def camera_callback(self, msg):
if msg.action & 0b001: # take picture
self.drone(
camera.take_photo(cam_id=0)
) # https://developer.parrot.com/docs/olympe/arsdkng_camera.html#olympe.messages.camera.take_photo
if msg.action & 0b010: # start recording
self.drone(camera.start_recording(cam_id=0)).wait(
) # https://developer.parrot.com/docs/olympe/arsdkng_camera.html#olympe.messages.camera.start_recording
if msg.action & 0b100: # stop recording
self.drone(camera.stop_recording(cam_id=0)).wait(
) # https://developer.parrot.com/docs/olympe/arsdkng_camera.html#olympe.messages.camera.stop_recording
self.drone(
gimbal.
set_target( # https://developer.parrot.com/docs/olympe/arsdkng_gimbal.html#olympe.messages.gimbal.set_target
gimbal_id=0,
control_mode='position', # {'position', 'velocity'}
yaw_frame_of_reference='none',
yaw=0.0,
pitch_frame_of_reference=self.
gimbal_frame, # {'absolute', 'relative', 'none'}
pitch=msg.pitch,
roll_frame_of_reference=self.
gimbal_frame, # {'absolute', 'relative', 'none'}
roll=msg.roll))
self.drone(
camera.
set_zoom_target( # https://developer.parrot.com/docs/olympe/arsdkng_camera.html#olympe.messages.camera.set_zoom_target
cam_id=0,
control_mode='level', # {'level', 'velocity'}
target=msg.zoom)) # [1, 3]
def take_photo_burst(drone):
photo_saved = drone(photo_progress(result='photo_saved', _policy='wait'))
drone(take_photo(cam_id=0)).wait()
photo_saved.wait()
media_id = photo_saved.received_events().last().args["media_id"]
# download the photos associated with this media id
media_info_response = requests.get(ANAFI_MEDIA_API_URL + media_id)
media_info_response.raise_for_status()
# download_dir = tempfile.mkdtemp()
download_dir = "../images"
for resource in media_info_response.json()["resources"]:
image_response = requests.get(ANAFI_URL + resource["url"], stream=True)
download_path = os.path.join(download_dir, resource["resource_id"])
image_response.raise_for_status()
with open(download_path, "wb") as image_file:
shutil.copyfileobj(image_response.raw, image_file)
# parse the xmp metadata
with open(download_path, "rb") as image_file:
image_data = image_file.read()
image_xmp_start = image_data.find(b"<x:xmpmeta")
image_xmp_end = image_data.find(b"</x:xmpmeta")
image_xmp = ET.fromstring(
image_data[image_xmp_start:image_xmp_end + 12])
for image_meta in image_xmp[0][0]:
xmp_tag = re.sub(r"{[^}]*}", "", image_meta.tag)
xmp_value = image_meta.text
# only print the XMP tags we are interested in
if xmp_tag in XMP_TAGS_OF_INTEREST:
print(resource["resource_id"], xmp_tag, xmp_value)
def take_photo_burst(drone):
# take a photo burst and get the associated media_id
photo_saved = drone(photo_progress(result="photo_saved", _policy="wait"))
drone(take_photo(cam_id=0)).wait()
if not photo_saved.wait(_timeout=30).success():
return
media_id = photo_saved.received_events().last().args["media_id"]
print("Photo burst resources: {}".format(", ".join(
r.resource_id for r in drone.media.resource_info(media_id=media_id))))
# download the photos associated with this media id
download_dir = tempfile.mkdtemp(prefix="olympe_photo_example")
resources = drone.media.download_media(download_dir,
media_id,
integrity_check=True)
for status, resource_path, resource in resources:
if not status:
print("Failed to download {}".format(resource.resource_id))
continue
# parse the xmp metadata
with open(resource_path, "rb") as image_file:
image_data = image_file.read()
image_xmp_start = image_data.find(b"<x:xmpmeta")
image_xmp_end = image_data.find(b"</x:xmpmeta")
image_xmp = ET.fromstring(
image_data[image_xmp_start:image_xmp_end + 12])
for image_meta in image_xmp[0][0]:
xmp_tag = re.sub(r"{[^}]*}", "", image_meta.tag)
xmp_value = image_meta.text
# only print the XMP tags we are interested in
if xmp_tag in XMP_TAGS_OF_INTEREST:
print(resource.resource_id, xmp_tag, xmp_value)
def take_photo_burst(drone):
# take a photo burst and get the associated media_id
d_actn = drone(take_photo(cam_id=0)).wait()
print(colored((d_actn.success()), "cyan"))
photo_saved = drone(photo_progress(result="photo_saved", _policy="wait"))
photo_saved.wait()
media_id = photo_saved.received_events().last().args["media_id"]
print(colored((media_id), "green"))
os.chdir("/home/rnallapu/code/Results")
# download the photos associated with this media id
media_info_response = requests.get(ANAFI_MEDIA_API_URL + media_id)
media_info_response.raise_for_status()
download_dir = tempfile.mkdtemp()
Res_dir = filecreation()
for resource in media_info_response.json()["resources"]:
image_response = requests.get(ANAFI_URL + resource["url"], stream=True)
download_path = os.path.join(download_dir, resource["resource_id"])
# download_path = os.path.join(Res_dir, resource["resource_id"])
image_response.raise_for_status()
print(colored((download_dir), "red"))
with open(download_path, "wb") as image_file:
shutil.copyfileobj(image_response.raw, image_file)
shutil.copy2(download_path, Res_dir)
print(colored(("Photos Copied !!"), "cyan"))
def take_photo_burst(drone):
# take a photo burst and get the associated media_id
photo_saved = drone(photo_progress(result="photo_saved", _policy="wait"))
drone(take_photo(cam_id=0)).wait()
if not photo_saved.wait(_timeout=30).success():
assert False, "take_photo timedout"
photo_progress_info = photo_saved.received_events().last().args
media_id = photo_progress_info["media_id"]
photo_count = photo_progress_info["photo_count"]
# download the photos associated with this media id
drone.media.download_dir = tempfile.mkdtemp(prefix="olympe_photo_example")
logger.info("Download photo burst resources for media_id: {} in {}".format(
media_id,
drone.media.download_dir,
))
media_download = drone(download_media(media_id, integrity_check=True))
# Iterate over the downloaded media on the fly
resources = media_download.as_completed(expected_count=photo_count,
timeout=60)
resource_count = 0
for resource in resources:
logger.info("Resource: {}".format(resource.resource_id))
if not resource.success():
logger.error("Failed to download {}".format(resource.resource_id))
continue
resource_count += 1
# parse the xmp metadata
with open(resource.download_path, "rb") as image_file:
image_data = image_file.read()
image_xmp_start = image_data.find(b"<x:xmpmeta")
image_xmp_end = image_data.find(b"</x:xmpmeta")
if image_xmp_start < 0 or image_xmp_end < 0:
logger.error("Failed to find XMP photo metadata {}".format(
resource.resource_id))
continue
image_xmp = ET.fromstring(
image_data[image_xmp_start:image_xmp_end + 12])
for image_meta in image_xmp[0][0]:
xmp_tag = re.sub(r"{[^}]*}", "", image_meta.tag)
xmp_value = image_meta.text
# only print the XMP tags we are interested in
if xmp_tag in XMP_TAGS_OF_INTEREST:
logger.info("{} {} {}".format(resource.resource_id,
xmp_tag, xmp_value))
logger.info("{} media resource downloaded".format(resource_count))
assert resource_count == 14, "resource count == {} != 14".format(
resource_count)
assert media_download.wait(1.).success(), "Photo burst media download"
def take_photo_burst_Move(drone, th_mov, th_R0, dxm):
# take a photo burst and get the associated media_id
xc, yc, zc = R3_Mat_Cords(th_R0, dxm)
photo_saved = drone(photo_progress(result="photo_saved", _policy="wait"))
drone(take_photo(cam_id=0) & moveBy(xc, yc, zc, th_mov)).wait()
photo_saved.wait()
media_id = photo_saved.received_events().last().args["media_id"]
# download the photos associated with this media id
media_info_response = requests.get(ANAFI_MEDIA_API_URL + media_id)
media_info_response.raise_for_status()
os.chdir("/home/rnallapu/code/Results")
download_dir = tempfile.mkdtemp()
Res_dir = filecreation()
#tempfile.gettempdir()
for resource in media_info_response.json()["resources"]:
image_response = requests.get(ANAFI_URL + resource["url"], stream=True)
download_path = os.path.join(download_dir, resource["resource_id"])
print('Hello')
print(download_path)
image_response.raise_for_status()
with open(download_path, "wb") as image_file:
shutil.copyfileobj(image_response.raw, image_file)
# parse the xmp metadata
with open(download_path, "rb") as image_file:
image_data = image_file.read()
image_xmp_start = image_data.find(b"<x:xmpmeta")
image_xmp_end = image_data.find(b"</x:xmpmeta")
image_xmp = ET.fromstring(image_data[image_xmp_start : image_xmp_end + 12])
for image_meta in image_xmp[0][0]:
xmp_tag = re.sub(r"{[^}]*}", "", image_meta.tag)
xmp_value = image_meta.text
# only print the XMP tags we are interested in
if xmp_tag in XMP_TAGS_OF_INTEREST:
print(resource["resource_id"], xmp_tag, xmp_value)
#
#shutil.copy2(download_path, "/home/rnallapu/code/Photos/")
shutil.copy2(download_path, Res_dir)
def main(drone, media=None):
drone.connect()
setup_photo_burst_mode(drone)
if media is None:
assert drone.media_autoconnect
media = drone.media
media.download_dir = tempfile.mkdtemp(prefix="olympe_media_example_")
media.integrity_check = True
logger.info("waiting for media resources indexing...")
if not media(indexing_state(state="indexed")).wait(_timeout=60).success():
logger.error("Media indexing timed out")
return
logger.info("media resources indexed")
with MediaEventListener(media):
photo_saved = drone(
photo_progress(result="photo_saved", _policy="wait"))
drone(take_photo(cam_id=0)).wait()
if not photo_saved.wait(_timeout=30).success():
logger.error("Photo not saved: {}".format(photo_saved.explain()))
def takePhoto(self, longitude, latitude, altitude=-1):
drone_location = self.drone.get_state(GpsLocationChanged)
self.setup_photo_mode()
print(drone_location)
self.flyTo(longitude, latitude, altitude)
# take a photo burst and get the associated media_id
photo_saved = self.drone(
photo_progress(result="photo_saved", _policy="wait"))
self.drone(take_photo(cam_id=0)).wait()
photo_saved.wait()
media_id = photo_saved.received_events().last().args["media_id"]
print(media_id)
# download the photos associated with this media id
media_info_response = requests.get(ANAFI_MEDIA_API_URL + media_id)
media_info_response.raise_for_status()
download_dir = self.images_path
for resource in media_info_response.json()["resources"]:
image_response = requests.get(ANAFI_URL + resource["url"],
stream=True)
download_path = os.path.join(download_dir, resource["resource_id"])
print(download_path)
image_response.raise_for_status()
with open(download_path, "wb") as image_file:
shutil.copyfileobj(image_response.raw, image_file)
# parse the xmp metadata
with open(download_path, "rb") as image_file:
image_data = image_file.read()
image_xmp_start = image_data.find(b"<x:xmpmeta")
image_xmp_end = image_data.find(b"</x:xmpmeta")
image_xmp = ET.fromstring(
image_data[image_xmp_start:image_xmp_end + 12])
for image_meta in image_xmp[0][0]:
xmp_tag = re.sub(r"{[^}]*}", "", image_meta.tag)
xmp_value = image_meta.text
# only print the XMP tags we are interested in
if xmp_tag in XMP_TAGS_OF_INTEREST:
print(resource["resource_id"], xmp_tag, xmp_value)
return download_path
drone(
set_camera_mode(cam_id=0, value=1)
).wait()
#Set photo mode
drone(
set_photo_mode(cam_id=0, mode=0, format=0, file_format=0, burst=0, bracketing=0, capture_interval=0)
).wait()
# #Take picture
# drone(
# take_photo(cam_id=0)
# ).wait()
print("*******************************************************************************************************")
print("TAKING PICTURE")
print("*******************************************************************************************************")
photo_saved = drone(photo_progress(result="photo_saved", _policy="wait"))
drone(take_photo(cam_id=0)).wait()
photo_saved.wait()
media_id = photo_saved.received_events().last().args["media_id"]
#Go to HOME
print("*******************************************************************************************************")
print("GOING TO HOME")
print("*******************************************************************************************************")
drone(
moveTo(latitude=homeLatitude,longitude=homeLongitude,altitude=homeAltitude, orientation_mode=0, heading=0)
>> FlyingStateChanged(state="hovering", _timeout=5)
).wait()
drone(Landing()).wait()
drone.disconnection()
#Save photo to local storage
print("*******************************************************************************************************")
def take_Map_Photo_Move(drone, th_mov, th_gim, th_R0, xf, dxm, dzm):
photo_saved = drone(photo_progress(result="photo_saved", _policy="wait"))
# Pass - 1:
drone(moveBy(0, 0, dzm, 0)
>> FlyingStateChanged(state="hovering", _timeout=5)).wait() # Initial Height
m_AR = []
AMPU_ID = []
drone(gimbal.set_target(
gimbal_id=0,
control_mode="position",
yaw_frame_of_reference="relative",
yaw=0.0,
pitch_frame_of_reference="relative",
pitch=th_gim,
roll_frame_of_reference="relative",
roll=0.0)
>> olympe.messages.gimbal.attitude(pitch_relative=th_gim, _timeout=5)
).wait()
D_th = th_mov
x_arr = arange(0, xf, dxm)
xlen = len(x_arr)
th_arr1 = linspace(0, D_th, xlen)
th_arr = th_arr1 + th_R0
dth = th_arr1[1]
# take a photo burst and get the associated media_id
for ix in range(0, xlen-1):
xc, yc, zc = R3_Mat_Cords(th_arr[ix], dxm)
drone(
take_photo(cam_id=0) & moveBy(xc, yc, zc, dth)
>> FlyingStateChanged(state="hovering", _timeout=5)).wait()
photo_saved.wait()
idp = photo_saved.received_events().last().args["media_id"]
m_AR.append(idp)
# Pass - 2:
drone(moveBy(0, 0, -2*dzm, 0)
>> FlyingStateChanged(state="hovering", _timeout=5)).wait() # Initial Height
drone(gimbal.set_target(
gimbal_id=0,
control_mode="position",
yaw_frame_of_reference="relative",
yaw=0.0,
pitch_frame_of_reference="relative",
pitch=-2*th_gim,
roll_frame_of_reference="relative",
roll=0.0)
>> olympe.messages.gimbal.attitude(pitch_relative=-2*th_gim, _timeout=5)
).wait()
D_th2 = -th_mov
th_arr2 = linspace(0, D_th2, xlen)
dth2 = th_arr2[1]
# take a photo burst and get the associated media_id
for ix1 in range(0, xlen-1):
xc, yc, zc = R3_Mat_Cords(th_arr[xlen-ix1-1], -dxm)
drone(
take_photo(cam_id=0) & moveBy(xc, yc, zc, dth2)
>> FlyingStateChanged(state="hovering", _timeout=5)).wait()
photo_saved.wait()
idp = photo_saved.received_events().last().args["media_id"]
m_AR.append(idp)
#media_id = photo_saved.received_events().last().args["media_id"]
nph = len(m_AR)
## HEre
# download the photos associated with this media id
os.chdir("/home/rnallapu/code/Results")
#media_info_response = requests.get(ANAFI_MEDIA_API_URL + m_AR)
#media_info_response = requests.get(ANAFI_MEDIA_API_URL.join(m_AR))
for inph in range(0, nph-1):
AMPU_ID.append(ANAFI_MEDIA_API_URL + m_AR[inph])
media_info_response = requests.get(AMPU_ID[2])
media_info_response.raise_for_status()
print(AMPU_ID)
print('Action Completed')
download_dir = tempfile.mkdtemp()
Res_dir = filecreation()
#tempfile.gettempdir()
for resource in media_info_response.json()["resources"]:
image_response = requests.get(ANAFI_URL + resource["url"], stream=True)
download_path = os.path.join(download_dir, resource["resource_id"])
print('Hello')
print(download_path)
image_response.raise_for_status()
with open(download_path, "wb") as image_file:
shutil.copyfileobj(image_response.raw, image_file)
#shutil.copy2(download_path, "/home/rnallapu/code/Photos/")
shutil.copy2(download_path, Res_dir)