up_down_v = S
else:
up_down_v = 0
if move_vector[2] < 0:
for_back_v = -S
elif move_vector[2] > 0:
for_back_v = S
else:
for_back_v = 0
t.send_rc_control(left_right_v,
for_back_v,
up_down_v,
yaw_v,
verbose=True)
else:
# if no face, rotate until finding one
print("No face detected.")
t.send_rc_control(0,
0,
0,
int(last_yaw_direction * 20),
verbose=False)
# cleanup after loop terminates
cv2.destroyAllWindows
t.end()
class FaceTracker:
"""Constants"""
FB_S = 15 # FWD/BWD Speed of the drone
LR_S = 25 # LFT/RGHT Speed of the drone
UD_S = 25
CW_S = 25 # CW/CCW Speed of the drone
FPS = 20 # Frames per second of the pygame window display
def __init__(self, height, width):
"""Start loading"""
namedWindow("drone")
self.paper = imread("./resources/Tello.png")
self.height = height
self.width = width
self.fv = FaceVector(height, width)
self.tello = Tello()
# Drone velocities between -100~100
self.for_back_velocity = 20
self.left_right_velocity = 20
self.up_down_velocity = 20
self.yaw_velocity = 20
self.speed = 20
self.send_rc_control = False
self.should_stop = False
self.mode = "keyboard"
def run(self, show=False, debug=False):
"""Connecting block"""
if not self.tello.connect():
return
print("Connected")
if not self.tello.set_speed(self.speed):
return
print("Speeds set")
"""Stream start block"""
if not self.tello.streamoff():
return
if not self.tello.streamon():
return
cap = self.tello.server.get_video_capture()
print("Stream started")
"""Main loop"""
while not self.should_stop:
vec = None
"""Frame reading block"""
if self.mode == "tracking" or show or debug:
try:
r, frame = cap.read()
except ValueError:
continue
if r:
"""Creating target directions vector"""
if self.mode == "tracking" or debug:
vec, frame = self.fv.direction_vector_3d_with_returning_image(frame)
"""Frame plotting(requires from argument: bool:SHOW)"""
if show or debug:
frame = self.fv.text_addition(frame, vec)
imshow("drone", frame)
if (not show) and (not debug):
imshow("drone", self.paper)
key = waitKey(5) & 0xff
"""Keyboard commands getting"""
self.check_key(key)
if self.mode == "tracking":
"""Driving block"""
if vec is None:
vec = [0, 0, 0]
print(vec)
"""Setting velocities depending from directions vector VEC"""
if vec[0] != 0 or vec[1] != 0:
"""Moving in 2D space at first"""
# set left/right velocity
self.left_right_velocity = -self.LR_S * vec[0]
# set up/down velocity
self.up_down_velocity = self.UD_S * vec[1]
# set forward/backward velocity
else:
"""Then moving forward/backward"""
self.for_back_velocity = self.FB_S * vec[2]
# set yaw clockwise velocity
self.yaw_velocity = self.CW_S * 0
"""Send move commands"""
self.update()
sleep(1 / self.FPS)
self.tello.end()
def update(self):
""" Update routine. Send velocities to Tello."""
if self.send_rc_control:
self.tello.move_with_velocities(self.left_right_velocity, self.for_back_velocity,
self.up_down_velocity, self.yaw_velocity)
def check_key(self, key):
"""
Moves Tello through the keyboard keys.
- T / G : Takeoff / Land(Ground).
- W / S : Up / Down.
- A / D : CW / CCW.
- I / K : Forward / Backward.
- J / L : Left / Right.
- SPACE : Start / Stop face tracking.
- Q : Quit.
"""
if key == ord('q'): # stop
self.should_stop = True
elif key == ord('t'): # takeoff
print("Flying")
self.tello.takeoff()
self.send_rc_control = True
elif key == ord('g'): # land
print("Landing")
self.tello.land()
self.send_rc_control = False
elif key == ord('i'): # forward
self.tello.forward(50)
elif key == ord('k'): # backward
self.tello.back(50)
elif key == ord('j'): # left
self.tello.left(50)
elif key == ord('l'): # right
self.tello.right(50)
elif key == ord('w'): # up
self.tello.up(50)
elif key == ord('s'): # down
self.tello.down(50)
elif key == ord('a'): # cw
self.tello.rotate_cw(30)
elif key == ord('d'): # ccw
self.tello.rotate_ccw(30)
elif key == ord(' '): # change mode
self.change_mode()
"""Realise mode changing event"""
def change_mode(self):
if self.mode == "tracking":
self.mode = "keyboard"
self.tello.stop()
elif self.mode == "keyboard":
self.mode = "tracking"
#!env/bin/python
from flask import Flask, jsonify
from tello import Tello
app = Flask(__name__)
tello = Tello()
tello.initialize()
@app.route('/drone/command/takeoff', methods=['POST'])
def drone_takeoff():
print('Drone now taking off...')
tello.takeoff()
return jsonify({'status': 'OK'})
@app.route('/drone/command/land', methods=['POST'])
def drone_land():
print('Drone now landing...')
tello.land()
return jsonify({'status': 'OK'})
if __name__ == '__main__':
app.run(debug=False, host='10.0.0.3')
tello.end()
class Follower:
def __init__(self):
pygame.init()
pygame.display.set_caption("Tello video stream")
self.screen = pygame.display.set_mode([960, 720])
# Drone velocities between -100~100
self.for_back_velocity = 0
self.left_right_velocity = 0
self.up_down_velocity = 0
self.yaw_velocity = 0
self.speed = 10
self.tello = Tello()
self.send_rc_control = False
pygame.time.set_timer(pygame.USEREVENT + 1, 1000 // FPS)
self.personTracker = PersonTracker()
self.Px, self.Ix, self.Dx = 0.10, 0, -0 #D gain should be negative.
self.Py, self.Iy, self.Dy = 0.1, 0, -0
self.Pz, self.Iz, self.Dz = 0.25, 0, -0.001
self.prev_err_x, self.prev_err_y, self.prev_err_z = None, None, None
self.accum_err_x, self.accum_err_y, self.accum_err_z = 0, 0, 0
self.found_person = False
self.manual = True
self.iter = 0
def run(self):
self.tello.connect()
self.tello.set_speed(self.speed)
# In case streaming is on. This happens when we quit this program without the escape key.
self.tello.streamoff()
self.tello.streamon()
frame_read = self.tello.get_frame_read()
should_stop = False
imprinted = False
emergency_counter = 0
while not should_stop:
for event in pygame.event.get():
if event.type == pygame.USEREVENT + 1:
self.update()
elif event.type == pygame.QUIT:
should_stop = True
elif event.type == pygame.KEYDOWN:
if event.key == pygame.K_ESCAPE:
should_stop = True
else:
self.keydown(event.key)
elif event.type == pygame.KEYUP:
self.keyup(event.key)
if frame_read.stopped:
break
self.screen.fill([0, 0, 0])
frame = frame_read.frame
if self.iter > 240:
humanBox, imprinted = self.personTracker.findMyHooman(frame)
if humanBox is None and self.send_rc_control and not self.manual:
emergency_counter += 1
if emergency_counter >= 120: #missed human for 120 frames; 1 second
print("ENGAGING EMERGENCY HOVER.")
cv2.putText(frame, "EMERGENCY HOVER", (700, 130),
cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0),
2)
self.emergencyHover()
elif humanBox is not None:
if self.found_person == False:
self.found_person = True
emergency_counter = 0
#PID LOOP:
desired_pos = (frame.shape[1] // 2, frame.shape[0] // 2
) #format x,y
if humanBox is not None:
xmin = int(humanBox[1] * frame.shape[1])
ymin = int(humanBox[0] * frame.shape[0])
xmax = int(humanBox[3] * frame.shape[1])
ymax = int(humanBox[2] * frame.shape[0])
centerHumanPosition = (np.mean(
(xmax, xmin)), np.mean((ymax, ymin))) #format x,y
#draw bounding box
cv2.rectangle(frame, (xmin, ymin), (xmax, ymax),
(255, 0, 0), 2) #blue
#draw target coord
cv2.circle(frame, (int(
centerHumanPosition[0]), int(centerHumanPosition[1])),
10, (255, 0, 0), 1) #blue
# print("z width: {}".format(np.abs(xmax-xmin)))
#draw desired coord
cv2.circle(frame, desired_pos, 10, (0, 0, 255), 1) #red
if self.send_rc_control and not self.manual:
self.update_control(centerHumanPosition, desired_pos,
xmax, xmin)
text = "Battery: {}%".format(self.tello.get_battery())
cv2.putText(frame, text, (5, 720 - 5), cv2.FONT_HERSHEY_SIMPLEX, 1,
(0, 0, 255), 2)
heightText = "Height:{}".format(self.tello.get_height())
cv2.putText(frame, heightText, (720 - 5, 40),
cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 2)
manualText = "Manual: {}".format(self.manual)
if self.manual:
cv2.putText(frame, manualText, (720 - 5, 70),
cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 2)
else:
cv2.putText(frame, manualText, (720 - 5, 70),
cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 2)
imprintedTxt = "Imprinted: {}".format(imprinted)
if imprinted:
cv2.putText(frame, imprintedTxt, (720 - 5, 100),
cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 2)
else:
cv2.putText(frame, imprintedTxt, (720 - 5, 100),
cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 2)
frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
frame = np.rot90(frame)
frame = np.flipud(frame)
frame = pygame.surfarray.make_surface(frame)
self.screen.blit(frame, (0, 0))
pygame.display.update()
if self.iter <= 240:
self.iter += 1
time.sleep(1 / FPS)
# Call it always before finishing. To deallocate resources.
self.tello.end()
def keydown(self, key):
""" Update velocities based on key pressed
Arguments:
key: pygame key
"""
if key == pygame.K_UP: # set forward velocity
self.for_back_velocity = S
elif key == pygame.K_DOWN: # set backward velocity
self.for_back_velocity = -S
elif key == pygame.K_LEFT: # set left velocity
self.left_right_velocity = -S
elif key == pygame.K_RIGHT: # set right velocity
self.left_right_velocity = S
elif key == pygame.K_w: # set up velocity
self.up_down_velocity = S
elif key == pygame.K_s: # set down velocity
self.up_down_velocity = -S
elif key == pygame.K_a: # set yaw counter clockwise velocity
self.yaw_velocity = -S
elif key == pygame.K_d: # set yaw clockwise velocity
self.yaw_velocity = S
elif key == pygame.K_m: # set yaw clockwise velocity
self.manual = not self.manual
self.yaw_velocity = 0
self.up_down_velocity = 0
self.left_right_velocity = 0
print("MANUAL MODE IS NOW: {}".format(self.manual))
def keyup(self, key):
""" Update velocities based on key released
Arguments:
key: pygame key
"""
if key == pygame.K_UP or key == pygame.K_DOWN: # set zero forward/backward velocity
self.for_back_velocity = 0
elif key == pygame.K_LEFT or key == pygame.K_RIGHT: # set zero left/right velocity
self.left_right_velocity = 0
elif key == pygame.K_w or key == pygame.K_s: # set zero up/down velocity
self.up_down_velocity = 0
elif key == pygame.K_a or key == pygame.K_d: # set zero yaw velocity
self.yaw_velocity = 0
elif key == pygame.K_t: # takeoff
self.tello.takeoff()
self.send_rc_control = True
elif key == pygame.K_l: # land
not self.tello.land()
self.iter = 0
self.send_rc_control = False
def update(self):
""" Update routine. Send velocities to Tello."""
if self.send_rc_control:
self.tello.send_rc_control(self.left_right_velocity,
self.for_back_velocity,
self.up_down_velocity,
self.yaw_velocity)
def update_control(self, curr_lateral_pos, desired_later_pos, xmax, xmin):
#Three error directions. Two lateral, one forward/backward. How to calc forward/back error?
err_x = curr_lateral_pos[0] - desired_later_pos[
0] #if positive, we're to the left of where we want to be, so want positive control. (CHECK THIS)
err_y = desired_later_pos[1] - curr_lateral_pos[
1] #if positive, we're below where we want to be. (CHECK THIS)
#hardcode desired box width. Must test!!
desired_width = 350
curr_width = np.abs(xmax -
xmin) #check. is this actually the width dim?
err_z = desired_width - curr_width #if negative, too close; want backwards--> positive gain
# print("Err z: {}".format(err_z))
if self.prev_err_x == None:
derivative_x_input = 0
derivative_y_input = 0
derivative_z_input = 0
else:
derivative_x_input = (err_x - self.prev_err_x) / (1 / FPS)
derivative_y_input = (err_y - self.prev_err_y) / (1 / FPS)
derivative_z_input = (err_z - self.prev_err_z) / (1 / FPS)
#clip derivative errors to avoid noise
derivative_x_input = np.clip(derivative_x_input, -11000, 11000)
derivative_y_input = np.clip(derivative_y_input, -11000, 11000)
derivative_z_input = np.clip(derivative_z_input, -11000, 11000)
self.accum_err_x += err_x
self.accum_err_y += err_y
self.accum_err_z += err_z
self.prev_err_x = err_x
self.prev_err_y = err_y
self.prev_err_z = err_z
# print("derr_z: {}".format(derivative_z_input))
# self.left_right_velocity = self.Px*err_x+self.Dx*derivative_x_input+self.Ix*self.accum_err_x
self.yaw_velocity = self.Px * err_x + self.Dx * derivative_x_input + self.Ix * self.accum_err_x
self.up_down_velocity = self.Py * err_y + self.Dy * derivative_y_input + self.Iy * self.accum_err_y
self.for_back_velocity = self.Pz * err_z + self.Dy * derivative_z_input + self.Iz * self.accum_err_z
#limit velocity to 2*S.
# self.left_right_velocity = np.clip(self.left_right_velocity, -S*2, S*2)
self.yaw_velocity = int(np.clip(self.yaw_velocity, -S, S))
self.up_down_velocity = int(np.clip(self.up_down_velocity, -S, S))
self.for_back_velocity = int(np.clip(self.for_back_velocity, -S, S))
#Send new velocities to robot.
self.update()
def emergencyHover(self):
print("Cannot find hooman. I am lonely doggo. Hovering and rotating.")
self.found_person = False
self.for_back_velocity = 0
self.left_right_velocity = 0
self.up_down_velocity = 0
self.yaw_velocity = int(S // 2)
self.update()
class FrontEnd(object):
def __init__(self):
# Init pygame
pygame.init()
# Init Tello object that interacts with the Tello drone
self.tello = Tello()
# Drone velocities between -100~100
self.for_back_velocity = 0
self.left_right_velocity = 0
self.up_down_velocity = 0
self.yaw_velocity = 0
self.speed = 10
self.faceFound = False
self.send_rc_control = True
def run(self):
if not self.tello.connect():
print("Tello not connected")
return
if not self.tello.set_speed(self.speed):
print("Not set speed to lowest possible")
return
# In case streaming is on. This happens when we quit this program without the escape key.
if not self.tello.streamoff():
print("Could not stop video stream")
return
if not self.tello.streamon():
print("Could not start video stream")
return
frame_read = self.tello.get_frame_read()
if self.tello.takeoff():
print('Takeoff successfull')
self.tello.connect()
star = time.time()
while True:
# if time.time() - star > 10:
# self.tello.connect()
# star = time.time()
pygame.event.pump()
frame = frame_read.frame
gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
faces = face_cascade.detectMultiScale(gray, 1.1, 10, minSize=(65, 65))
for (x, y, w, h) in faces:
self.faceFound = True
cv2.rectangle(frame, (x, y), (x+w, y+h), (255, 0, 0), 2)
cx = (2*x+w)/2
cy = (2*y+h)/2
faceSize = (w+h)/2
if self.faceFound:
yaw_dif = abs(cx - 480)
updo_dif = abs(cy - 360)
face_dif = abs(faceSize - 140)
sign_yaw = (cx - 480)/yaw_dif
sign_updo = (360 - cy)/updo_dif
sign_face = (140 - faceSize)/face_dif
if yaw_dif > 65:
self.yaw_velocity = sign_yaw*S#*(yaw_dif/65)
else:
self.yaw_velocity = 0
if updo_dif > 45:
self.up_down_velocity = sign_updo*S#*(updo_dif/45)
else:
self.up_down_velocity = 0
if face_dif > 35:
self.for_back_velocity = sign_face*S#*(face_dif/35)
else:
self.for_back_velocity = 0
else:
self.for_back_velocity = 0
self.yaw_velocity = 0
self.up_down_velocity = 0
self.update()
cv2.imshow('img', frame)
frame_read.out.write(frame)
self.faceFound = False
k = cv2.waitKey(30) & 0xff
if k==27:
break
self.tello.end()
frame_read.out.release()
frame_read.cap.release()
cv2.destroyAllWindows()
return 0
def update(self):
""" Update routine. Send velocities to Tello."""
if self.send_rc_control:
self.tello.send_rc_control(self.left_right_velocity, self.for_back_velocity, self.up_down_velocity,
self.yaw_velocity)
