def __init__(self, speed = 50):
'''
Well, initialize
'''
#Class variables
self.emergency_land_activated = False
self.take_off_activated = False
self.battery_log_delay = 2
self.speed = speed
#Initialize the drone and stream
print("INIT: Connecting to Ryze Tello @192.168.10.1")
print("Intructions: \t'Esc': Emergency Land")
self.drone = Tello()
time.sleep(1)
print("LOG: Tello set up!")
self.drone.send_command("streamon")
time.sleep(1)
self.cap = cv2.VideoCapture("udp://192.168.10.1:11111")
# self.cap.set(cv2.CAP_PROP_BUFFERSIZE, 3)
print("LOG: Stream service on")
#Set up battery and emergency land threads
self.battery_thread = Thread(target=self._battery_thread)
self.battery_thread.daemon = True
self.battery_thread.start()
print("LOG: Battery thread started")
#Set up ArUco detection
self.aruco_dict = aruco.Dictionary_get(aruco.DICT_6X6_250)
self.params = aruco.DetectorParameters_create()
print("LOG: ArUco set up")
#Set up camera matrix and distortion coeffs
self.cv_file = cv2.FileStorage("tello_params.yaml", cv2.FILE_STORAGE_READ)
self.cam_mtx = self.cv_file.getNode("camera_matrix").mat()
self.dist_coeff = self.cv_file.getNode("dist_coeff").mat()[0]
self.cv_file.release()
def deploy(self):
"""
Deploys commands built up for drone object to real drone via easyTello.
Note: computer must be connected to the drone's WiFi network.
Examples
----------
drone.deploy() # deploy commands to drone
"""
print('Deploying your commands to a real Tello drone!')
if (self.driver_instance is None):
# Since the driver binds to a socket on instantiation, we can only
# keep a single driver instance open per session
self.driver_instance = Tello()
for command in self.command_log:
self.driver_instance.send_command(self.serialize_command(command))
def main():
print("Setting up Tello")
drone = Tello()
time.sleep(1)
print("Tello set up!")
print("Starting stream service")
drone.send_command("streamon")
time.sleep(2)
cap = cv2.VideoCapture("udp://" + drone.tello_ip + ":11111")
print("Started")
while 1:
_, frame = cap.read()
cv2.imshow("DJI Tello", frame)
k = cv2.waitKey(1) & 0xFF
if k == 27:
break
cap.release()
cv2.destroyAllWindows()
drone.send_command("streamoff")
if __name__ == '__main__':
# logging.basicConfig(level=logging.INFO)
# logger = logging.getLogger('track_demo')
PATH_TO_LABELS = 'export/label_map.pbtxt'
category_index = label_map_util.create_category_index_from_labelmap(
PATH_TO_LABELS, use_display_name=True)
detection_model = load_model()
print('---warming up detection model---')
run_inference_for_single_image(
detection_model, cv2.imread('./test_images/IMG_20200428_144451.jpg'))
detection_model = DetectionModel(detection_model, category_index)
tello = Tello()
tello.command()
tello.streamon()
# tello.get_battery()
# a = dumy_tello()
# a.frame = np.random.randn(300, 300)
tello_tracker = TelloTracker(detection_model,
tello,
output_video='out.mp4')
try:
tello_tracker.track(verbose=True)
tello.land()
time.sleep(0.75)
tello.emergency()
except Exception as e:
tello.emergency()