def face_tracking(droneVision:DroneVisionGUI,bebop:Bebop): face_cascade = cv2.CascadeClassifier('haarcascade_frontalface_default.xml') cv2.namedWindow("face_tracking") frame = droneVision.get_latest_valid_picture() while cv2.getWindowProperty('face_tracking', 0) >= 0: frame = droneVision.get_latest_valid_picture() gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY) faces = face_cascade.detectMultiScale(gray, 1.3, 5) (x,y,w,h) = None, None, None, None if len(faces) > 0: (x,y,w,h) = faces[0] cv2.rectangle(frame, (x, y), (x + w, y + h), (0, 255, 255), 1) print("Face Size: "+ str(w*h)) backup_threshold = 3600 fwd_threshold = 2000 if w is not None and w*h > backup_threshold: print("GOING BACK") bebop.fly_direct(roll=0,pitch=-20,yaw=0,vertical_movement=0,duration=0.1) elif w is not None and w*h < fwd_threshold: print("GOING FORWARD") bebop.fly_direct(roll=0, pitch=20, yaw=0, vertical_movement=0, duration=0.1) if x is not None and x+(w/2.0) > 650: print("GOING RIGHT") bebop.fly_direct(roll=0,pitch=0,yaw=70,vertical_movement=0,duration=0.1) elif x is not None and x+(w/2.0) < 200: print("GOING LEFT") bebop.fly_direct(roll=0, pitch=0, yaw=-70, vertical_movement=0, duration=0.1) cv2.imshow("face_tracking",frame) cv2.waitKey(10) bebop.safe_land(10) cv2.destroyAllWindows()
bebop.set_hull_protection(1) while True: print("receiving") ch = c.recv(4096).decode() if ch == "t": print("take off") bebop.safe_takeoff(10) c.send(("controller received " + ch).encode('utf-8')) elif ch == "w": print("move front") bebop.fly_direct(roll=0, pitch=30, yaw=0, vertical_movement=0, duration=0.25) c.send(("controller received " + ch).encode('utf-8')) elif ch == "s": print("move back") bebop.fly_direct(roll=0, pitch=-30, yaw=0, vertical_movement=0, duration=0.25) c.send(("controller received " + ch).encode('utf-8')) elif ch == "a": print("move left") bebop.fly_direct(roll=-30, pitch=0,
class myoBebop(object): def __init__(self , indoorFly = True): '''类初始化函数''' self.bebop = None self.indoorFlyFlag = indoorFly self.actionType = "rest" #当前的动作类型 self.startSuccessFlag = False #初始化是否成功标志位 self.takeOfFlag = False #是否起飞标志位 self.landFlag = True #是否降落标志位 self.startFlag = False #程序开始标志位 self.executeCommondFlag = True #命令执行成功标志位 #动作映射字典 self.actionMapDict = { "front" : "fist" , "back" : "open_hand" , "left" : "one" , "right" : "two" , "up" : "good", "down" : "low" , "rotateLeft" : "three" , "rotateRight" : "four" , "takeOf": "ok" , "land" : "love"} self.tempCount = 0 #计数 self.excuteFlag1 = True #读取动作类别标志位 self.excuteFlag2 = True #读取按键值的标志位 self.flyType = 0 #飞机飞行类别(0:正常飞行 , 1:特技飞行) self.moveStepTime = 1 #飞行器水平运行步长时间 self.rotateStepTime = 1 #飞行器旋转运行步长时间 def start(self): '''开始函数''' #初始化飞机对象 self.bebop = Bebop() #连接飞机 print("connecting") self.success = self.bebop.connect(10) #与飞机进行连接(最大尝试次数为10次) if self.success == True: print("sleeping") self.bebop.smart_sleep(5) self.bebop.ask_for_state_update() #获取飞机的状态 if self.indoorFlyFlag == True: self.setIndoorFly() print("set indoor fly sucess!!!") print("The aircraft was successfully initialized!") self.startSuccessFlag = True #开始成功 else: print("The connection failed. Please check again!") self.startSuccessFlag = False #开始失败 self.removeExitFile() def bebopFly(self , actionType): '''根据动作类别进行相应的动作''' if actionType == self.actionMapDict["front"]: #向前飞 self.executeCommondFlag = False print("flying state is %s" % self.bebop.sensors.flying_state) if self.flyType == 0: self.bebop.fly_direct(roll=0, pitch=50, yaw=0, vertical_movement=0, duration=self.moveStepTime) print("fly front") elif self.flyType == 1: self.success = self.bebop.flip(direction="front") print("flip front") print("mambo flip result %s" % self.success) self.bebop.smart_sleep(5) self.executeCommondFlag = True elif actionType == self.actionMapDict["back"]: #向后飞 self.executeCommondFlag = False print("flying state is %s" % self.bebop.sensors.flying_state) if self.flyType == 0: self.bebop.fly_direct(roll=0, pitch=-50, yaw=0, vertical_movement=0, duration=self.moveStepTime) print("fly back") elif self.flyType == 1: self.success = self.bebop.flip(direction="back") print("flip back") print("mambo flip result %s" % self.success) self.bebop.smart_sleep(5) self.executeCommondFlag = True elif actionType == self.actionMapDict["left"]: #左飞 self.executeCommondFlag = False print("flying state is %s" % self.bebop.sensors.flying_state) if self.flyType == 0: self.bebop.fly_direct(roll=50, pitch=0, yaw=0, vertical_movement=0, duration=self.moveStepTime) print("fly left") elif self.flyType == 1: self.success = self.bebop.flip(direction="left") print("flip left") print("mambo flip result %s" % self.success) self.bebop.smart_sleep(5) self.executeCommondFlag = True elif actionType == self.actionMapDict["right"]: #右飞 self.executeCommondFlag = False print("flying state is %s" % self.bebop.sensors.flying_state) if self.flyType == 0: self.bebop.fly_direct(roll=-50, pitch=0, yaw=0, vertical_movement=0, duration=self.moveStepTime) print("fly right") elif self.flyType == 1: self.success = self.bebop.flip(direction="right") print("flip right") print("mambo flip result %s" % self.success) self.bebop.smart_sleep(5) self.executeCommondFlag = True elif actionType == self.actionMapDict["up"]: #上飞 self.executeCommondFlag = False print("flying state is %s" % self.bebop.sensors.flying_state) if self.flyType == 0: self.bebop.fly_direct(roll = 0, pitch = 0, yaw = 0, vertical_movement=50, duration = self.moveStepTime) print("fly up") elif self.flyType == 1: pass self.executeCommondFlag = True elif actionType == self.actionMapDict["down"]: #下飞 self.executeCommondFlag = False print("flying state is %s" % self.bebop.sensors.flying_state) if self.flyType == 0: self.bebop.fly_direct(roll = 0, pitch = 0, yaw = 0, vertical_movement= - 50, duration = self.moveStepTime) print("fly down") elif self.flyType == 1: pass self.executeCommondFlag = True elif actionType == self.actionMapDict["rotateLeft"]: #向左旋转 self.executeCommondFlag = False print("flying state is %s" % self.bebop.sensors.flying_state) if self.flyType == 0: self.bebop.fly_direct(roll=0, pitch=0, yaw=50, vertical_movement=0, duration=self.moveStepTime) print("fly rotateLeft") elif self.flyType == 1: pass self.executeCommondFlag = True elif actionType == self.actionMapDict["rotateRight"]: #向右旋转 self.executeCommondFlag = False print("flying state is %s" % self.bebop.sensors.flying_state) if self.flyType == 0: self.bebop.fly_direct(roll=0, pitch=0, yaw = -50, vertical_movement=0, duration=self.moveStepTime) print("fly rotateRight") elif self.flyType == 1: pass self.executeCommondFlag = True elif actionType == self.actionMapDict["takeOf"]: #起飞 self.startFlag = True if self.landFlag == True: self.landFlag = False self.executeCommondFlag = False print("take of ") self.bebop.safe_takeoff(10) self.bebop.smart_sleep(5) self.executeCommondFlag = True self.takeOfFlag = True elif actionType == self.actionMapDict["land"]: #降落 if self.takeOfFlag == True: self.takeOfFlag = False self.executeCommondFlag = False print("land ") self.bebop.safe_land(10) self.bebop.smart_sleep(5) self.landFlag = True self.executeCommondFlag = True #myo失去连接后,飞机自动着落 def safeAction(self): if self.startFlag == True: if self.flyType == 0: if self.tempCount > 100: self.bebop.safe_land(10) self.bebop.smart_sleep(5) print("DONE - disconnecting") self.bebop.disconnect() self.mThread.forcedStopThread() elif self.flyType == 1: if self.tempCount > 300: self.bebop.safe_land(10) self.bebop.smart_sleep(5) print("DONE - disconnecting") self.bebop.disconnect() self.mThread.forcedStopThread() def setTheActionMain(self): '''设置动作类别线程函数''' if self.excuteFlag1 == True: self.excuteFlag1 = False os.system("python2 myoMain.py") time.sleep(0.01) def removeExitFile(self , fileName = "actionTempData.dat" ): '''删除已经存在的文件''' if os.path.exists(fileName) == True: os.remove(fileName) def setIndoorFly(self): '''设置室内飞行的参数''' self.bebop.set_max_tilt(5) self.bebop.set_max_vertical_speed(1) def getKeyValueMain(self): '''获取按键值的线程函数''' if self.excuteFlag2 == True: self.excuteFlag2 = False os.system("python2 quit.py" ) time.sleep(0.01) #按键退出函数 def quitMain(self): print("quit") self.bebop.safe_land(10) self.bebop.smart_sleep(5) self.bebop.disconnect() self.mThread.forcedStopThread() def getTheActionMain(self): '''得到动作类别线程函数''' global quitFlag while True: self.actionType = getTheCurrentAction() getTheKeyValue() if quitFlag == True: self.quitMain() else: if self.actionType == None: self.tempCount += 1 else: self.tempCount = 0 self.safeAction() if self.executeCommondFlag == True: self.bebopFly(self.actionType) time.sleep(0.01) def run(self): '''运行主程序''' try: self.mThread = myThread() self.mThread.addThread('setTheActionMain' , self.setTheActionMain , 0) self.mThread.addThread('getTheActionMain' , self.getTheActionMain , 0) self.mThread.addThread('getKeyValueMain' , self.getKeyValueMain , 0) self.mThread.runThread() except KeyboardInterrupt: print("DONE") self.bebop.disconnect() self.mThread.forcedStopThread()
bebop = Bebop() print("connecting") success = bebop.connect(10) print(success) print("sleeping") bebop.smart_sleep(5) bebop.ask_for_state_update() bebop.safe_takeoff(10) print("Flying direct: going forward (positive pitch)") bebop.fly_direct(roll=0, pitch=50, yaw=0, vertical_movement=0, duration=1) print("Flying direct: yaw") bebop.fly_direct(roll=0, pitch=0, yaw=50, vertical_movement=0, duration=1) print("Flying direct: going backwards (negative pitch)") bebop.fly_direct(roll=0, pitch=-50, yaw=0, vertical_movement=0, duration=0.5) print("Flying direct: roll") bebop.fly_direct(roll=50, pitch=0, yaw=0, vertical_movement=0, duration=1) print("Flying direct: going up") bebop.fly_direct(roll=0, pitch=0, yaw=0, vertical_movement=50, duration=1) # this works but requires a larger test space than I currently have. Uncomment with care and test only in large spaces! #print("Flying direct: going around in a circle (yes you can mix roll, pitch, yaw in one command!)")
success = bebop.connect(10) print(success) # make my mambo object # remember to set True/False for the wifi depending on if you are using the wifi or the BLE to connect if (success): # get the state information print("sleeping") bebop.smart_sleep(2) bebop.ask_for_state_update() bebop.smart_sleep(5) print("taking off!") bebop.safe_takeoff(5) bebop.fly_direct(roll=0, pitch=0, yaw=0, vertical_movement=-20, duration=1) bebop.smart_sleep(3) print("Flying direct: going forward (positive pitch)") bebop.fly_direct(roll=0, pitch=50, yaw=0, vertical_movement=0, duration=2.2) bebop.smart_sleep(3) # moving up through the middle of the chair bebop.fly_direct(roll=0, pitch=0, yaw=0,
bebop = Bebop() print("connecting") success = bebop.connect(10) print(success) if (success): # get the state information print("sleeping") bebop.smart_sleep(2) bebop.ask_for_state_update() bebop.smart_sleep(2) print("taking off!") bebop.safe_takeoff(5) bebop.fly_direct(roll=0, pitch=0, yaw=0, vertical_movement=-20, duration=1) bebop.smart_sleep(3) print("Flying direct: going forward (positive pitch)") bebop.fly_direct(roll=0, pitch=50, yaw=0, vertical_movement=0, duration=3.4) bebop.smart_sleep(5) bebop.fly_direct(roll=0, pitch=-50, yaw=0, vertical_movement=0, duration=3) #bebop.smart_sleep(3) #print("flipping") #bebop.flip("front") print("landing")
return ch if (success): bebop.ask_for_state_update() # set safe parameters bebop.set_max_tilt(15) # maximum allowable tilt in degrees: 5(very slow) ~ 30(very fast) bebop.set_max_vertical_speed(1) # maximum allowable vertical speed: 0.5 m/s ~ 2.5 m/s while True: char = getch() if (char == "w"): print("forward") bebop.fly_direct(roll=0, pitch=percentage, yaw=0, vertical_movement=0, duration=duration_s) bebop.flat_trim() elif (char == "a"): print("left") bebop.fly_direct(roll=-percentage, pitch=0, yaw=0, vertical_movement=0, duration=duration_s) bebop.flat_trim() elif (char == "s"): print("backward") bebop.fly_direct(roll=0, pitch=-percentage, yaw=0, vertical_movement=0, duration=duration_s) bebop.flat_trim() elif (char == "d"): print("right") bebop.fly_direct(roll=percentage, pitch=0, yaw=0, vertical_movement=0, duration=duration_s) bebop.flat_trim() elif (char == "j"): print("up")
print("sleeping") bebop.smart_sleep(2) bebop.ask_for_state_update() bebop.safe_takeoff(10) bebop.smart_sleep(2) print("Moving the camera using velocity") bebop.pan_tilt_camera_velocity(pan_velocity=0, tilt_velocity=-2, duration=4) bebop.fly_direct(roll=0, pitch=10, yaw=0, vertical_movement=0, duration=10) if (found == False): print("timeout") bebop.safe_land(10) print("Stopping vision") bebopVision.close_video() # disconnect nicely so we don't need a reboot bebop.disconnect() else: print("Error connecting to bebop. Retry")
class Drone: def __init__(self): self.drone = Bebop() def take_off(self): ### Connect to Bebop drone and take off ### success = self.drone.connect1(10) print(success) self.drone.safe_takeoff(2) def step(self, roll, pitch, yaw, vertical_movement, duration): ### Moves the Bebop drone given input parameters ### self.drone.fly_direct(self, roll, pitch, yaw, vertical_movement, duration) def square(self): ### Move the drone in a square pattern### #move left and wait 1 second self.drone.fly_direct(self, roll=-15, pitch=0, yaw=0, vertical_movement=0, duration=1) self.drone.smart_sleep(1) #move forward and wait 1 second self.drone.fly_direct(self, roll=0, pitch=15, yaw=0, vertical_movement=0, duration=1) self.drone.smart_sleep(1) #move right and wait 1 second self.drone.fly_direct(self, roll=15, pitch=0, yaw=0, vertical_movement=0, duration=1) self.drone.smart_sleep(1) #move back and wait 1 second self.drone.fly_direct(self, roll=0, pitch=-15, yaw=0, vertical_movement=0, duration=1) self.drone.smart_sleep(1) def zigzag(self): ### Move the drone in a 3D zigzag pattern### #move left-forward-up and wait 1 second self.drone.fly_direct(self, roll=-15, pitch=15, yaw=0, vertical_movement=15, duration=1) self.drone.smart_sleep(1) #move right-forward-down and wait 1 second self.drone.fly_direct(self, roll=15, pitch=15, yaw=0, vertical_movement=-15, duration=1) self.drone.smart_sleep(1) #move left and wait 1 second self.drone.fly_direct(self, roll=-15, pitch=0, yaw=0, vertical_movement=0, duration=1) self.drone.smart_sleep(1) #move right-back-up and wait 1 second self.drone.fly_direct(self, roll=15, pitch=-15, yaw=0, vertical_movement=15, duration=1) self.drone.smart_sleep(1) #move left-back-down and wait 1 second self.drone.fly_direct(self, roll=-15, pitch=-15, yaw=0, vertical_movement=-15, duration=1) self.drone.smart_sleep(1) def disconnect(self): ### Disconect Bebop drone ### self.drone.disconnect() def land(self): ### Disconnect Bebop drone and land ### success = self.drone.connect1(10) print(success) self.drone.ask_for_state_update() self.drone.safe_land(5) self.drone.disconnect()
class PyParrot(gui.MyFrame1): def __init__(self, parent): gui.MyFrame1.__init__(self, parent) self.statusBar.SetStatusWidths([100, -1]) self.statusBar.SetStatusText('Not Connected') self.lc_commands.InsertColumn(0, 'command', width=300) self.bebop = Bebop() # load saved commands from file self._loadJsonFile() def OnClose( self, event ): if wx.MessageBox("Commands are not yet saved. Do you want to save now?", "Save Changes", wx.ICON_QUESTION | wx.YES_NO) == wx.YES: # Retrive commands from lc_commands cmdList = [] for i in range(self.lc_commands.GetItemCount()): cmdList.append(self.lc_commands.GetItemText(i)) self._saveJsonFile(cmdList) self.OnDisconnect(None) event.Skip() # calls the parent close method def OnConnect( self, event ): isConnected = self.bebop.connect(10) statusText = 'Connected' if not isConnected: statusText = 'Not ' + statusText self.statusBar.SetStatusText(statusText) def OnDisconnect( self, event ): self.bebop.disconnect() self.statusBar.SetStatusText('Disconnected') self.statusBar.SetStatusText(f'Battery: {self.bebop.sensors.battery}%', 1) def OnTakeOff( self, event ): self.bebop.safe_takeoff(10) # By default, setting the status text only sets the first # one. So we must specify the second status text (index 1 # , instead of index 0) self.statusBar.SetStatusText('Taking off', 1) def OnLand( self, event ): self.bebop.safe_land(10) self.statusBar.SetStatusText('Landing', 1) def OnAddTakeOff( self, event ): self._addCommand(f'{CmdType.TakeOff.value},10') def OnAddLand( self, event ): self._addCommand(f'{CmdType.Land.value},10') def OnAddRelative( self, event ): x = int(self.fld_x.GetValue()) y = int(self.fld_y.GetValue()) z = int(self.fld_z.GetValue()) rads = int(self.fld_radians.GetValue()) self._addCommand(f'{CmdType.Relative.value},{x},{y},{z},{rads}') def OnAddDirect( self, event ): roll = int(self.fld_roll.GetValue()) pitch = int(self.fld_pitch.GetValue()) yaw = int(self.fld_yaw.GetValue()) vertical = int(self.fld_vertical.GetValue()) duration = int(self.fld_duration.GetValue()) self._addCommand(f'{CmdType.Direct.value},{roll},{pitch},{yaw},{vertical},{duration}') def OnAddSleep( self, event ): sleep = int(self.fld_sleep.GetValue()) self._addCommand(f'{CmdType.Sleep.value},{sleep}') def OnAddFlip( self, event ): dir = str(self.fld_direction.GetValue()) self._addCommand(f'{CmdType.Flip.value},{dir}') def OnAddFlyGrid(self, event): print("Make sure you take off first!") heightGain = int(self.fld_gridHeight.GetValue()) lengthForward = int(self.fld_gridLength.GetValue()) width = int(self.fld_gridWidth.GetValue()) biLines = int(self.fld_gridLines.GetValue()) widthSection = width/(biLines+1) # Rise self._addCommand(f'{CmdType.Relative.value},0,0,{heightGain},0') # Fly forward and turn right self._addCommand(f'{CmdType.Relative.value},{lengthForward},0,0,90') # Flip self._addCommand(f'{"flip"},{"up"}') # Fly right and turn right self._addCommand(f'{CmdType.Relative.value},{widthSection},0,0,90') # Flip self._addCommand(f'{"flip"},{"up"}') # Fly back and turn left self._addCommand(f'{CmdType.Relative.value},{lengthForward},0,0,-90') # Flip self._addCommand(f'{"flip"},{"up"}') while (biLines >= 2): biLines -= 2 # Fly right and turn left self._addCommand(f'{CmdType.Relative.value},{widthSection},0,0,-90') # Flip self._addCommand(f'{"flip"},{"up"}') # Fly forward and turn right self._addCommand(f'{CmdType.Relative.value},{lengthForward},0,0,90') # Flip self._addCommand(f'{"flip"},{"up"}') # Fly right and turn right self._addCommand(f'{CmdType.Relative.value},{widthSection},0,0,90') # Flip self._addCommand(f'{"flip"},{"up"}') # Fly back and turn left self._addCommand(f'{CmdType.Relative.value},{lengthForward},0,0,-90') # Flip self._addCommand(f'{"flip"},{"up"}') if (biLines == 1): biLines -= 1 # Fly right and turn left self._addCommand(f'{CmdType.Relative.value},{widthSection},0,0,-90') # Flip self._addCommand(f'{"flip"},{"up"}') # Fly forward self._addCommand(f'{CmdType.Relative.value},{lengthForward},0,0,0') # Flip self._addCommand(f'{"flip"},{"up"}') # Fly back left to home self._addCommand(f'{CmdType.Relative.value},{-lengthForward},{-width},0,0') # Flip self._addCommand(f'{"flip"},{"up"}') # Descend self._addCommand(f'{CmdType.Relative.value},0,0,{-heightGain},0') else: # Fly left and turn left self._addCommand(f'{CmdType.Relative.value},{-width},0,0,-90') # Flip self._addCommand(f'{"flip"},{"up"}') # Descend self._addCommand(f'{CmdType.Relative.value},0,0,{-heightGain},0') print("Make sure you land!") def OnRemove( self, event ): self.lc_commands.DeleteItem(self.lc_commands.GetFocusedItem()) def OnUp( self, event ): """Swap the selected item with the one above it""" index = self.lc_commands.GetFocusedItem() if index >= 1: selItemStr = self.lc_commands.GetItemText(index) aboveItemStr = self.lc_commands.GetItemText(index-1) self.lc_commands.SetItemText(index, aboveItemStr) self.lc_commands.SetItemText(index-1, selItemStr) self.lc_commands.Focus(index-1) def OnDown( self, event ): """Swap the selected item with the one below it""" index = self.lc_commands.GetFocusedItem() if index < self.lc_commands.GetItemCount() - 1: selItemStr = self.lc_commands.GetItemText(index) belowItemStr = self.lc_commands.GetItemText(index+1) self.lc_commands.SetItemText(index, belowItemStr) self.lc_commands.SetItemText(index+1, selItemStr) self.lc_commands.Focus(index+1) def OnClear( self, event ): self.lc_commands.DeleteAllItems() def OnRunFromSelection( self, event ): index = self.lc_commands.GetFocusedItem() while index > 0: self.lc_commands.DeleteItem(index - 1) index = self.lc_commands.GetFocusedItem() self.OnRunCommands(event) def OnRunCommands( self, event ): """Go through each item in lc_commands and convert the string to a list. Then use the first item in the list to determine the command type, and the rest of the items are the params""" # Retrive commands from lc_commands cmdList = [] for i in range(self.lc_commands.GetItemCount()): cmdList.append(self.lc_commands.GetItemText(i)) self._saveJsonFile(cmdList) # Abort running attempt if not connected if not self.bebop.drone_connection.is_connected: print("No Connection. Aborting process.") return # === Run Commands === for i in range(self.lc_commands.GetItemCount()): args = self.lc_commands.GetItemText(i).split(',') self.statusBar.SetStatusText(f'Executing command: {args}', 1) try: if (args[0] == CmdType.Sleep.value): self.bebop.smart_sleep(int(args[1])) elif args[0] == CmdType.TakeOff.value: self.bebop.safe_takeoff(int(args[1])) elif args[0] == CmdType.Land.value: self.bebop.safe_land(int(args[1])) elif args[0] == CmdType.Direct.value: self.bebop.fly_direct(int(args[1]), int(args[2]), int(args[3]), int(args[4]), int(args[5])) elif args[0] == CmdType.Relative.value: self.bebop.move_relative(int(args[1]), int(args[2]), int(args[3]), math.radians(int(args[4]))) elif args[0] == CmdType.Flip.value: self.bebop.flip(str(args[1])) except Exception as e: print("Error occurred: ") print(e) continue def _loadJsonFile(self): # Open up JSON file with last run commands filePath = os.getcwd() + os.sep + "cmd_data.json" if os.path.isfile(filePath): f = open(filePath,"r") s = f.read() commands = json.loads(s) # Input commands into GUI interface for c in commands: self._addCommand(c) def _saveJsonFile(self, cmdList): # Place all commands into JSON file and write them to the disk jsonStr = json.dumps(cmdList) filePath = os.getcwd() + os.sep + "cmd_data.json" with open(filePath,"w") as f: f.write(jsonStr) def _addCommand(self, cmd: str): self.lc_commands.InsertItem(self.lc_commands.GetItemCount(), cmd) self.statusBar.SetStatusText(f'Added command: {cmd}', 1)
print("disconnecting") bebop.disconnect() if __name__ == "__main__": # make my bebop object bebop = Bebop() # connect to the bebop success = bebop.connect(5) if (success): # start up the video bebopVision = DroneVisionGUI( bebop, is_bebop=True, user_code_to_run=demo_user_code_after_vision_opened, user_args=(bebop, )) userVision = UserVision(bebopVision, bebop) #take off bebop.safe_takeoff(10) bebop.fly_direct(0, 0, 0, 50, 1) bebopVision.set_user_callback_function( userVision.save_pictures, user_callback_args=None) #calls save picture continuously bebopVision.open_video() else: print("Error connecting to bebop. Retry")
def qr_tracking(droneVision:DroneVisionGUI, bebop:Bebop): cv2.namedWindow('qr') while cv2.getWindowProperty('qr', 0) >= 0: img = droneVision.get_latest_valid_picture() x,y,w,h = None,None,None,None try: rect = zbar.decode(img, symbols=[zbar.ZBarSymbol.QRCODE])[0][2] poly = zbar.decode(img, symbols=[zbar.ZBarSymbol.QRCODE])[0][3] x,y,w,h = rect p1,p2,p3,p4 = poly except IndexError: pass if x is not None: # cv2.rectangle(img,(x,y),(x+w,y+h),(0,0,255)) pts = np.array([[p1[0],p1[1]], [p2[0],p2[1]], [p3[0],p3[1]], [p4[0],p4[1]]], np.int32) pts.reshape(-1,1,2) cv2.polylines(img, [pts], True, (255, 0, 255), 5) area_t1 = abs((p1[0]*(p2[1]-p4[1])+p2[0]*(p4[1]-p1[1])+p4[0]*(p1[1]-p2[1]))/2.0) area_t2 = abs((p3[0] * (p2[1] - p4[1]) + p2[0] * (p4[1] - p3[1]) + p4[0] * (p3[1] - p2[1])) / 2.0) area = area_t2+area_t1 backup_threshold = 20000 fwd_threshold = 10000 if w is not None and area > backup_threshold: print("GOING BACK") bebop.fly_direct(roll=0, pitch=-20, yaw=0, vertical_movement=0, duration=0.07) elif w is not None and area < fwd_threshold: print("GOING FORWARD") bebop.fly_direct(roll=0, pitch=20, yaw=0, vertical_movement=0, duration=0.07) if x is not None and x + (w / 2.0) > 550: print("GOING RIGHT") bebop.fly_direct(roll=0, pitch=0, yaw=100, vertical_movement=0, duration=0.1) elif x is not None and x + (w / 2.0) < 300: print("GOING LEFT") bebop.fly_direct(roll=0, pitch=0, yaw=-100, vertical_movement=0, duration=0.1) if x is not None and y + (h / 2.0) > 380: print("GOING DOWN") bebop.fly_direct(roll=0, pitch=0, yaw=0, vertical_movement=-40, duration=0.1) elif x is not None and y + (h / 2.0) < 100: print("GOING UP") bebop.fly_direct(roll=0, pitch=0, yaw=0, vertical_movement=40, duration=0.1) cv2.imshow('qr', img) cv2.waitKey(10) bebop.safe_land(10) cv2.destroyAllWindows()
def color_tracking(drone_vision:DroneVisionGUI, bebop:Bebop): def show_hist(hist): """Takes in the histogram, and displays it in the hist window.""" bin_count = hist.shape[0] bin_w = 24 img = np.zeros((256, bin_count * bin_w, 3), np.uint8) for i in range(bin_count): h = int(hist[i]) cv2.rectangle(img, (i * bin_w + 2, 255), ((i + 1) * bin_w - 2, 255 - h), (int(180.0 * i / bin_count), 255, 255), -1) img = cv2.cvtColor(img, cv2.COLOR_HSV2BGR) cv2.imshow('hist', img) showBackProj = False showHistMask = False frame = drone_vision.get_latest_valid_picture() if frame is not None: (hgt, wid, dep) = frame.shape cv2.namedWindow('camshift') cv2.namedWindow('hist') cv2.moveWindow('hist', 700, 100) # Move to reduce overlap # Initialize the track window to be the whole frame track_window = (0, 0, wid, hgt) # # Initialize the histogram from the stored image # Here I am faking a stored image with just a couple of blue colors in an array # you would want to read the image in from the file instead histImage = np.array([[[110, 70, 50]], [[111, 128, 128]], [[115, 100, 100]], [[117, 64, 50]], [[117, 200, 200]], [[118, 76, 100]], [[120, 101, 210]], [[121, 85, 70]], [[125, 129, 199]], [[128, 81, 78]], [[130, 183, 111]]], np.uint8) histImage = cv2.imread('orange.jpg') histImage = cv2.cvtColor(histImage,cv2.COLOR_BGR2HSV) maskedHistIm = cv2.inRange(histImage, np.array((0., 60., 32.)), np.array((180., 255., 255.))) cv2.imshow("masked",maskedHistIm) cv2.imshow("histim",histImage) hist = cv2.calcHist([histImage], [0], maskedHistIm, [16], [0, 180]) cv2.normalize(hist, hist, 0, 255, cv2.NORM_MINMAX) hist = hist.reshape(-1) show_hist(hist) # start processing frames while cv2.getWindowProperty('camshift', 0) >= 0: frame = drone_vision.get_latest_valid_picture() vis = frame.copy() hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV) # convert to HSV mask = cv2.inRange(hsv, np.array((0., 60., 32.)), np.array((180., 255., 255.))) # eliminate low and high saturation and value values # The next line shows which pixels are being used to make the histogram. # it sets to black all the ones that are masked away for being too over or under-saturated if showHistMask: vis[mask == 0] = 0 prob = cv2.calcBackProject([hsv], [0], hist, [0, 180], 1) prob &= mask term_crit = (cv2.TERM_CRITERIA_EPS | cv2.TERM_CRITERIA_COUNT, 10, 1) track_box, track_window = cv2.CamShift(prob, track_window, term_crit) print(track_box[1][0]*track_box[1][1]) if showBackProj: vis[:] = prob[..., np.newaxis] try: cv2.ellipse(vis, track_box, (0, 0, 255), 2) area = track_box[1][0]*track_box[1][1] if area > 7000: print("GOING BACK") bebop.fly_direct(roll=0,pitch=-20,yaw=0,vertical_movement=0,duration=0.5) #bebop.smart_sleep(1) elif area < 4000: print("GOING FORWARD") bebop.fly_direct(roll=0,pitch=20,yaw=0,vertical_movement=0,duration=0.5) #bebop.smart_sleep(1) except: pass # print("Track box:", track_box) cv2.imshow('camshift', vis) ch = chr(0xFF & cv2.waitKey(5)) if ch == 'q': break elif ch == 'b': showBackProj = not showBackProj elif ch == 'v': showHistMask = not showHistMask bebop.safe_land(10) cv2.destroyAllWindows()
import math bebop = Bebop() print("connecting") success = bebop.connect(20) print(success) print("sleeping") bebop.smart_sleep(.5) bebop.ask_for_state_update() bebop.safe_takeoff(5) bebop.fly_direct(roll=0, pitch=0, yaw=0, vertical_movement=-20, duration=1) # lowwers drown bebop.smart_sleep(1) ## first movment do not change bebop.fly_direct(roll=0, pitch=50, yaw=0, vertical_movement=0, duration=4.7) # forward bebop.fly_direct(roll=0, pitch=-100, yaw=0, vertical_movement=0, duration=1.2) bebop.smart_sleep(2) #second movement bebop.fly_direct(roll=50, pitch=5, yaw=0, vertical_movement=0, duration=1.7) # right bebop.fly_direct(roll=-50, pitch=0, yaw=0, vertical_movement=0, duration=.5) bebop.smart_sleep(2) # movment three bebop.fly_direct(roll=0, pitch=50, yaw=0, vertical_movement=0,
reward_pool = [] best_reward=0 steps_grad = 0 dx = [0] try: pitch = 80 if (success): bebop.smart_sleep(2) bebop.ask_for_state_update() print('safe_takeoff') bebop.safe_takeoff(10) bebop.set_hull_protection(1) bebop.set_max_distance(10) bebop.set_max_altitude(5) print('going up') bebop.fly_direct(roll=0, pitch=0, yaw=0, vertical_movement=10, duration=3) bebop.fly_direct(roll=0, pitch=0, yaw=0, vertical_movement=10, duration=3) print('add pendulum') bebop.smart_sleep(10) for e in range(num_episode): print('Episode : ', e) count =0 angle = getAngle() state = [[sum(dx), (pitch*0.01)*2.5, angle]] state = torch.FloatTensor(state) state = Variable(state) while count<50: state_pool.append(state) m = Bernoulli(probs) # print('m', m) action = m.sample()