tello-手掌控制無人機

實驗流程

• 使用cvzone找出手掌並能分辨手指頭數目
• 用條件式控制       1-前進 //2-後退 //3-左偏航 //4-右偏航

使用到的函式庫

pycharm IDE之下安裝

cvzone

mediapip

opencv-python

djitello2

先找出手和節點

from cvzone.HandTrackingModule import HandDetector
import cv2
from time import sleep

#先建立影像視窗
cap = cv2.VideoCapture(0)
detector = HandDetector()
while True:
    success, img = cap.read()
    detector.findHands(img)
    lmList, bboxInfo = detector.findPosition(img)
    print(bboxInfo)
    cv2.imshow("img", img)
    cv2.waitKey(1000)

算出手指數

在程式碼裡加上以下檢測手指數並在畫面上印出手指數

if lmList:
    bbox = bboxInfo['bbox']
    fingers = detector.fingersUp()
    total = fingers.count(1)
    cv2.putText(img, f'Fingers: {total}', (bbox[0], bbox[1]-30),
                cv2.FONT_HERSHEY_COMPLEX,1, (255,0,0))
    print(total)

然後寫手指數1,2,3,4,5,0的條件式

if totalFingers == 1:
    mytello.send_rc_control(0, 20, 0, 0)
elif totalFingers == 2:
    mytello.send_rc_control(0, -20, 0, 0)
elif totalFingers == 3:
    mytello.send_rc_control(20, 0, 0, 0)
elif totalFingers == 4:
    mytello.send_rc_control(-20, 0, 0, 0)
elif totalFingers == 5:
    mytello.send_rc_control(0, 0, 0, 0)
elif totalFingers == 0:
    mytello.send_rc_control(0, 0, 0, 0)
print(totalFingers)

和tello控制合併一起後的完整程式碼

from cvzone.HandTrackingModule import HandDetector
import cv2
from djitellopy import tello
from time import sleep

mytello = tello.Tello()
mytello.connect()
mytello.takeoff()
mytello.streamon()
print("電池電量: {}".format(mytello.get_battery()))
mytello.send_rc_control(0, 0, 25, 0)
sleep(2)
# cap = cv2.VideoCapture(0)
# cap.set(3, 680)
# cap.set(4, 480)
detector = HandDetector(detectionCon=0.5, maxHands=1, minTrackCon=0.5)
t = 0
while True:
    #Get image frame
    # success, img = cap.read()
    img = mytello.get_frame_read().frame
    img = cv2.resize(img, (600, 400))
    # Find the hand and its landmarks
    img = detector.findHands(img)
    lmList, bboxInfo = detector.findPosition(img)
    if lmList:
        bbox = bboxInfo['bbox']
        fingers = detector.fingersUp()
        totalFingers = fingers.count(1)
        if totalFingers == 1:
            mytello.send_rc_control(0, 20, 0, 0)
        elif totalFingers == 2:
            mytello.send_rc_control(0, -20, 0, 0)
        elif totalFingers == 3:
            mytello.send_rc_control(20, 0, 0, 0)
        elif totalFingers == 4:
            mytello.send_rc_control(-20, 0, 0, 0)
        elif totalFingers == 5:
            mytello.send_rc_control(0, 0, 0, 0)
        elif totalFingers == 0:
            mytello.send_rc_control(0, 0, 0, 0)
        print(totalFingers)
        cv2.putText(img, f'Fingers:{totalFingers}', (bbox[0] + 200, bbox[1] - 30),
                    cv2.FONT_HERSHEY_PLAIN, 2, (0, 255, 0), 2)
    elif bboxInfo == []:
        mytello.send_rc_control(0, 0, 0, 0)
        print(t)
    # Display
    cv2.imshow("Image", img)
    if cv2.waitKey(1) & 0xFF == ord('q'):
        # break
        mytello.land()
# cap.release()
# cv2.destroyAllWindows()