def avoidGreen(frame, fromX, toX, fromY, toY, limit):
"numpy implementation"
return cimg.avoidGreen(frame, fromX, toX, fromY, toY, limit, 1.1)
def stripLeftRight(frame, fromY, toY, limit):
width = frame.shape[1]
xL = avoidGreen(frame, width / 2, 0, fromY, toY, limit=limit)
xR = avoidGreen(frame, width / 2, width, fromY, toY, limit=limit)
return xL, xR
def processAvoidGreen(frame, debug=False):
height, width, colors = frame.shape
offset = 0
stripWidth = 70
limit = 120
topLR = stripLeftRight(frame, offset, offset + stripWidth, limit=limit)
bottomLR = stripLeftRight(frame,
height - offset - stripWidth,
height - offset,
limit=limit)
if debug:
cv2.imshow('image', frame)
saveIndexedImage(frame)
return topLR, bottomLR
if __name__ == "__main__":
imgmain(sys.argv, processAvoidGreen) #processGreen )
if count > limit:
break
return x
def avoidGreen( frame, fromX, toX, fromY, toY, limit ):
"numpy implementation"
return cimg.avoidGreen( frame, fromX, toX, fromY, toY, limit, 1.1 )
def stripLeftRight( frame, fromY, toY, limit ):
width = frame.shape[1]
xL = avoidGreen( frame, width/2, 0, fromY, toY, limit=limit )
xR = avoidGreen( frame, width/2, width, fromY, toY, limit=limit )
return xL,xR
def processAvoidGreen( frame, debug=False ):
height, width, colors = frame.shape
offset = 0
stripWidth = 70
limit = 120
topLR = stripLeftRight( frame, offset, offset+stripWidth, limit=limit )
bottomLR = stripLeftRight( frame, height-offset-stripWidth, height-offset, limit=limit )
if debug:
cv2.imshow('image', frame)
saveIndexedImage( frame )
return topLR, bottomLR
if __name__ == "__main__":
imgmain( sys.argv, processAvoidGreen ) #processGreen )
maxVideoDelay = max( videoDelay, maxVideoDelay )
toDel = 0
for oldTime, oldPose, oldAngles, oldAltitude in poseHistory:
toDel += 1
if oldTime >= videoTime:
break
poseHistory = poseHistory[:toDel]
print "FRAME", frameNumber/15
# TODO
except ManualControlException, e:
print "ManualControlException"
if drone.ctrlState == 3: # CTRL_FLYING=3 ... i.e. stop the current motion
drone.hover(0.1)
drone.land()
drone.wait(1.0)
drone.stopVideo()
print "MaxVideoDelay", maxVideoDelay
print "MaxControlGap", maxControlGap
print "Battery", drone.battery
if __name__ == "__main__":
if len(sys.argv) > 2 and sys.argv[1] == "img":
imgmain( sys.argv[1:], processFrame )
sys.exit( 0 )
import launcher
launcher.launch( sys.argv, FreTask4Drone, freTask4 )
# print "%0.2f\t%d\t%0.2f\t%0.2f\t%0.2f" % (errY, int(math.degrees(errA)), drone.vy, sy, sa)
prevTime = drone.time
drone.moveXYZA(sx, sy, sz, sa)
maxControlGap = max(drone.time - prevTime, maxControlGap)
poseHistory.append(
(drone.time, (drone.coord[0], drone.coord[1], drone.heading),
(drone.angleFB, drone.angleLR), altitude))
print "NAVI-OFF", drone.time - startTime
drone.hover(0.5)
drone.land()
drone.setVideoChannel(front=True)
except ManualControlException, e:
print "ManualControlException"
if drone.ctrlState == 3: # CTRL_FLYING=3 ... i.e. stop the current motion
drone.hover(0.1)
drone.land()
drone.wait(1.0)
drone.stopVideo()
print "MaxVideoDelay", maxVideoDelay
print "MaxControlGap", maxControlGap
print "Battery", drone.battery
if __name__ == "__main__":
if len(sys.argv) > 2 and sys.argv[1] == "img":
imgmain(sys.argv[1:], processFrame)
sys.exit(0)
import launcher
launcher.launch(sys.argv, RobotemRovneDrone, competeRobotemRovne)
