참고사이트
<개요>
<꼭 지켜야 할 대회 규정>
from djitellopy import Tello
import cv2
import numpy as np
######################################################################
width = 640 # WIDTH OF THE IMAGE
height = 480 # HEIGHT OF THE IMAGE
deadZone =100
######################################################################
startCounter =0
# CONNECT TO TELLO
me = Tello()
me.connect()
me.for_back_velocity = 0
me.left_right_velocity = 0
me.up_down_velocity = 0
me.yaw_velocity = 0
me.speed = 0
print(me.get_battery())
me.streamoff()
me.streamon()
########################
frameWidth = width
frameHeight = height
# cap = cv2.VideoCapture(1)
# cap.set(3, frameWidth)
# cap.set(4, frameHeight)
# cap.set(10,200)
global imgContour
global dir;
def empty(a):
pass
cv2.namedWindow("HSV")
cv2.resizeWindow("HSV",640,240)
cv2.createTrackbar("HUE Min","HSV",20,179,empty)
cv2.createTrackbar("HUE Max","HSV",40,179,empty)
cv2.createTrackbar("SAT Min","HSV",148,255,empty)
cv2.createTrackbar("SAT Max","HSV",255,255,empty)
cv2.createTrackbar("VALUE Min","HSV",89,255,empty)
cv2.createTrackbar("VALUE Max","HSV",255,255,empty)
cv2.namedWindow("Parameters")
cv2.resizeWindow("Parameters",640,240)
cv2.createTrackbar("Threshold1","Parameters",166,255,empty)
cv2.createTrackbar("Threshold2","Parameters",171,255,empty)
cv2.createTrackbar("Area","Parameters",1750,30000,empty)
def stackImages(scale,imgArray):
rows = len(imgArray)
cols = len(imgArray[0])
rowsAvailable = isinstance(imgArray[0], list)
width = imgArray[0][0].shape[1]
height = imgArray[0][0].shape[0]
if rowsAvailable:
for x in range ( 0, rows):
for y in range(0, cols):
if imgArray[x][y].shape[:2] == imgArray[0][0].shape [:2]:
imgArray[x][y] = cv2.resize(imgArray[x][y], (0, 0), None, scale, scale)
else:
imgArray[x][y] = cv2.resize(imgArray[x][y], (imgArray[0][0].shape[1], imgArray[0][0].shape[0]), None, scale, scale)
if len(imgArray[x][y].shape) == 2: imgArray[x][y]= cv2.cvtColor( imgArray[x][y], cv2.COLOR_GRAY2BGR)
imageBlank = np.zeros((height, width, 3), np.uint8)
hor = [imageBlank]*rows
hor_con = [imageBlank]*rows
for x in range(0, rows):
hor[x] = np.hstack(imgArray[x])
ver = np.vstack(hor)
else:
for x in range(0, rows):
if imgArray[x].shape[:2] == imgArray[0].shape[:2]:
imgArray[x] = cv2.resize(imgArray[x], (0, 0), None, scale, scale)
else:
imgArray[x] = cv2.resize(imgArray[x], (imgArray[0].shape[1], imgArray[0].shape[0]), None,scale, scale)
if len(imgArray[x].shape) == 2: imgArray[x] = cv2.cvtColor(imgArray[x], cv2.COLOR_GRAY2BGR)
hor= np.hstack(imgArray)
ver = hor
return ver
def getContours(img,imgContour):
global dir
contours, hierarchy = cv2.findContours(img, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_NONE)
for cnt in contours:
area = cv2.contourArea(cnt)
areaMin = cv2.getTrackbarPos("Area", "Parameters")
if area > areaMin:
cv2.drawContours(imgContour, cnt, -1, (255, 0, 255), 7)
peri = cv2.arcLength(cnt, True)
approx = cv2.approxPolyDP(cnt, 0.02 * peri, True)
#print(len(approx))
x , y , w, h = cv2.boundingRect(approx)
cx = int(x + (w / 2)) # CENTER X OF THE OBJECT
cy = int(y + (h / 2)) # CENTER X OF THE OBJECT
if (cx <int(frameWidth/2)-deadZone):
cv2.putText(imgContour, " GO LEFT " , (20, 50), cv2.FONT_HERSHEY_COMPLEX,1,(0, 0, 255), 3)
cv2.rectangle(imgContour,(0,int(frameHeight/2-deadZone)),(int(frameWidth/2)-deadZone,int(frameHeight/2)+deadZone),(0,0,255),cv2.FILLED)
dir = 1
elif (cx > int(frameWidth / 2) + deadZone):
cv2.putText(imgContour, " GO RIGHT ", (20, 50), cv2.FONT_HERSHEY_COMPLEX,1,(0, 0, 255), 3)
cv2.rectangle(imgContour,(int(frameWidth/2+deadZone),int(frameHeight/2-deadZone)),(frameWidth,int(frameHeight/2)+deadZone),(0,0,255),cv2.FILLED)
dir = 2
elif (cy < int(frameHeight / 2) - deadZone):
cv2.putText(imgContour, " GO UP ", (20, 50), cv2.FONT_HERSHEY_COMPLEX,1,(0, 0, 255), 3)
cv2.rectangle(imgContour,(int(frameWidth/2-deadZone),0),(int(frameWidth/2+deadZone),int(frameHeight/2)-deadZone),(0,0,255),cv2.FILLED)
dir = 3
elif (cy > int(frameHeight / 2) + deadZone):
cv2.putText(imgContour, " GO DOWN ", (20, 50), cv2.FONT_HERSHEY_COMPLEX, 1,(0, 0, 255), 3)
cv2.rectangle(imgContour,(int(frameWidth/2-deadZone),int(frameHeight/2)+deadZone),(int(frameWidth/2+deadZone),frameHeight),(0,0,255),cv2.FILLED)
dir = 4
else: dir=0
cv2.line(imgContour, (int(frameWidth/2),int(frameHeight/2)), (cx,cy),(0, 0, 255), 3)
cv2.rectangle(imgContour, (x, y), (x + w, y + h), (0, 255, 0), 5)
cv2.putText(imgContour, "Points: " + str(len(approx)), (x + w + 20, y + 20), cv2.FONT_HERSHEY_COMPLEX, .7,(0, 255, 0), 2)
cv2.putText(imgContour, "Area: " + str(int(area)), (x + w + 20, y + 45), cv2.FONT_HERSHEY_COMPLEX, 0.7,(0, 255, 0), 2)
cv2.putText(imgContour, " " + str(int(x)) + " " + str(int(y)), (x - 20, y - 45), cv2.FONT_HERSHEY_COMPLEX,0.7,(0, 255, 0), 2)
else: dir=0
def display(img):
cv2.line(img,(int(frameWidth/2)-deadZone,0),(int(frameWidth/2)-deadZone,frameHeight),(255,255,0),3)
cv2.line(img,(int(frameWidth/2)+deadZone,0),(int(frameWidth/2)+deadZone,frameHeight),(255,255,0),3)
cv2.circle(img,(int(frameWidth/2),int(frameHeight/2)),5,(0,0,255),5)
cv2.line(img, (0,int(frameHeight / 2) - deadZone), (frameWidth,int(frameHeight / 2) - deadZone), (255, 255, 0), 3)
cv2.line(img, (0, int(frameHeight / 2) + deadZone), (frameWidth, int(frameHeight / 2) + deadZone), (255, 255, 0), 3)
while True:
# GET THE IMAGE FROM TELLO
frame_read = me.get_frame_read()
myFrame = frame_read.frame
img = cv2.resize(myFrame, (width, height))
imgContour = img.copy()
imgHsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
h_min = cv2.getTrackbarPos("HUE Min","HSV")
h_max = cv2.getTrackbarPos("HUE Max", "HSV")
s_min = cv2.getTrackbarPos("SAT Min", "HSV")
s_max = cv2.getTrackbarPos("SAT Max", "HSV")
v_min = cv2.getTrackbarPos("VALUE Min", "HSV")
v_max = cv2.getTrackbarPos("VALUE Max", "HSV")
lower = np.array([h_min,s_min,v_min])
upper = np.array([h_max,s_max,v_max])
mask = cv2.inRange(imgHsv,lower,upper)
result = cv2.bitwise_and(img,img, mask = mask)
mask = cv2.cvtColor(mask, cv2.COLOR_GRAY2BGR)
imgBlur = cv2.GaussianBlur(result, (7, 7), 1)
imgGray = cv2.cvtColor(imgBlur, cv2.COLOR_BGR2GRAY)
threshold1 = cv2.getTrackbarPos("Threshold1", "Parameters")
threshold2 = cv2.getTrackbarPos("Threshold2", "Parameters")
imgCanny = cv2.Canny(imgGray, threshold1, threshold2)
kernel = np.ones((5, 5))
imgDil = cv2.dilate(imgCanny, kernel, iterations=1)
getContours(imgDil, imgContour)
display(imgContour)
################# FLIGHT
if startCounter == 0:
me.takeoff()
startCounter = 1
if dir == 1:
me.yaw_velocity = -60
elif dir == 2:
me.yaw_velocity = 60
elif dir == 3:
me.up_down_velocity= 60
elif dir == 4:
me.up_down_velocity= -60
else:
me.left_right_velocity = 0; me.for_back_velocity = 0;me.up_down_velocity = 0; me.yaw_velocity = 0
# SEND VELOCITY VALUES TO TELLO
if me.send_rc_control:
me.send_rc_control(me.left_right_velocity, me.for_back_velocity, me.up_down_velocity, me.yaw_velocity)
print(dir)
stack = stackImages(0.9, ([img, result], [imgDil, imgContour]))
cv2.imshow('Horizontal Stacking', stack)
if cv2.waitKey(1) & 0xFF == ord('q'):
me.land()
break
# cap.release()
cv2.destroyAllWindows()
[https://github.com/murtazahassan/Tello-Object-Tracking (1)](https://solstice24.notion.site/https-github-com-murtazahassan-Tello-Object-Tracking-1-91bda2aaa8534c8fb23c8a5db2585a3a)
from djitellopy import tello
from time import sleep
import cv2
me = tello.Tello()
me.connect()
print(me.get_battery())
me.streamon()
me.takeoff()
while True:
img = me.get_frame_read().frame
hsv_frame = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
height, width, _ = img.shape
cx = int(width / 2)
cy = height - int(height / 25)
pixel_center = img[cy, cx]
hue_value = pixel_center[0]
color = "Undefined"
if hue_value < 25:
color = "RED"
elif hue_value < 33:
color = "WHITE"
elif hue_value < 78:
color = "GREEN"
elif hue_value < 131:
color = "BLUE"
elif hue_value < 170:
color = "VIOLET"
else:
color = "WHITE"
pixel_center_bgr = img[cy, cx]
cv2.putText(img, color, (10, 50), 0, 1, (255, 0, 0), 2)
cv2.circle(img, (cx, cy), 5, (255, 0, 0), 3)
cv2.imshow("Frame", img)
key = cv2.waitKey(2)
if color == "WHITE":
me.move_down(50)