def tello_main(args):
"""
Main function used to control your drone using hand.
:param args:
:return:
"""
image_processor = ImageProcessor(
finish_drawing_sign=args.finish_drawing,
hand_detector_confidence=args.hand_detection_confidence)
drone_processor = DroneProcessor(
max_area_cm=args.max_area,
min_length_between_points_cm=args.min_length,
starting_move_up_cm=args.takeoff_offset)
# Start pinigng tello to prevent it from landing
drone_processor.start_pinging_tello()
# Drawing loop
while True:
key = cv2.waitKey(1)
if key & 0xFF == ord("q"):
# Exit if q pressed
cv2.destroyAllWindows()
break
frame = drone_processor.get_last_frame()
if frame is not None:
image_resize_drawed, path_img, finish_drawing, drawing_points = image_processor.process_img(
frame)
frame_and_path = cv2.hconcat([image_resize_drawed, path_img])
if finish_drawing:
cv2.imshow("frame", frame_and_path)
break
cv2.imshow("frame", frame_and_path)
# Stop pinging, so we can send move commands to the drone
drone_processor.stop_pinging_tello()
# Rescale points from range 0-1 to range defined by max_area.
rescaled_points = drone_processor.rescale_points(drawing_points)
# Reduce number of points to reproduce
discrete_path = drone_processor.discrete_path(rescaled_points)
# Convert point list, to list of differences between previous point in list
discrete_path_distance = convert_to_distance_in_xy(discrete_path)
# Reproduce path by the drone
drone_processor.reproduce_discrete_path_by_drone(discrete_path_distance)
# Finish drawing
drone_processor.finish_drawing()
cv2.destroyAllWindows()
def development_main(image_source, args):
"""
Main function used to development using built-in camera or file.
:param image_source:
:param args:
:return:
"""
if image_source == "built_camera":
cap = cv2.VideoCapture(args.camera_index)
else:
cap = cv2.VideoCapture(args.filepath)
image_processor = ImageProcessor(
finish_drawing_sign=args.finish_drawing,
hand_detector_confidence=args.hand_detection_confidence)
while cap.isOpened():
while True:
key = cv2.waitKey(1)
if key & 0xFF == ord("q"):
# Exit if q pressed
cv2.destroyAllWindows()
break
ret, frame = cap.read()
if ret:
image_resize_drawed, path_img, finish_drawing, drawing_points = image_processor.process_img(
frame)
frame_and_path = cv2.hconcat([image_resize_drawed, path_img])
if finish_drawing:
cv2.imshow("frame", frame_and_path)
key = cv2.waitKey(0)
break
cv2.imshow("frame", frame_and_path)
else:
break
break
cap.release()
cv2.destroyAllWindows()