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precision_landing_single_aruco_debug.py
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###########DEPENDENCIES################
from distutils.log import debug
import time
import socket
import math
import argparse
from arm_takeoff_3 import arm, takeoff, connectMyCopter
from dronekit import connect, VehicleMode,LocationGlobalRelative,APIException
from pymavlink import mavutil
import cv2
import cv2.aruco as aruco
import numpy as np
from imutils.video import WebcamVideoStream
import imutils
#######VARIABLES####################
##Aruco
id_to_find = 72
marker_size = 19 #cm
takeoff_height = 8
velocity = .5
debug_mode = True
aruco_dict = aruco.getPredefinedDictionary(aruco.DICT_ARUCO_ORIGINAL)
parameters = aruco.DetectorParameters_create()
##
##Camera
horizontal_res = 800
vertical_res = 600
cap = WebcamVideoStream(src=0, width=horizontal_res, height=vertical_res).start()
horizontal_fov =59 * (math.pi / 180 ) ##Pi cam V1: 53.5 V2: 62.2
vertical_fov =46 * (math.pi / 180) ##Pi cam V1: 41.41 V2: 48.8
cameraMatrix_rpi = np.array([[933.9466925521707, 0, 358.59608943398365],
[0, 935.0635463990791, 293.0721064675127],
[0, 0, 1]])
cameraDistortion_rpi = np.array([-0.4530790972005633, 0.3951099938612813, 0.0037673873203789916, 0.0016363264710513889, -0.38177331299300393])
##
##Counters and script triggers
found_count=0
notfound_count=0
first_run=0 #Used to set initial time of function to determine FPS
start_time=0
end_time=0
script_mode = 1 ##1 for arm and takeoff, 2 for manual LOITER to GUIDED land
ready_to_land=0 ##1 to trigger landing
manualArm=True ##If True, arming from RC controller, If False, arming from this script.
#########FUNCTIONS#################
def send_local_ned_velocity(vx, vy, vz):
msg = vehicle.message_factory.set_position_target_local_ned_encode(
0,
0, 0,
mavutil.mavlink.MAV_FRAME_BODY_OFFSET_NED,
0b0000111111000111,
0, 0, 0,
vx, vy, vz,
0, 0, 0,
0, 0)
vehicle.send_mavlink(msg)
vehicle.flush()
def send_land_message(x,y, debug_setting = False):
if debug_setting == False:
msg = vehicle.message_factory.landing_target_encode(
0,
0,
mavutil.mavlink.MAV_FRAME_BODY_OFFSET_NED,
x,
y,
0,
0,
0,)
vehicle.send_mavlink(msg)
vehicle.flush()
else:
pass
print("Vehiculo corrigiendo X: ", x, " Y: ", y)
def lander(debug = False):
global first_run,notfound_count,found_count,marker_size,start_time
if first_run==0:
print("First run of lander!!")
first_run=1
start_time=time.time()
frame = cap.read()
frame = cv2.flip(frame,0)
frame = cv2.flip(frame,1)
frame = cv2.resize(frame,(horizontal_res,vertical_res))
frame_np = np.array(frame)
gray_img = cv2.cvtColor(frame_np,cv2.COLOR_BGR2GRAY)
ids=''
corners, ids, rejected = aruco.detectMarkers(image=gray_img,dictionary=aruco_dict,parameters=parameters)
if debug == False:
if vehicle.mode!='LAND':
vehicle.mode=VehicleMode("LAND")
while vehicle.mode!='LAND':
print('WAITING FOR DRONE TO ENTER LAND MODE')
time.sleep(1)
try:
if ids is not None and ids[0] == id_to_find:
ret = aruco.estimatePoseSingleMarkers(corners,marker_size,cameraMatrix=cameraMatrix_rpi,distCoeffs=cameraDistortion_rpi)
(rvec, tvec) = (ret[0][0, 0, :], ret[1][0, 0, :])
x = '{:.2f}'.format(tvec[0])
y = '{:.2f}'.format(tvec[1])
z = '{:.2f}'.format(tvec[2])
y_sum = 0
x_sum = 0
x_sum = corners[0][0][0][0]+ corners[0][0][1][0]+ corners[0][0][2][0]+ corners[0][0][3][0]
y_sum = corners[0][0][0][1]+ corners[0][0][1][1]+ corners[0][0][2][1]+ corners[0][0][3][1]
x_avg = x_sum*.25
y_avg = y_sum*.25 #relative to OpenCV cordinates
#if debug == True:
# print(f"X Aruco: {x_avg} Y Aruco: {y_avg}")
x_ang = (x_avg - horizontal_res*.5)*(horizontal_fov/horizontal_res)
y_ang = (y_avg - vertical_res*.5)*(vertical_fov/vertical_res)
if vehicle.mode!='LAND' and debug == False:
vehicle.mode = VehicleMode('LAND')
while vehicle.mode!='LAND':
time.sleep(1)
print("------------------------")
print("Vehicle now in LAND mode")
print("------------------------")
send_land_message(x_ang,y_ang)
else:
send_land_message(x_ang,y_ang,debug_setting = debug)
pass
#print(("X CENTER PIXEL: "+str(x_avg)+" Y CENTER PIXEL: "+str(y_avg)))
#print(("FOUND COUNT: "+str(found_count)+" NOTFOUND COUNT: "+str(notfound_count)))
#print(("MARKER POSITION: x=" +x+" y= "+y+" z="+z))
found_count=found_count+1
print("")
else:
notfound_count=notfound_count+1
except Exception as e:
print(('Target likely not found. Error: '+str(e)))
notfound_count=notfound_count+1
######################################################
#######################MAIN###########################
######################################################
vehicle = connectMyCopter()
##
##SETUP PARAMETERS TO ENABLE PRECISION LANDING
##
vehicle.parameters['PLND_ENABLED'] = 1
vehicle.parameters['PLND_TYPE'] = 1 ##1 for companion computer
vehicle.parameters['PLND_EST_TYPE'] = 0 ##0 for raw sensor, 1 for kalman filter pos estimation
vehicle.parameters['LAND_SPEED'] = 20 ##Descent speed of 30cm/s
if script_mode ==1 and debug_mode == False:
arm(vehicle)
takeoff(8,vehicle)
print((str(time.time())))
#send_local_ned_velocity(velocity,velocity,0) ##Offset drone from target
time.sleep(1)
ready_to_land=1
elif script_mode==2 and debug_mode == False:
while vehicle.mode!='GUIDED':
time.sleep(1)
print(("Waiting for manual change from mode "+str(vehicle.mode)+" to GUIDED"))
ready_to_land=1
if ready_to_land==1 or debug_mode == True:
while vehicle.armed==True or debug_mode == True:
lander(debug = debug_mode)
end_time=time.time()
total_time=end_time-start_time
total_time=abs(int(total_time))
total_count=found_count+notfound_count
freq_lander=total_count/total_time
print(("Total iterations: "+str(total_count)))
print(("Total seconds: "+str(total_time)))
print("------------------")
print(("lander function had frequency of: "+str(freq_lander)))
print("------------------")
print("Vehicle has landed")
print("------------------")