def save_snaps(width=0, height=0, name="snapshot", folder=".", raspi=False):
if raspi:
os.system('sudo modprobe bcm2835-v4l2')
if (not USING_DRONE):
cap = cv2.VideoCapture(0)
if width > 0 and height > 0:
print("Setting the custom Width and Height")
cap.set(cv2.CAP_PROP_FRAME_WIDTH, width)
cap.set(cv2.CAP_PROP_FRAME_HEIGHT, height)
else:
drone = DroneObject()
drone.setup()
cap = drone.tello.get_frame_read()
time.sleep(5)
try:
if not os.path.exists(folder):
os.makedirs(folder)
# ----------- CREATE THE FOLDER -----------------
folder = os.path.dirname(folder)
try:
os.stat(folder)
except:
os.mkdir(folder)
except:
pass
nSnap = 0
if (not USING_DRONE):
w = cap.get(cv2.CAP_PROP_FRAME_WIDTH)
h = cap.get(cv2.CAP_PROP_FRAME_HEIGHT)
fileName = "%s/%s_%d_%d_" %(folder, name, w, h)
while True:
if (not USING_DRONE):
ret, frame = cap.read()
else:
frame = cap.frame
cv2.imshow('camera', frame)
key = cv2.waitKey(1) & 0xFF
if key == ord('q'):
break
if key == ord(' '):
print("Saving image ", nSnap)
cv2.imwrite("%s%d.jpg"%(fileName, nSnap), frame)
nSnap += 1
cap.release()
cv2.destroyAllWindows()
def save_snaps(width=0, height=0, name="snapshot", folder=".", raspi=False):
drone = DroneObject()
drone.setup()
cap = drone.tello.get_frame_read()
time.sleep(5)
try:
if not os.path.exists(folder):
os.makedirs(folder)
# ----------- CREATE THE FOLDER -----------------
folder = os.path.dirname(folder)
try:
os.stat(folder)
except:
os.mkdir(folder)
except:
pass
nSnap = 0
w = 0
h = 0
fileName = "%s/%s_%d_%d_" % (folder, name, w, h)
while True:
frame = cap.frame
cv2.imshow('camera', frame)
key = cv2.waitKey(1) & 0xFF
if key == ord('q'):
break
if key == ord(' '):
print("Saving image ", nSnap)
cv2.imwrite("%s%d.jpg" % (fileName, nSnap), frame)
nSnap += 1
cap.release()
cv2.destroyAllWindows()
elif ((orientation > 310 and orientation <= 360)
or (orientation >= 0 and orientation <= 30)):
RightSide = ((coordinates[0][1][0] - coordinates[0][0][0])**2 +
(coordinates[0][1][1] - coordinates[0][0][1])**2)**0.5
LeftSide = ((coordinates[0][2][0] - coordinates[0][3][0])**2 +
(coordinates[0][2][1] - coordinates[0][3][1])**2)**0.5
Ratio = (1.0 * RightSide / LeftSide)
cv2.putText(frame, ("Ratio is %s" % Ratio), (400, 15),
cv2.FONT_HERSHEY_SIMPLEX, .5, (0, 0, 0), 2, cv2.LINE_AA)
return Ratio
if __name__ == "__main__":
#Create drone object and set up communication
drone = DroneObject()
drone.setup()
frame_read = drone.tello.get_frame_read()
time.sleep(5)
angle = 0
KNOWN_WIDTH = 9.7
FOCAL_LENGTH = 630
tilt = 0
while (True):
#retrieve frame and convert to black and white
frame = frame_read.frame
gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
#Detect 6X6 marker
def DetermineFocalLength(blueRect, redRect):
return ((redRect[2]+blueRect[2]) * 15/ 8)
def StateTransition(orientation):
if (orientation < 100 and orientation > 80):
drone.on_event("take_off")
elif (orientation < 280 and orientation > 260):
drone.on_event("land")
if __name__ == "__main__":
drone = DroneObject()
drone.setup()
frame_read = drone.tello.get_frame_read()
time.sleep(5)
FOCAL_LENGTH = 1000
KNOWN_WIDTH = 8
FPS = 30
while True:
frame = frame_read.frame
blue = cv2.inRange(frame, blueLower, blueUpper)
blue = cv2.GaussianBlur(blue, (3, 3), 0)
(cnts, _) = cv2.findContours(blue.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
# find the largest contour. must use the copy otherwise will destroy the original
from StateMachine.DroneObject import DroneObject
import time
drone = DroneObject()
time.sleep(1)
drone.on_event("take_off")
print(drone.state)
time.sleep(2)
drone.on_event("take_off")
time.sleep(2)
drone.on_event("track")
time.sleep(3)
drone.on_event("land")
time.sleep(2)
drone.on_event("idle")
time.sleep(10)
from StateMachine.DroneObject import DroneObject
import time
import cv2
drone = DroneObject()
drone.setup()
frame_read = drone.tello.get_frame_read()
frame = frame_read.frame
cv2.imshow("frame", frame)
time.sleep(1)
drone.on_event("take_off")
drone.action()
time.sleep(5)
drone.on_event("land")
drone.action()
return ((redRect[2] + blueRect[2]) * 15 / 8)
def StateTransition(orientation):
if (orientation < 100 and orientation > 80):
drone.on_event("take_off")
elif (orientation < 280 and orientation > 260):
drone.on_event("land")
if __name__ == "__main__":
camera = cv2.VideoCapture(0)
FOCAL_LENGTH = 500
KNOWN_WIDTH = 8
drone = DroneObject()
while True:
(grabbed, frame) = camera.read()
blue = cv2.inRange(frame, blueLower, blueUpper)
blue = cv2.GaussianBlur(blue, (3, 3), 0)
(cnts, _) = cv2.findContours(blue.copy(), cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
#find the largest contour. must use the copy otherwise will destroy the original
red = cv2.inRange(frame, redLower, redUpper)
red = cv2.GaussianBlur(red, (3, 3), 0)
(redcnts, _) = cv2.findContours(red.copy(), cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)