 1) and joystick.get_axis(5) > 0.05:
tiltDelta = scale(joystick.get_axis(5), 10)
# A and triggers to pan
if joystick.get_button(0) == 1 and joystick.get_axis(2) > 0.05:
panDelta = scale(joystick.get_axis(2), -10)
if joystick.get_button(0) == 1 and joystick.get_axis(5) > 0.05:
while not done:
# EVENT PROCESSING STEP
for event in pygame.event.get(): # User did something
if event.type == pygame.QUIT: # If user clicked close
done = True # Flag that we are done so we exit this loop
executing_command = False
if joystick.get_button(0) == 1:
executing_command = True
print("Landing...")
if drone.flyingState is None or drone.flyingState == 1: # if taking off then do emegency landing
drone.emergency()
drone.land()
if joystick.get_button(3) == 1:
executing_command = True
print("Taking off..")
drone.takeoff()
if joystick.get_button(7) == 1:
executing_command = True
drone.update(cmd=movePCMDCmd(True, 0, MAX_SPEED, 0,
0)) # start going forward slowly
drone.update(cmd=None)
# Close the window and quit.
pygame.quit()
import pygame
import sys
from commands import *
from bebop import Bebop
import logging
logging.basicConfig(level=logging.DEBUG)
print("Connecting to drone...")
drone = Bebop()
drone.trim()
print("Connected.")
drone.takeoff()
drone.wait(.2)
drone.update(cmd=movePCMDCmd(True, 0, 40, 0, 0))
drone.wait(2.3)
drone.update(cmd=movePCMDCmd(True, 0, 0, 0, 0))
drone.wait(.2)
drone.land()
while not done:
# EVENT PROCESSING STEP
for event in pygame.event.get(): # User did something
if event.type == pygame.QUIT: # If user clicked close
done = True # Flag that we are done so we exit this loop
executing_command = False
if joystick.get_button(0) == 1:
executing_command = True
print("Landing...")
if drone.flyingState is None or drone.flyingState == 1: # if taking off then do emegency landing
drone.emergency()
drone.land()
if joystick.get_button(3) == 1:
executing_command = True
print("Taking off..")
drone.takeoff()
if joystick.get_button(7) == 1:
executing_command = True
drone.update(cmd=movePCMDCmd(True, 0, MAX_SPEED, 0, 0)) # start going forward slowly
drone.update(cmd=None)
# Close the window and quit.
pygame.quit()
for event in pygame.event.get(): # User did something
if event.type == pygame.QUIT: # If user clicked close
done = True # Flag that we are done so we exit this loop
executing_command = False
if joystick.get_button(0) == 1:
executing_command = True
print("Landing...")
if drone.flyingState is None or drone.flyingState == 1: # if taking off then do emegency landing
drone.emergency()
drone.land()
if joystick.get_button(1) == 1:
executing_command = True
drone.update(cmd=movePCMDCmd(True, 0, 0, MAX_SPEED, 0))
print("Drone spinning clockwise.")
if joystick.get_button(2) == 1:
executing_command = True
drone.update(cmd=movePCMDCmd(True, 0, 0, -1 * MAX_SPEED, 0))
print("Drone spinning counterclockwise.")
if joystick.get_button(3) == 1:
executing_command = True
print("Taking off..")
drone.takeoff()
if joystick.get_button(4) == 1:
executing_command = True
print("Descending...")
import pygame
import sys
from commands import *
from bebop import Bebop
print("Connecting to drone...")
drone = Bebop( metalog=None, onlyIFrames=True )
drone.trim()
print("Connected.")
drone.takeoff()
drone.wait(5)
drone.update(cmd=movePCMDCmd(True, 0, 0, -50, 0))
drone.wait(3)
drone.land()
# pitch*= .4
#
# drone.update(cmd=movePCMDCmd(True, roll, pitch, 0, 0))
#
# else:
# drone.hover()
#
clock.tick(20)
# if userMovement:
# drone.update(cmd=movePCMDCmd(True, roll, pitch, yaw, gaz))
drone.takeoff()
drone.flyToAltitude(1.5)
drone.hover()
drone.wait(.2)
drone.update(cmd=movePCMDCmd(True, 0, MAX_SPEED, 0, 0))
drone.wait(3)
drone.hover()
drone.wait(.2)
startFindingIdol = True
if idolInCenter:
drone.update(cmd=movePCMDCmd(True, 0, MAX_SPEED, 0, 0))
drone.wait(8)
drone.hover()
drone.land()
if startFindingIdol:
timer += timer
if idolFound:
roll = (drone.objectCenterX -
(drone.frameWidth >> 1)) * drone.moveScaler
def video2stdout():
drone = Bebop(metalog=None, onlyIFrames=False)
drone.videoCbk = videoCallback
drone.videoEnable()
while True:
drone.update()
#leftPower = 0
#rightPower = 0
video = True
if event.type == pygame.QUIT:
# print "hi"
sys.exit()
if event.type == pygame.JOYBUTTONDOWN:
if event.button == 3:
drone.takeoff();
print("Drone taking off.")
if event.button == 0:
drone.land();
print("Drone landing.")
if event.button == 7:
drone.update(cmd=movePCMDCmd(True, 0, 0, 50, 0))
print("Drone spinning clockwise.")
if event.button == 6:
drone.update(cmd=movePCMDCmd(True, 0, 0, -50, 0))
print("Drone spinning counterclockwise.")
if event.button == 2:
print("Drone ascending.")
drone.update(cmd=movePCMDCmd(True, 0, 0, 0, 50))
drone.wait(0.050)
if event.button == 1:
print("Drone descending.")
drone.update(cmd=movePCMDCmd(True, 0, 0, 0, -50))
drone.wait(0.050)
# if event.button == 4:
# print("Taking picture...")
# drone.update(cmd=takePictureCmd())
for i in range(1, 5):
cv2.waitKey(1)
matcher = Matcher([("fau-logo", "../opencv/templates/fau-logo.png"),
("first-logo", "../opencv/templates/first-logo.jpg"),
("nextera-logo", "../opencv/templates/nextera-energy-logo.jpg"),
("techgarage-logo", "../opencv/templates/techgarage-logo.png")
], min_keypoints_pct_match=10)
print("Connecting to drone..")
drone = Bebop()
drone.video_callbacks(video_start, video_end, video_frame)
drone.videoEnable()
print("Connected.")
for i in xrange(10000):
if command is None:
drone.update( );
elif command == "TAKEOFF":
print("Taking offf.........................")
drone.takeoff()
command = None
elif command == "LAND":
print("Landing ...........................")
drone.land()
command = None
print("Battery:", drone.battery)
joystick.get_numhats()))
# -------- Main Program Loop -----------
MAX_SPEED = 70
while not done:
try:
# EVENT PROCESSING STEP
for event in pygame.event.get(): # User did something
if event.type == pygame.QUIT: # If user clicked close
done = True # Flag that we are done so we exit this loop
executing_command = False
userMovement = False
drone.update(cmd=moveCameraCmd(0, 0))
if joystick.get_button(0) == 1:
executing_command = True
# print("Button 0 pressed")
drone.update(cmd=moveCameraCmd(-100, 0))
if joystick.get_button(1) == 1:
executing_command = True
drone.update(cmd=moveCameraCmd(0, 100))
if joystick.get_button(2) == 1:
executing_command = True
drone.update(cmd=moveCameraCmd(0, -100))
if joystick.get_button(3) == 1:
import cv2
from bebop import Bebop
cnt = 0
f = open( "./images/video.h264", "wb" )
def videoCallback( frame, drone, debug=False ):
global cnt
if isinstance(frame, tuple):
print("h.264 frame - (frame# = %s, iframe = %s, size = %s)" % (frame[0], frame[1], len(frame[2])))
f.write(frame[-1])
f.flush()
else:
cnt = cnt + 1
cv2.imshow("image", frame)
cv2.waitKey(10)
print("Connecting to drone..")
drone = Bebop( metalog=None, onlyIFrames=False, jpegStream=True )
drone.videoCbk = videoCallback
drone.videoEnable()
print("Connected.")
for i in xrange(10000):
drone.update()
for event in pygame.event.get(): # User did something
if event.type == pygame.QUIT: # If user clicked close
done = True # Flag that we are done so we exit this loop
executing_command = False
if joystick.get_button(0) == 1:
executing_command = True
print("Landing...")
if drone.flyingState is None or drone.flyingState == 1: # if taking off then do emegency landing
drone.emergency()
drone.land()
if joystick.get_button(1) == 1:
executing_command = True
drone.update(cmd=movePCMDCmd(True, 0, 0, MAX_SPEED, 0))
print("Drone spinning clockwise.")
if joystick.get_button(2) == 1:
executing_command = True
drone.update(cmd=movePCMDCmd(True, 0, 0, -1 * MAX_SPEED, 0))
print("Drone spinning counterclockwise.")
if joystick.get_button(3) == 1:
executing_command = True
print("Taking off..")
drone.takeoff()
if joystick.get_button(4) == 1:
executing_command = True
print("Descending...")
