def test_all_movements(self):
"""Test if drone moves properly.
this test test if controller is corresponding to detected hand movements.
"""
# setup
controller = Controller()
controller.logger.setLevel('DEBUG')
# run
camera = cv2.VideoCapture(0)
cv2.namedWindow('Controller')
while controller.flags_handler.quit_flag is False:
ret, frame = camera.read()
# A good practice is to mock all this processing in pipe.
# Controller processing pipe:
# 1. Draw ROI on frame.
controller.frame_handler.input_frame = frame
# 2. Cover faces, to remove detection noises.
controller.face_processor.face_covered_frame = controller.frame_handler.input_frame
# 3. Remove background from a covered-faces-frame.
controller.back_ground_remover.detected_frame = controller.face_processor.face_covered_frame
# 4. Detect a hand.
controller.detector.input_frame_for_feature_extraction = controller.back_ground_remover.detected_frame
# 5. Extract features, and track detected hand
controller.extractor.extract = controller.detector
inner_image = controller.extractor.get_drawn_extreme_contour_points(
)
if inner_image is not None:
# Draw detected hand on outer image.
outer_image = controller.frame_handler.input_frame
outer_image[
0:inner_image.shape[0], outer_image.shape[1] -
inner_image.shape[1]:outer_image.shape[1]] = inner_image
cv2.imshow('Controller', outer_image)
# Testing.
controller.flags_handler.hand_control = True
controller.get_drone_commands()
rotate_right = controller.rotate_right
rotate_left = controller.rotate_left
move_right = controller.move_right
move_left = controller.move_left
move_down = controller.move_down
move_up = controller.move_up
move_forward = controller.move_forward
move_backward = controller.move_backward
controller.logger.debug(
"move_backward: {}, move_forward: {}, move_up: {}, move_down: {}, move_left: {}, move_right: {}, rotate_left: {}, rotate_right: {}"
.format(move_backward, move_forward, move_up, move_down,
move_left, move_right, rotate_left, rotate_right))
controller.flags_handler.keyboard_input = cv2.waitKey(1)
camera.release()
cv2.destroyWindow('Controller')
def test_start(self):
"""Test if final image created correctly.
:except final_image: a image with ROI drawn on it and the detected hand.
"""
# setup
controller = Controller()
# run
controller.start()
def test_controller_initiation(self):
"""Test if controller params initiated with 0. """
# setup
controller = Controller()
# run
assert controller.get_up_param() == 0
assert controller.get_down_param() == 0
assert controller.get_left_param() == 0
assert controller.get_right_param() == 0
assert controller.get_forward_param() == 0
assert controller.get_backward_param() == 0
assert controller.get_rotate_left_param() == 0
assert controller.get_rotate_right_param() == 0
def main():
drone = init_drone()
controller = Controller(drone)
controller.start()