def location_report(self, tarloc, taralti):
# get target and vehicle locations
self.targetLoc = PositionVector()
self.vehicleLoc = PositionVector()
self.vehicleLoc.set_from_location(drn.get_location())
full_loc = Location(float(tarloc[0]), float(tarloc[1]), float(taralti), is_relative=True)
self.targetLoc.set_from_location(full_loc)
loc = (
"Vehicle location: "
+ "X: "
+ format(self.vehicleLoc.x)
+ "Y: "
+ format(self.vehicleLoc.y)
+ "Z: "
+ format(self.vehicleLoc.z)
)
alog.log.info(loc)
target_loc = (
"Target location: "
+ "X: "
+ format(self.targetLoc.x)
+ "Y: "
+ format(self.targetLoc.y)
+ "Z: "
+ format(self.targetLoc.z)
)
alog.log.info(target_loc)
dist = self.vehicleLoc.get_distance_xyz(self.vehicleLoc, self.targetLoc)
reld = "Relative distance: " + format(dist)
alog.log.info(reld)
return dist
def check_home(self):
if self.home_initialised:
return True
if self.vehicle.gps_0.fix_type < 2:
print "Waiting for GPS .......", self.vehicle.gps_0.fix_type
return False
if self.vehicle.location.global_relative_frame is None:
print 'Waiting for vehicle position ...'
return False
if self.vehicle.location.global_relative_frame.lat is None or self.vehicle.location.global_relative_frame.lon is None or self.vehicle.location.global_relative_frame.alt is None:
print 'Waiting for vehicle position ...'
return False
if self.mission_cmds is None:
self.fetch_mission()
return False
if self.vehicle.home_location is None:
print 'Waiting for home location ...'
self.fetch_mission()
return False
PositionVector.set_home_location(
LocationGlobal(self.vehicle.home_location.lat,
self.vehicle.home_location.lon, 0))
self.home_initialised = True
print 'Home location acquired'
return self.home_initialised
def draw_fake_balloon(self, frame, veh_pos, balloon_pos, vehicle_roll,
vehicle_pitch, vehicle_yaw):
# calculate bearing to balloon
bearing_to_balloon = PositionVector.get_bearing(veh_pos, balloon_pos)
yaw_to_balloon = balloon_utils.wrap_PI(bearing_to_balloon -
vehicle_yaw)
# calculate earth frame pitch angle from vehicle to balloon
pitch_to_balloon = vehicle_pitch + PositionVector.get_elevation(
veh_pos, balloon_pos)
#print "Fake Balloon Bearing:%f Pitch:%f Dist:%f" % (math.degrees(bearing_to_balloon), math.degrees(pitch_to_balloon), dist_to_balloon_xy)
# calculate pixel position of balloon
balloon_x = balloon_video.angle_to_pixels_x(
yaw_to_balloon) + balloon_video.img_center_x
balloon_y = balloon_video.angle_to_pixels_y(
pitch_to_balloon) + balloon_video.img_center_y
# calculate size of balloon in pixels from distance and size
dist_to_balloon_xyz = PositionVector.get_distance_xyz(
veh_pos, balloon_pos)
balloon_radius = balloon_utils.get_pixels_from_distance(
dist_to_balloon_xyz, balloon_finder.balloon_radius_expected)
# store balloon radius
self.last_balloon_radius = balloon_radius
# draw balloon
cv2.circle(frame, (balloon_x, balloon_y), balloon_radius,
self.fake_balloon_colour_bgr_scalar, -1)
def __init__(self):
self.targetLocation = PositionVector()
self.vehicleLocation = PositionVector()
self.backgroundColor = (74, 88, 109)
#load target
filename = sc_config.config.get_string(
'simulator', 'target_location',
'/home/dannuge/SmartCamera/target.jpg')
target_size = sc_config.config.get_float('algorithm', 'outer_ring',
1.0)
self.load_target(filename, target_size)
#define camera
self.camera_width = sc_config.config.get_integer(
'camera', 'width', 640)
self.camera_height = sc_config.config.get_integer(
'camera', 'height', 640)
self.camera_vfov = sc_config.config.get_float('camera', 'vertical-fov',
72.42)
self.camera_hfov = sc_config.config.get_float('camera',
'horizontal-fov', 72.42)
self.camera_fov = math.sqrt(self.camera_vfov**2 + self.camera_hfov**2)
self.camera_frameRate = 30
def inside_landing_area(self): return 1 ''' vehPos = PositionVector.get_from_location(veh_control.get_location()) landPos = PositionVector.get_from_location(veh_control.get_landing()) ''' vehPos = PositionVector.get_from_location(Location(0,0,10)) landPos = PositionVector.get_from_location(Location(0,0,0)) '''
def check_home(self):
# return immediately if home has already been initialised
if self.home_initialised:
return True
# check for home no more than once every two seconds
if (time.time() - self.last_home_check > 2):
# update that we have performed a status check
self.last_home_check = time.time()
# check if we have a vehicle
if self.vehicle is None:
self.vehicle = self.get_vehicle_with_dronekit()
return
# download the vehicle waypoints (and home) if we don't have them already
if self.mission_cmds is None:
self.fetch_mission()
return False
# ensure the vehicle's position is known
if self.vehicle.location.global_relative_frame is None:
print "waiting for vehicle position.."
return False
if self.vehicle.location.global_relative_frame.lat is None or self.vehicle.location.global_relative_frame.lon is None or self.vehicle.location.global_relative_frame.alt is None:
print "waiting for vehicle position.."
return False
# get home location from mission command list
if self.vehicle.home_location is None:
print "waiting for home location.."
self.fetch_mission()
return False
# sanity check home position
if self.vehicle.home_location.lat == 0 and self.vehicle.home_location.lon == 0:
print "home position all zero, re-fetching.."
self.fetch_mission()
return False
# set home position
PositionVector.set_home_location(
LocationGlobal(self.vehicle.home_location.lat,
self.vehicle.home_location.lon, 0))
self.home_initialised = True
print "got home location"
# To-Do: if we wish to have the same home position as the flight controller
# we must download the home waypoint again whenever the vehicle is armed
# return whether home has been initialised or not
return self.home_initialised
def check_home(self):
# return immediately if home has already been initialised
if self.home_initialised:
return True
# check for home no more than once every two seconds
if (time.time() - self.last_home_check > 2):
# update that we have performed a status check
self.last_home_check = time.time()
# check if we have a vehicle
if self.vehicle is None:
self.vehicle = self.get_vehicle_with_dronekit()
return
# download the vehicle waypoints (and home) if we don't have them already
if self.mission_cmds is None:
self.fetch_mission()
return False
# ensure the vehicle's position is known
if self.vehicle.location.global_relative_frame is None:
print "waiting for vehicle position.."
return False
if self.vehicle.location.global_relative_frame.lat is None or self.vehicle.location.global_relative_frame.lon is None or self.vehicle.location.global_relative_frame.alt is None:
print "waiting for vehicle position.."
return False
# get home location from mission command list
if self.vehicle.home_location is None:
print "waiting for home location.."
self.fetch_mission()
return False
# sanity check home position
if self.vehicle.home_location.lat == 0 and self.vehicle.home_location.lon == 0:
print "home position all zero, re-fetching.."
self.fetch_mission()
return False
# set home position
PositionVector.set_home_location(LocationGlobal(self.vehicle.home_location.lat,self.vehicle.home_location.lon,0))
self.home_initialised = True
print "got home location"
# To-Do: if we wish to have the same home position as the flight controller
# we must download the home waypoint again whenever the vehicle is armed
# return whether home has been initialised or not
return self.home_initialised
def check_home(self):
# return immediately if home has already been initialised
if self.home_initialised:
return True
# check for home no more than once every two seconds
if (time.time() - self.last_home_check > 2):
# update that we have performed a status check
self.last_home_check = time.time()
# check if we have a vehicle
if self.vehicle is None:
self.vehicle = self.api.get_vehicles()[0]
return
# ensure the vehicle's position is known
if self.vehicle.location is None:
return False
if self.vehicle.location.lat is None or self.vehicle.location.lon is None or self.vehicle.location.alt is None:
return False
# download the vehicle waypoints if we don't have them already
if self.mission_cmds is None:
self.fetch_mission()
return False
# get the home lat and lon
home_lat = self.mission_cmds[0].x
home_lon = self.mission_cmds[0].y
# sanity check the home position
if home_lat is None or home_lon is None:
return False
# sanity check again and set home position
if home_lat <> 0 and home_lon <> 0:
PositionVector.set_home_location(
Location(home_lat, home_lon, 0))
self.home_initialised = True
else:
self.mission_cmds = None
# To-Do: if we wish to have the same home position as the flight controller
# we must download the home waypoint again whenever the vehicle is armed
# return whether home has been initialised or not
return self.home_initialised
def check_home(self):
# return immediately if home has already been initialised
if self.home_initialised:
return True
# check for home no more than once every two seconds
if (time.time() - self.last_home_check > 2):
# update that we have performed a status check
self.last_home_check = time.time()
# check if we have a vehicle
if self.vehicle is None:
self.vehicle = self.api.get_vehicles()[0]
return
# ensure the vehicle's position is known
if self.vehicle.location is None:
return False
if self.vehicle.location.lat is None or self.vehicle.location.lon is None or self.vehicle.location.alt is None:
return False
# download the vehicle waypoints if we don't have them already
if self.mission_cmds is None:
self.fetch_mission()
return False
# get the home lat and lon
home_lat = self.mission_cmds[0].x
home_lon = self.mission_cmds[0].y
# sanity check the home position
if home_lat is None or home_lon is None:
return False
# sanity check again and set home position
if home_lat <> 0 and home_lon <> 0:
PositionVector.set_home_location(Location(home_lat,home_lon,0))
self.home_initialised = True
else:
self.mission_cmds = None
# To-Do: if we wish to have the same home position as the flight controller
# we must download the home waypoint again whenever the vehicle is armed
# return whether home has been initialised or not
return self.home_initialised
def analisis_image(self):
# record time
now = time.time()
#PositionVectors = PositionVector()
# capture vehicle position
self.vehicle_pos = PositionVector.get_from_location(
self.vehicle.location.global_relative_frame)
# capture vehicle attitude in buffer
self.att_hist.update()
# get delayed attitude from buffer
veh_att_delayed = self.att_hist.get_attitude(now - self.attitude_delay)
# get new image from camera
f = self.get_frame()
#create an image processor
if self.mission_on_guide_mode == 4:
self.fire_found, xpos, ypos, size = fire_finder.filter(f)
#result = detector.analyze_frame(f)
self.attitude = self.get_attitude()
if self.fire_found == True:
self.b = 0
sc_logger.text(sc_logger.GENERAL, "Target terdeteksi!")
print xpos, ypos, size
if self.vehicle.mode.name == "GUIDED":
sc_logger.text(sc_logger.GENERAL,
"Target terdeteksi, mendekati target!")
self.move_to_target_fire(xpos, ypos, size, self.attitude,
self.vehicle_pos)
self.relay1(1) #lampu indikator on
#self.servo(0)#test untuk servo kamera
elif self.vehicle.mode.name == "GUIDED":
self.relay1(0) #lampu indikator off
#self.servo(1)#test untuk servo kamera
self.b += 1
if self.b > 25: #15
self.b = 0
#print "Api tidak terdeteksi, ubah mode ke AUTO"
#self.lanjut_cmd += 1
sc_logger.text(
sc_logger.GENERAL,
"Target tidak terdeteksi, ubah mode ke AUTO")
self.a = False
self.waktu1 = 0
#self.c = True
self.controlling_vehicle = False
self.vehicle.mode = VehicleMode("AUTO")
self.vehicle.flush()
#rend_Image = detector.add_target_highlights(f, result[3])
sc_logger.image(sc_logger.GUI, f)
if not self.writer is None:
# save image for debugging later
self.writer.write(f)
# increment frames analysed for stats
self.num_frames_analysed += 1
if self.stats_start_time == 0:
self.stats_start_time = time.time()
def get_frame(self):
if self.use_simulator:
veh_pos = PositionVector.get_from_location(self.vehicle.location)
frame = balloon_sim.get_simulated_frame(veh_pos, self.vehicle.attitude.roll, self.vehicle.attitude.pitch, self.vehicle.attitude.yaw)
else:
frame = balloon_video.get_image()
return frame
def get_frame(self):
if self.use_simulator:
veh_pos = PositionVector.get_from_location(self.vehicle.location.global_relative_frame)
frame = balloon_sim.get_simulated_frame(veh_pos, self.vehicle.attitude.roll, self.vehicle.attitude.pitch, self.vehicle.attitude.yaw)
else:
frame = balloon_video.get_image()
return frame
def project_position(self, origin, pitch, yaw, distance):
cos_pitch = math.cos(pitch)
dx = distance * math.cos(yaw) * cos_pitch
dy = distance * math.sin(yaw) * cos_pitch
dz = distance * math.sin(pitch)
ret = PositionVector(origin.x + dx, origin.y + dy, origin.z + dz)
return ret
def put_location(self, timestamp, location, vel):
loc = PositionVector().get_from_location(location) # covert to meters
self.location_buffer[self.lb_index] = (timestamp, loc, vel)
if (self.lb_index == self.size - 1):
self.lb_index = 0
else:
self.lb_index += 1
def get_simulated_frame(self, veh_pos, vehicle_roll, vehicle_pitch, vehicle_yaw):
# get balloon position
balloon_pos = PositionVector.get_from_location(self.fake_balloon_location)
# get background
sim_frame = self.get_background(vehicle_roll, vehicle_pitch)
# draw balloon on background
self.draw_fake_balloon(sim_frame, veh_pos, balloon_pos, vehicle_roll, vehicle_pitch, vehicle_yaw)
return sim_frame
def main(self):
# set home to tridge's home field (absolute alt = 270)
PositionVector.set_home_location(Location(-35.362938,149.165085,0))
# calculate balloon position
fake_balloon_pos = PositionVector.get_from_location(self.fake_balloon_location)
# vehicle attitude and position
veh_pos = PositionVector(0,0,fake_balloon_pos.z) # at home location
veh_roll = math.radians(0) # leaned right 10 deg
veh_pitch = math.radians(0) # pitched back at 0 deg
veh_yaw = PositionVector.get_bearing(veh_pos,fake_balloon_pos) # facing towards fake balloon
# display positions from home
print "Vehicle %s" % veh_pos
print "Balloon %s" % fake_balloon_pos
# generate simulated frame of balloon 10m north, 2m above vehicle
img = self.get_simulated_frame(veh_pos, veh_roll, veh_pitch, veh_yaw)
while(True):
# move vehicle towards balloon
veh_pos = veh_pos + (fake_balloon_pos - veh_pos) * 0.01
# regenerate frame
img = self.get_simulated_frame(veh_pos, veh_roll, veh_pitch, veh_yaw)
# look for balloon in image using blob detector
found_in_image, xpos, ypos, size = balloon_finder.analyse_frame(img)
# display actual vs real distance
dist_actual = PositionVector.get_distance_xyz(veh_pos, fake_balloon_pos)
dist_est = balloon_utils.get_distance_from_pixels(size, balloon_finder.balloon_radius_expected)
print "Dist Est:%f Act:%f Size Est:%f Act:%f" % (dist_est, dist_actual, size, self.last_balloon_radius)
# show image
cv2.imshow("fake balloon", img)
# wait for keypress
k = cv2.waitKey(5) & 0xFF
if k == 27:
break
# destroy windows
cv2.destroyAllWindows()
def run(self):
while True:
if self.vehicle.mode.name !="GUIDED": #if we are no longer in guided mode stop receving messages
logging.info("follower vehicle aborted GUIDED mode")
self.recv_thread.stop()
break
try:
(message,address) = self.msg_queue.get()
self.haversine_distance((message.lat,message.lon),(self.vehicle.location.global_relative_frame.lat,self.vehicle.location.global_relative_frame.lon))
if not self.called:
#set home location to home location of master vehicle
PositionVector.set_home_location(LocationGlobal(message.home_location.lat,message.home_location.lon,message.home_location.alt))
logging.debug("master home location is...")
logging.debug(message.home_location)
self.called = True
logging.debug("message received %s %s %s" %(message.lat, message.lon,message.alt))
#altitude = 5 #in metres
separation = self.distance #distance between drones
original_pos = PositionVector.get_from_location(message)
logging.debug("position for leader vehicle -> %s heading -> %s" %(original_pos,message.heading))
logging.debug("leader vehicle groundspeed is %.3f" %message.groundspeed)
logging.debug("leader vehicle lidar altitude is %.4f m"%message.rangefinder)
new_pos = selection_coding(original_pos,message.heading,separation)
new_pos = PositionVector(new_pos[0],new_pos[1],new_pos[2])
logging.debug("position for follower vehicle is %s" %(new_pos))
lat = new_pos.get_location().lat
lon = new_pos.get_location().lon
alt = new_pos.get_location().alt - message.home_location.alt
dest = LocationGlobalRelative(lat,lon,alt)
logging.debug("gps locationglobal data for follower vehicle to procced to is %s" %new_pos.get_location())
logging.debug("gps locationglobalrelative data for follower vehicle to procced to is %s" %dest)
self.vehicle.simple_goto(dest)
set_yaw(self.vehicle,message.heading)
logging.debug("vehicle groundspeed is %.3f" %self.vehicle.groundspeed)
logging.debug("vehicle heading is %.3f" %self.vehicle.heading)
logging.debug("vehicle lidar altitude is %.4f m "%self.vehicle.rangefinder.distance)
actualpath = PositionVector.get_from_location(self.vehicle.location.global_frame)
logging.debug("vehicle actual path in X direction is %.5f m" %actualpath.x)
logging.debug("vehicle actual path in Y direction is %.5f m" %actualpath.y)
time.sleep(0.1)
logging.debug("**************")
self.count+=1
self.msg_queue.task_done()
except Queue.Empty:
print ("all messages processed")
def earthframe_rad_to_relative_copter(ef_angle_to_target,
location,
alt_above_terrain=None):
veh_pos = PositionVector().get_from_location(location)
#get current altitude (constrained to no lower than 50cm)
if alt_above_terrain is None:
alt_above_terrain = location.alt
alt = max(alt_above_terrain, 0.5)
#convert earth-frame angles to earth-frame position offset
x = alt * math.tan(ef_angle_to_target.x) #meters
y = alt * math.tan(ef_angle_to_target.y)
z = 0 #not used
target_pos = PositionVector(x, y, z)
return target_pos
def inside_landing_area(self): vehPos = PositionVector.get_from_location(veh_control.get_location()) landPos = PositionVector.get_from_location(veh_control.get_landing()) ''' vehPos = PositionVector.get_from_location(Location(0,0,10)) landPos = PositionVector.get_from_location(Location(0,0,0)) ''' if(PositionVector.get_distance_xy(vehPos,landPos) < self.landing_area_radius): #below area if(vehPos.z < self.landing_area_min_alt): return -1 #in area else: return 1 #outside area else: return 0
def inside_landing_area(self):
vehPos = PositionVector.get_from_location(self.vehicle.location.global_relative_frame)
landPos = PositionVector.get_from_location(PositionVector.get_home_location())
'''
vehPos = PositionVector.get_from_location(Location(0,0,10))
landPos = PositionVector.get_from_location(Location(0,0,0))
'''
if(PositionVector.get_distance_xy(vehPos,landPos) < self.landing_area_radius):
#below area
if(vehPos.z < self.landing_area_min_alt):
print "VehPos.Z: %f " % (vehPos.z)
return 1
#in area
else:
return 1
#outside area
else:
return 0
def inside_landing_area(self):
vehPos = PositionVector.get_from_location(veh_control.get_location())
landPos = PositionVector.get_from_location(veh_control.get_landing())
'''
vehPos = PositionVector.get_from_location(Location(0,0,10))
landPos = PositionVector.get_from_location(Location(0,0,0))
'''
if (PositionVector.get_distance_xy(vehPos, landPos) <
self.landing_area_radius):
#below area
if (vehPos.z < self.landing_area_min_alt):
return -1
#in area
else:
return 1
#outside area
else:
return 0
def analyze_image(self):
# record time
now = time.time()
# capture vehicle position
self.vehicle_pos = PositionVector.get_from_location(
self.vehicle.location.global_relative_frame)
# capture vehicle attitude in buffer
self.att_hist.update()
# get delayed attitude from buffer
veh_att_delayed = self.att_hist.get_attitude(now - self.attitude_delay)
# get new image from camera
f = self.get_frame()
# look for balloon in image using blob detector
self.balloon_found, xpos, ypos, size = balloon_finder.analyse_frame(f)
# add artificial horizon
balloon_finder.add_artificial_horizon(f, veh_att_delayed.roll,
veh_att_delayed.pitch)
if self.balloon_found:
# record time balloon was found
self.last_spotted_time = now
# convert x, y position to pitch and yaw direction (in radians)
self.balloon_pitch, self.balloon_heading = balloon_finder.pixels_to_direction(
xpos, ypos, veh_att_delayed.roll, veh_att_delayed.pitch,
veh_att_delayed.yaw)
self.balloon_pitch = math.radians(self.balloon_pitch)
self.balloon_pitch_top = self.balloon_pitch + balloon_video.pixels_to_angle_y(
size) # add balloon radius so we aim for top of balloon
self.balloon_heading = math.radians(self.balloon_heading)
# get distance
self.balloon_distance = get_distance_from_pixels(
size, balloon_finder.balloon_radius_expected)
# updated estimated balloon position
self.balloon_pos = balloon_finder.project_position(
self.vehicle_pos, self.balloon_pitch, self.balloon_heading,
self.balloon_distance)
# save image for debugging later
if not self.writer is None:
self.writer.write(f)
# increment frames analysed for stats
self.num_frames_analysed += 1
if self.stats_start_time == 0:
self.stats_start_time = time.time()
def __init__(self):
self.targetLocation = PositionVector()
self.vehicleLocation = PositionVector()
self.backgroundColor = (74,88,109)
#load target
filename = sc_config.config.get_string('simulator', 'target_location', '/home/dannuge/SmartCamera/target.jpg')
target_size = sc_config.config.get_float('algorithm', 'outer_ring', 1.0)
self.load_target(filename,target_size)
#define camera
self.camera_width = sc_config.config.get_integer('camera', 'width', 640)
self.camera_height = sc_config.config.get_integer('camera', 'height', 640)
self.camera_vfov = sc_config.config.get_float('camera', 'vertical-fov',72.42 )
self.camera_hfov = sc_config.config.get_float('camera', 'horizontal-fov', 72.42)
self.camera_fov = math.sqrt(self.camera_vfov**2 + self.camera_hfov**2)
self.camera_frameRate = 30
def draw_fake_balloon(self, frame, veh_pos, balloon_pos, vehicle_roll, vehicle_pitch, vehicle_yaw):
# calculate bearing to balloon
bearing_to_balloon = PositionVector.get_bearing(veh_pos, balloon_pos)
yaw_to_balloon = balloon_utils.wrap_PI(bearing_to_balloon-vehicle_yaw)
# calculate earth frame pitch angle from vehicle to balloon
pitch_to_balloon = vehicle_pitch + PositionVector.get_elevation(veh_pos, balloon_pos)
#print "Fake Balloon Bearing:%f Pitch:%f Dist:%f" % (math.degrees(bearing_to_balloon), math.degrees(pitch_to_balloon), dist_to_balloon_xy)
# calculate pixel position of balloon
balloon_x = balloon_video.angle_to_pixels_x(yaw_to_balloon) + balloon_video.img_center_x
balloon_y = balloon_video.angle_to_pixels_y(pitch_to_balloon) + balloon_video.img_center_y
# calculate size of balloon in pixels from distance and size
dist_to_balloon_xyz = PositionVector.get_distance_xyz(veh_pos, balloon_pos)
balloon_radius = balloon_utils.get_pixels_from_distance(dist_to_balloon_xyz, balloon_finder.balloon_radius_expected)
# store balloon radius
self.last_balloon_radius = balloon_radius
# draw balloon
cv2.circle(frame,(balloon_x,balloon_y), balloon_radius, self.fake_balloon_colour_bgr_scalar, -1)
def analyze_image(self):
# record time
now = time.time()
# capture vehicle position
self.vehicle_pos = PositionVector.get_from_location(self.vehicle.location.global_relative_frame)
# capture vehicle attitude in buffer
self.att_hist.update()
# get delayed attitude from buffer
veh_att_delayed = self.att_hist.get_attitude(now - self.attitude_delay)
# get new image from camera
f = self.get_frame()
# look for balloon in image using blob detector
self.balloon_found, xpos, ypos, size = balloon_finder.analyse_frame(f)
# add artificial horizon
balloon_finder.add_artificial_horizon(f, veh_att_delayed.roll, veh_att_delayed.pitch)
if self.balloon_found:
# record time balloon was found
self.last_spotted_time = now
# convert x, y position to pitch and yaw direction (in radians)
self.balloon_pitch, self.balloon_heading = balloon_finder.pixels_to_direction(xpos, ypos, veh_att_delayed.roll, veh_att_delayed.pitch, veh_att_delayed.yaw)
self.balloon_pitch = math.radians(self.balloon_pitch)
self.balloon_pitch_top = self.balloon_pitch + balloon_video.pixels_to_angle_y(size) # add balloon radius so we aim for top of balloon
self.balloon_heading = math.radians(self.balloon_heading)
# get distance
self.balloon_distance = get_distance_from_pixels(size, balloon_finder.balloon_radius_expected)
# updated estimated balloon position
self.balloon_pos = balloon_finder.project_position(self.vehicle_pos, self.balloon_pitch, self.balloon_heading, self.balloon_distance)
# save image for debugging later
if not self.writer is None:
self.writer.write(f)
# increment frames analysed for stats
self.num_frames_analysed += 1
if self.stats_start_time == 0:
self.stats_start_time = time.time()
def main(self):
# set home to tridge's home field (absolute alt = 270)
PositionVector.set_home_location(
LocationGlobal(-35.362938, 149.165085, 0))
# calculate balloon position
fake_balloon_pos = PositionVector.get_from_location(
self.fake_balloon_location)
# vehicle attitude and position
veh_pos = PositionVector(0, 0, fake_balloon_pos.z) # at home location
veh_roll = math.radians(0) # leaned right 10 deg
veh_pitch = math.radians(0) # pitched back at 0 deg
veh_yaw = PositionVector.get_bearing(
veh_pos, fake_balloon_pos) # facing towards fake balloon
# display positions from home
print "Vehicle %s" % veh_pos
print "Balloon %s" % fake_balloon_pos
# generate simulated frame of balloon 10m north, 2m above vehicle
img = self.get_simulated_frame(veh_pos, veh_roll, veh_pitch, veh_yaw)
while (True):
# move vehicle towards balloon
veh_pos = veh_pos + (fake_balloon_pos - veh_pos) * 0.01
# regenerate frame
img = self.get_simulated_frame(veh_pos, veh_roll, veh_pitch,
veh_yaw)
# look for balloon in image using blob detector
found_in_image, xpos, ypos, size = balloon_finder.analyse_frame(
img)
# display actual vs real distance
dist_actual = PositionVector.get_distance_xyz(
veh_pos, fake_balloon_pos)
dist_est = balloon_utils.get_distance_from_pixels(
size, balloon_finder.balloon_radius_expected)
print "Dist Est:%f Act:%f Size Est:%f Act:%f" % (
dist_est, dist_actual, size, self.last_balloon_radius)
# show image
cv2.imshow("fake balloon", img)
# wait for keypress
k = cv2.waitKey(5) & 0xFF
if k == 27:
break
# destroy windows
cv2.destroyAllWindows()
class VModule(object):
def __init__(self):
# the framerate
self.steps = 10
self.triggered = False
self.targetno = 1
def show_frame(self, no):
threshfile = "/home/ardupilot/droneapi-python/example/my_app/stereo/thresh" + str(no) + ".png"
circfile = "/home/ardupilot/droneapi-python/example/my_app/stereo/circled" + str(no) + ".png"
thresh = cv2.imread(threshfile)
circ = cv2.imread(circfile)
cv2.namedWindow("stereo")
cv2.startWindowThread()
cv2.imshow("stereo", np.hstack((thresh, circ)))
cv2.waitKey(1)
return
def location_report(self, tarloc, taralti):
# get target and vehicle locations
self.targetLoc = PositionVector()
self.vehicleLoc = PositionVector()
self.vehicleLoc.set_from_location(drn.get_location())
full_loc = Location(float(tarloc[0]), float(tarloc[1]), float(taralti), is_relative=True)
self.targetLoc.set_from_location(full_loc)
loc = (
"Vehicle location: "
+ "X: "
+ format(self.vehicleLoc.x)
+ "Y: "
+ format(self.vehicleLoc.y)
+ "Z: "
+ format(self.vehicleLoc.z)
)
alog.log.info(loc)
target_loc = (
"Target location: "
+ "X: "
+ format(self.targetLoc.x)
+ "Y: "
+ format(self.targetLoc.y)
+ "Z: "
+ format(self.targetLoc.z)
)
alog.log.info(target_loc)
dist = self.vehicleLoc.get_distance_xyz(self.vehicleLoc, self.targetLoc)
reld = "Relative distance: " + format(dist)
alog.log.info(reld)
return dist
# load_target- load an image to simulate the target.
def check_target1(self):
tarloc = [33.775497, -84.396860] # 33.775497 -84.396860 33.775632 -84.396806
taralti = 30
# wait for trigger over here
reld = self.location_report(tarloc, taralti)
if not (self.triggered):
while int(reld) > 10:
time.sleep(2)
reld = self.location_report(tarloc, taralti)
target = cv2.imread("/home/ardupilot/droneapi-python/example/my_app/stereo/1left.png")
self.load_target(target, 11, 0.0, 0.0)
# load_target- load an image to simulate the target.
def check_target2(self):
tarloc = [33.776888, -84.396367] # 33.775497 -84.396860 33.776888 -84.396367
taralti = 50
self.targetno = 2
# wait for trigger over here
reld = self.location_report(tarloc, taralti)
if not (self.triggered):
while int(reld) > 10:
time.sleep(2)
reld = self.location_report(tarloc, taralti)
target = cv2.imread("/home/ardupilot/droneapi-python/example/my_app/stereo/2left.png")
self.load_target(target, 11, 0.0, 0.0)
def check_target3(self):
tarloc = [33.777845, -84.396523] # 33.775497 -84.396860 33.776888 -84.396367 33.777845 -84.396523
taralti = 70
self.targetno = 3
# wait for trigger over here
reld = self.location_report(tarloc, taralti)
if not (self.triggered):
while int(reld) > 10:
time.sleep(2)
reld = self.location_report(tarloc, taralti)
target = cv2.imread("/home/ardupilot/droneapi-python/example/my_app/stereo/3left.png")
self.load_target(target, 11, 0.0, 0.0)
def load_target(self, target, zoom, camera_constX, camera_constY):
frame = CV.get_frame(target, camera_constX, camera_constY, zoom)
self.load_window(target, frame, zoom, camera_constX, camera_constY)
def load_window(self, target, frame, zoom, camera_constX, camera_constY):
self.steps = zoom
cv2.namedWindow("HUD")
cv2.startWindowThread()
while self.steps > 1.0:
if (int(self.steps * 10) == 91) and (self.targetno == 1): # ANALYZE THE VIDEO MODULE AND GET RESULTS
alog.log.debug("Obstacle detected.")
drn.right_drift(2)
drn.resume()
self.show_frame(self.targetno)
camera_constX = 0.02
camera_constY = 0.39
if (int(self.steps * 10) == 91) and (self.targetno == 2): # ANALYZE THE VIDEO MODULE AND GET RESULTS
alog.log.debug("Obstacle detected.")
drn.left_drift(6)
drn.resume()
self.show_frame(self.targetno)
camera_constX = 0.47
camera_constY = 0.4
if (int(self.steps * 10) == 91) and (self.targetno == 3): # ANALYZE THE VIDEO MODULE AND GET RESULTS
alog.log.debug("Obstacle detected.")
drn.left_drift(2)
drn.resume()
self.show_frame(self.targetno)
camera_constX = 0.05
camera_constY = 0.2
st = "Steps: " + format(self.steps)
alog.log.debug(st)
cv2.imshow("HUD", frame)
cv2.waitKey(1)
time.sleep(0.1)
camera_constX = camera_constX
camera_constY = camera_constY
self.steps = self.steps - 0.1
self.load_target(target, self.steps, camera_constX, camera_constY)
cv2.waitKey(3)
cv2.destroyAllWindows()
cv2.waitKey(1)
alog.log.info("Exiting vision threads")
class PrecisionLandSimulator():
def __init__(self):
self.targetLocation = PositionVector()
self.vehicleLocation = PositionVector()
self.backgroundColor = (74, 88, 109)
#load target
filename = sc_config.config.get_string(
'simulator', 'target_location',
'/home/dannuge/SmartCamera/target.jpg')
target_size = sc_config.config.get_float('algorithm', 'outer_ring',
1.0)
self.load_target(filename, target_size)
#define camera
self.camera_width = sc_config.config.get_integer(
'camera', 'width', 640)
self.camera_height = sc_config.config.get_integer(
'camera', 'height', 640)
self.camera_vfov = sc_config.config.get_float('camera', 'vertical-fov',
72.42)
self.camera_hfov = sc_config.config.get_float('camera',
'horizontal-fov', 72.42)
self.camera_fov = math.sqrt(self.camera_vfov**2 + self.camera_hfov**2)
self.camera_frameRate = 30
#load_target- load an image to simulate the target. Enter the actaul target size in meters(assuming the target is square)
def load_target(self, filename, actualSize):
self.target = cv2.imread(filename)
self.target_width = self.target.shape[1]
self.target_height = self.target.shape[0]
self.actualSize = actualSize
#scaling factor for real dimensions to simultor pixels
self.pixels_per_meter = (self.target_height +
self.target_width) / (2.0 * actualSize)
#set_target_location- give the target a gps location
def set_target_location(self, location):
self.targetLocation.set_from_location(location)
#refresh_simulator - update vehicle position info necessary to simulate an image
def refresh_simulator(self, vehicleLocation, vehicleAttitude):
#get gps location of vehicle
self.vehicleLocation.set_from_location(vehicleLocation)
self.vehicleAttitude = vehicleAttitude
#main - code used to test the simulator. Must be run from sitl. Control vehicle in guided mode using arrow keys,r,t,q,e
def main(self):
veh_control.connect(local_connect())
self.set_target_location(veh_control.get_location())
while (veh_control.is_connected()):
location = veh_control.get_location()
attitude = veh_control.get_attitude()
self.refresh_simulator(location, attitude)
frame = self.get_frame()
cv2.imshow('frame', frame)
key = cv2.waitKey(1)
print key
if key == 1113938:
veh_control.set_velocity(2, 0, 0) #forward
elif key == 1113940:
veh_control.set_velocity(-2, 0, 0) #backward
elif key == 1113937:
veh_control.set_velocity(0, -2, 0) #left
elif key == 1113939:
veh_control.set_velocity(0, 2, 0) #right
elif (key == 1048690):
yaw = math.degrees(attitude.yaw) #yaw left
veh_control.set_yaw(yaw - 5)
elif (key == 1048692):
yaw = math.degrees(attitude.yaw) #yaw right
veh_control.set_yaw(yaw + 5)
elif (key == 1048677):
veh_control.set_velocity(0, 0, -2) #down
elif (key == 1048689):
veh_control.set_velocity(0, 0, 2) #up
else:
veh_control.set_velocity(0, 0, 0) #still
#project_3D_to_2D - project a 3d point onto a 2d plane. Covert from world perspective to camera perspective
def project_3D_to_2D(self, thetaX, thetaY, thetaZ, aX, aY, aZ, cX, cY, cZ,
height, width, fov):
dX = math.cos(-thetaY) * (math.sin(-thetaZ) *
(cY - aY) + math.cos(-thetaZ) *
(cX - aX)) - math.sin(-thetaY) * (aZ - cZ)
dY = math.sin(-thetaX) * (
math.cos(-thetaY) * (aZ - cZ) + math.sin(-thetaY) *
(math.sin(-thetaZ) * (cY - aY) + math.cos(-thetaZ) *
(cX - aX))) + math.cos(-thetaX) * (math.cos(-thetaZ) *
(cY - aY) - math.sin(-thetaZ) *
(cX - aX))
dZ = math.cos(-thetaX) * (
math.cos(-thetaY) * (aZ - cZ) + math.sin(-thetaY) *
(math.sin(-thetaZ) * (cY - aY) + math.cos(-thetaZ) *
(cX - aX))) - math.sin(-thetaX) * (math.cos(-thetaZ) *
(cY - aY) - math.sin(-thetaZ) *
(cX - aX))
#veiwer position
eX = 0
eY = 0
eZ = 1.0 / math.tan(math.radians(fov) / 2.0)
#2D point
bX = (dX - eX) * (eZ / dZ)
bY = (dY - eY) * (eZ / dZ)
#scaled to resolution
sX = bX * width
sY = bY * height
return (sX, sY)
#simulate_target - simulate an image given the target position[aX,aY,aZ](pixels)and camera position[cX,cY,cZ](pixels) and camera orientation
def simulate_target(self, thetaX, thetaY, thetaZ, aX, aY, aZ, cX, cY, cZ,
camera_height, camera_width, fov):
img_width = self.target_width
img_height = self.target_height
#point maps
corners = np.float32([[-img_width / 2, img_height / 2],
[img_width / 2, img_height / 2],
[-img_width / 2, -img_height / 2],
[img_width / 2, -img_height / 2]])
newCorners = np.float32([[0, 0], [0, 0], [0, 0], [0, 0]])
#calculate projection for four corners of image
for i in range(0, len(corners)):
#shift to world
x = corners[i][0] + cX - img_width / 2.0
y = corners[i][1] + cY - img_height / 2.0
#calculate perspective and position
x, y = self.project_3D_to_2D(thetaX, thetaY, thetaZ, aY, aX, aZ, y,
x, cZ, camera_height, camera_width,
fov)
#shift to camera
x, y = shift_to_image((x, y), camera_width, camera_height)
newCorners[i] = x, y
#project image
M = cv2.getPerspectiveTransform(corners, newCorners)
sim = cv2.warpPerspective(self.target,
M, (self.camera_width, self.camera_height),
borderValue=self.backgroundColor)
return sim
#get_frame - retreive a simulated camera image
def get_frame(self):
start = current_milli_time()
#distance bewteen camera and target in meters
aX, aY, aZ = self.targetLocation.x, self.targetLocation.y, self.targetLocation.z
cX, cY, cZ = self.vehicleLocation.x, self.vehicleLocation.y, self.vehicleLocation.z
#camera angle
thetaX = self.vehicleAttitude.pitch
thetaY = self.vehicleAttitude.roll
thetaZ = self.vehicleAttitude.yaw
#convert distance bewtween camera and target in pixels
aX = aX * self.pixels_per_meter
aY = aY * self.pixels_per_meter
aZ = aZ * self.pixels_per_meter
cX = cX * self.pixels_per_meter
cY = cY * self.pixels_per_meter
cZ = cZ * self.pixels_per_meter
#render image
sim = self.simulate_target(thetaX, thetaY, thetaZ, aX, aY, aZ, cX, cY,
cZ, self.camera_height, self.camera_width,
self.camera_fov)
#simulate framerate
while (1000 / self.camera_frameRate > current_milli_time() - start):
pass
return sim
vehicle.armed = True
while not vehicle.armed:
print " Waiting for arming..."
time.sleep(1)
print " Vehicle is armed: %s" % vehicle.armed
#get Vehicle Home location
while not vehicle.home_location:
cmds = vehicle.commands
cmds.download()
cmds.wait_ready()
if not vehicle.home_location:
print " Waiting for home location ..."
#Set origin point to home
PositionVector.set_home_location(vehicle.home_location)
#Read waypoints from mission file
waypoints = mission_to_locations(read_mission("thunderhill.mission"))
#navigate waypoints in manual mode
DIST_THRESH = 4 #distance to waypoint before moving onto next waypoint
P_TURN = 1 #p term of navigation controller
SPEED = 100 #throttle level
wp_cnt = 1
for wp in waypoints:
#convert global lat/lon local meters(position vectors)
wp_posvec = PositionVector.get_from_location(wp)
veh_posvec = PositionVector.get_from_location(
vehicle.location.global_relative_frame)
def get_location(self, timestamp):
pnt = self._interpolate(self.location_buffer, timestamp)
if pnt is not None:
pos = PositionVector(pnt.x, pnt.y, pnt.z)
return pos.get_location()
return None
while not vehicle.armed:
print " Waiting for arming..."
time.sleep(1)
print " Vehicle is armed: %s" % vehicle.armed
#get Vehicle Home location
while not vehicle.home_location:
cmds = vehicle.commands
cmds.download()
cmds.wait_ready()
if not vehicle.home_location:
print " Waiting for home location ..."
#Set origin point to home
PositionVector.set_home_location(vehicle.home_location)
#Read waypoints from mission file
waypoints = mission_to_locations(read_mission("../thunderhill.mission"))
#navigate waypoints in manual mode
DIST_THRESH = 4 #distance to waypoint before moving onto next waypoint
P_TURN = 1 #p term of navigation controller
SPEED = 100 #throttle level
wp_cnt = 1
for wp in waypoints:
#convert global lat/lon local meters(position vectors)
wp_posvec = PositionVector.get_from_location(wp)
veh_posvec = PositionVector.get_from_location(vehicle.location.global_relative_frame)
dist = PositionVector.get_distance_xy(veh_posvec,wp_posvec)
#Python Imports import math import time import os #Dronekit Imports from dronekit import VehicleMode, Attitude, connect, LocationGlobalRelative from dronekit_sitl import SITL #Common Library Imports from position_vector import PositionVector import flight_assist #List of global variables targetLocation = PositionVector() vehicleLocation = PositionVector() vehicleAttitude = 0 backgroundColor = (74,88,109) filename = (os.path.dirname(os.path.realpath(__file__)))+"/Resources/target.PNG" target_size = 1.5 camera_width = 640 camera_height = 480 camera_vfov = 60 camera_hfov = 60 camera_fov = math.sqrt(camera_vfov**2 + camera_hfov**2) camera_frameRate = 30 current_milli_time = lambda: int(round(time.time() * 1000)) def load_target(filename, actualS=1.5): global target, target_width, target_height
def get_location(self,timestamp):
pnt = self._interpolate(self.location_buffer,timestamp)
if pnt is not None:
pos = PositionVector(pnt.x, pnt.y, pnt.z)
return pos.get_location()
return None
parser.add_argument(
'--connect',
help=
"vehicle connection target string. If not specified, SITL automatically started and used."
)
parser.add_argument(
'--baudrate',
type=int,
help=
"Vehicle baudrate settings specify 57600 when connecting with 3dr telemetry radio.",
default=115200)
args = parser.parse_args()
connection_string = args.connect
pos1 = PositionVector(10, 0, 5)
pos2 = PositionVector(10, -10, 5)
dist_tol = 1.0 #used to determine if uav has reached allocated position
if not args.connect:
print "vehicle path not specified"
sys.exit(1) #abort cause of error..
# Connect to the Vehicle.
# Set `wait_ready=True` to ensure default attributes are populated before `connect()` return
print "\nConnecting to vehicle on: %s" % connection_string
vehicle = connect(connection_string, wait_ready=True, baud=args.baudrate)
v = Vehicle_params()
param = Params(vehicle, v)
#get home position ...
home_position = v.home_location
class PrecisionLandSimulator():
def __init__(self):
self.targetLocation = PositionVector()
self.vehicleLocation = PositionVector()
self.backgroundColor = (74,88,109)
#load target
#filename = sc_config.config.get_string('simulator', 'target_location', '/home/odroid/SmartCamera/red.jpg')
filename = sc_config.config.get_string('simulator', 'target_location', '/home/odroid/SmartCamera/target.jpg')
target_size = sc_config.config.get_float('algorithm', 'outer_ring', 1.0)
self.load_target(filename,target_size)
#define camera
self.camera_width = sc_config.config.get_integer('camera', 'width', 640)
self.camera_height = sc_config.config.get_integer('camera', 'height', 640)
self.camera_vfov = sc_config.config.get_float('camera', 'vertical-fov',72.42 )
self.camera_hfov = sc_config.config.get_float('camera', 'horizontal-fov', 72.42)
self.camera_fov = math.sqrt(self.camera_vfov**2 + self.camera_hfov**2)
self.camera_frameRate = 30
#load_target- load an image to simulate the target. Enter the actaul target size in meters(assuming the target is square)
def load_target(self,filename, actualSize):
self.target = cv2.imread(filename)
self.target_width = self.target.shape[1]
self.target_height = self.target.shape[0]
self.actualSize = actualSize
#scaling factor for real dimensions to simultor pixels
self.pixels_per_meter = (self.target_height + self.target_width) / (2.0 * actualSize)
#set_target_location- give the target a gps location
def set_target_location(self, location):
self.targetLocation.set_from_location(location)
#refresh_simulator - update vehicle position info necessary to simulate an image
def refresh_simulator(self, vehicleLocation, vehicleAttitude):
#get gps location of vehicle
self.vehicleLocation.set_from_location(vehicleLocation)
self.vehicleAttitude = vehicleAttitude
#main - code used to test the simulator. Must be run from sitl. Control vehicle in guided mode using arrow keys,r,t,q,e
def main(self):
veh_control.connect(local_connect())
self.set_target_location(veh_control.get_location())
while(veh_control.is_connected()):
location = veh_control.get_location()
attitude = veh_control.get_attitude()
self.refresh_simulator(location,attitude)
frame = self.get_frame()
cv2.imshow('frame',frame)
key = cv2.waitKey(1)
print key
if key ==1113938:
veh_control.set_velocity(2,0,0) #forward
elif key == 1113940:
veh_control.set_velocity(-2,0,0) #backward
elif key == 1113937:
veh_control.set_velocity(0,-2,0) #left
elif key ==1113939:
veh_control.set_velocity(0,2,0) #right
elif(key == 1048690):
yaw = math.degrees(attitude.yaw) #yaw left
veh_control.set_yaw(yaw - 5)
elif(key == 1048692):
yaw = math.degrees(attitude.yaw) #yaw right
veh_control.set_yaw(yaw + 5)
elif(key == 1048677):
veh_control.set_velocity(0,0,-2) #down
elif(key == 1048689):
veh_control.set_velocity(0,0,2) #up
else:
veh_control.set_velocity(0,0,0) #still
#project_3D_to_2D - project a 3d point onto a 2d plane. Covert from world perspective to camera perspective
def project_3D_to_2D(self,thetaX,thetaY,thetaZ, aX, aY,aZ, cX, cY, cZ, height, width, fov):
dX = math.cos(-thetaY) * (math.sin(-thetaZ)*(cY-aY) + math.cos(-thetaZ)*(cX-aX)) - math.sin(-thetaY)*(aZ-cZ)
dY = math.sin(-thetaX) * (math.cos(-thetaY)*(aZ-cZ) + math.sin(-thetaY)*(math.sin(-thetaZ)*(cY-aY) + math.cos(-thetaZ)*(cX-aX))) + math.cos(-thetaX)*(math.cos(-thetaZ)*(cY-aY) - math.sin(-thetaZ) * (cX-aX))
dZ = math.cos(-thetaX) * (math.cos(-thetaY)*(aZ-cZ) + math.sin(-thetaY)*(math.sin(-thetaZ)*(cY-aY) + math.cos(-thetaZ)*(cX-aX))) - math.sin(-thetaX)*(math.cos(-thetaZ)*(cY-aY) - math.sin(-thetaZ) * (cX-aX))
#veiwer position
eX = 0
eY = 0
eZ = 1.0/math.tan(math.radians(fov)/2.0)
#2D point
bX = (dX - eX)*(eZ/dZ)
bY = (dY - eY)*(eZ/dZ)
#scaled to resolution
sX = bX * width
sY = bY * height
return (sX,sY)
#simulate_target - simulate an image given the target position[aX,aY,aZ](pixels)and camera position[cX,cY,cZ](pixels) and camera orientation
def simulate_target(self,thetaX,thetaY,thetaZ, aX, aY, aZ, cX, cY, cZ, camera_height, camera_width, fov):
img_width = self.target_width
img_height = self.target_height
#point maps
corners = np.float32([[-img_width/2,img_height/2],[img_width/2 ,img_height/2],[-img_width/2,-img_height/2],[img_width/2, -img_height/2]])
newCorners = np.float32([[0,0],[0,0],[0,0],[0,0]])
#calculate projection for four corners of image
for i in range(0,len(corners)):
#shift to world
x = corners[i][0] + cX - img_width/2.0
y = corners[i][1] + cY - img_height/2.0
#calculate perspective and position
x , y = self.project_3D_to_2D(thetaX,thetaY,thetaZ, aY, aX, aZ, y, x, cZ,camera_height,camera_width,fov)
#shift to camera
x , y = shift_to_image((x,y),camera_width,camera_height)
newCorners[i] = x,y
#project image
M = cv2.getPerspectiveTransform(corners,newCorners)
sim = cv2.warpPerspective(self.target,M,(self.camera_width,self.camera_height),borderValue=self.backgroundColor)
return sim
#get_frame - retreive a simulated camera image
def get_frame(self):
start = current_milli_time()
#distance bewteen camera and target in meters
aX,aY,aZ = self.targetLocation.x, self.targetLocation.y, self.targetLocation.z
cX,cY,cZ = self.vehicleLocation.x, self.vehicleLocation.y, self.vehicleLocation.z
#camera angle
thetaX = self.vehicleAttitude.pitch
thetaY = self.vehicleAttitude.roll
thetaZ = self.vehicleAttitude.yaw
#convert distance bewtween camera and target in pixels
aX = aX * self.pixels_per_meter
aY = aY * self.pixels_per_meter
aZ = aZ * self.pixels_per_meter
cX = cX * self.pixels_per_meter
cY = cY * self.pixels_per_meter
cZ = cZ * self.pixels_per_meter
#render image
sim = self.simulate_target(thetaX,thetaY,thetaZ, aX, aY, aZ, cX, cY, cZ, self.camera_height, self.camera_width, self.camera_fov)
#simulate framerate
while(1000/self.camera_frameRate > current_milli_time() - start):
pass
return sim