def main2():
handTracking.init_cpm_session()
gesture_counter = [0] * len(handTracking.gesture_list)
track_face = False
while True:
img = get_img_from_stream()
resized_image = cv2.resize(img, (480, 360))
if not imageAnalysis.FOUND_FACE:
img2 = handTracking.trackHandCPM(resized_image)
gesture = handTracking.get_gesture(resized_image)
if gesture == "pitch":
gesture_counter = set_gesture_counter("pitch", gesture_counter)
if gesture_counter[0] >= 10:
print("Land drone!")
elif gesture == "fist":
gesture_counter = set_gesture_counter("fist", gesture_counter)
if gesture_counter[1] >= 10:
print("Take off")
elif gesture == "victory":
gesture_counter = set_gesture_counter("victory", gesture_counter)
if gesture_counter[2] >= 10:
track_face = not track_face
gesture_counter = set_gesture_counter("pitch", gesture_counter)
print("Tracking face: ", track_face)
elif gesture == "thumbs_up":
gesture_counter = set_gesture_counter("thumbs_up", gesture_counter)
if track_face:
img2 = imageAnalysis.recognize_face(resized_image)
print(gesture_counter)
show_image(resized_image)
def control_drone_by_mode(image, mode=None):
global face_counter
throttleValue = 0
yawValue = 0
pitchValue = 0
# implement faceTracking
if mode == mode_list[0]:
_, centerX, centerY, faceWidth, faceHeight = imageAnalysis.recognize_face(image)
if centerX is not None:
face_counter = 0
throttleValue = -centerY / (height / 2)
yawValue = centerX / (width / 2)
pitchValue = 0
if faceWidth * faceHeight > 0.1 * width * height: # 0.2
pitchValue = -0.2
elif faceWidth * faceHeight < 0.01 * width * height: # 0.05
pitchValue = 0.2
else:
throttleValue = 0
yawValue = 0
pitchValue = 0
face_counter += 1
# implement handTracking
elif mode == mode_list[1]:
face_counter = 0
img2, x, y, w, h = handTracking.trackHandCPM(image)
if not handTracking.tracker.loss_track:
centerX, centerY = computer_center_points(x, y, w, h, image)
throttleValue = -centerY / (height / 2)
yawValue = centerX / (width / 2)
if w * h >= 0.01 * width * height:
pitchValue = -0.2
elif w * h < 0.008 * width * height:
pitchValue = 0.2
else:
throttleValue = 0
yawValue = 0
pitchValue = 0
return throttleValue, yawValue, pitchValue
def main():
# init hand tracking model and the drone
handTracking.init_cpm_session()
drone = tellopy.Tello()
try:
# init Pygame window and connect the drone
pygame.init()
pygame.display.set_mode((1, 1))
if SAVE_VIDEO:
video_output = cv2.VideoWriter(VIDEO_FILENAME, VIDEO_CODEC, 15.0,
(960, 720))
drone.connect()
drone.wait_for_connection(60.0)
container = av.open(drone.get_video_stream())
# skip first 300 frames
frame_skip = 300
while True:
for frame in container.decode(video=0):
if 0 < frame_skip:
frame_skip = frame_skip - 1
continue
# manuall controls for take off and landing
for event in pygame.event.get():
if event.type == pygame.KEYDOWN:
if event.key == pygame.K_LCTRL:
drone.takeoff()
if event.key == pygame.K_w:
drone.land()
start_time = time.time()
img = cv2.cvtColor(numpy.array(frame.to_image()),
cv2.COLOR_RGB2BGR)
if SAVE_VIDEO:
video_output.write(img)
resized_image = cv2.resize(img, (IMAGE_WIDTH, IMAGE_HEIGHT))
img2, x, y, w, h = handTracking.trackHandCPM(resized_image)
if not handTracking.tracker.loss_track:
centerX, centerY = computer_center_points(
x, y, w, h, resized_image)
throttleValue = -centerY / (IMAGE_HEIGHT / 2)
yawValue = centerX / (IMAGE_WIDTH / 2)
if w * h >= 0.01 * IMAGE_WIDTH * IMAGE_HEIGHT:
pitchValue = -0.2
elif w * h < 0.008 * IMAGE_WIDTH * IMAGE_HEIGHT:
pitchValue = 0.2
else:
throttleValue = 0
yawValue = 0
pitchValue = 0
drone.set_throttle(throttleValue)
drone.set_yaw(yawValue)
drone.set_pitch(pitchValue)
show_image(resized_image)
frame_skip = int((time.time() - start_time) / frame.time_base)
except Exception as ex:
exc_type, exc_value, exc_traceback = sys.exc_info()
traceback.print_exception(exc_type, exc_value, exc_traceback)
print(ex)
finally:
# safely land drone
drone.quit()
cv2.destroyAllWindows()
def main():
handTracking.init_cpm_session()
drone = tellopy.Tello()
mode = None
try:
pygame.init()
pygame.display.set_mode((1, 1))
fourcc = cv2.VideoWriter_fourcc(*'mp4v')
out = cv2.VideoWriter('output.avi', fourcc, 15.0, (960, 720))
drone.connect()
drone.wait_for_connection(60.0)
container = av.open(drone.get_video_stream())
# skip first 300 frames
frame_skip = 300
gesture_counter = [0] * len(handTracking.gesture_list)
while True:
for frame in container.decode(video=0):
if 0 < frame_skip:
frame_skip = frame_skip - 1
continue
for event in pygame.event.get():
if event.type == pygame.KEYDOWN:
if event.key == pygame.K_LCTRL:
drone.takeoff()
if event.key == pygame.K_w:
drone.land()
if event.key == pygame.K_0:
mode = None
if event.key == pygame.K_1:
mode = mode_list[0]
if event.key == pygame.K_2:
mode = mode_list[1]
start_time = time.time()
img = cv2.cvtColor(numpy.array(frame.to_image()),
cv2.COLOR_RGB2BGR)
if SAVE_VIDEO:
out.write(img)
resized_image = cv2.resize(img, (width, height))
img2, x, y, w, h = handTracking.trackHandCPM(resized_image)
gesture = handTracking.get_gesture(resized_image)
if gesture == "pitch":
gesture_counter = set_gesture_counter(
"pitch", gesture_counter)
print(gesture_counter)
if gesture_counter[0] >= 10:
drone.land()
elif gesture == "fist":
pitchCounter = 0
fistCounter += 1
victoryCounter = 0
if gesture_counter[1] >= 5:
drone.takeoff()
elif gesture == "victory":
pitchCounter = 0
fistCounter = 0
victoryCounter += 1
if gesture_counter[2] >= 5:
drone.up(70)
time.sleep(0.5)
drone.down(70)
time.sleep(0.5)
throttleValue, yawValue, pitchValue = control_drone_by_mode(
resized_image, mode)
drone.set_throttle(throttleValue)
drone.set_yaw(yawValue)
drone.set_pitch(pitchValue)
show_image(resized_image)
frame_skip = int((time.time() - start_time) / frame.time_base)
except Exception as ex:
exc_type, exc_value, exc_traceback = sys.exc_info()
traceback.print_exception(exc_type, exc_value, exc_traceback)
print(ex)
finally:
drone.quit()
cv2.destroyAllWindows()