├── .gitignore ├── .project ├── .pydevproject ├── LICENSE.txt ├── README.md └── src ├── drone_script.py ├── file_utils.py ├── gui.py ├── main.py ├── pid.py ├── polyphemus.py └── red_blob_detection.py /.gitignore: -------------------------------------------------------------------------------- 1 | ################# 2 | ## Eclipse 3 | ################# 4 | 5 | *.pydevproject 6 | .project 7 | .metadata 8 | bin/ 9 | tmp/ 10 | *.tmp 11 | *.bak 12 | *.swp 13 | *~.nib 14 | local.properties 15 | .classpath 16 | .settings/ 17 | .loadpath 18 | 19 | # External tool builders 20 | .externalToolBuilders/ 21 | 22 | # Locally stored "Eclipse launch configurations" 23 | *.launch 24 | 25 | # CDT-specific 26 | .cproject 27 | 28 | # PDT-specific 29 | .buildpath 30 | 31 | *.avi 32 | *.pyc 33 | *.csv 34 | 35 | ################# 36 | ## Visual Studio 37 | ################# 38 | 39 | ## Ignore Visual Studio temporary files, build results, and 40 | ## files generated by popular Visual Studio add-ons. 41 | 42 | # User-specific files 43 | *.suo 44 | *.user 45 | *.sln.docstates 46 | 47 | # Build results 48 | 49 | [Dd]ebug/ 50 | [Rr]elease/ 51 | x64/ 52 | build/ 53 | [Bb]in/ 54 | [Oo]bj/ 55 | 56 | # MSTest test Results 57 | [Tt]est[Rr]esult*/ 58 | [Bb]uild[Ll]og.* 59 | 60 | *_i.c 61 | *_p.c 62 | *.ilk 63 | *.meta 64 | *.obj 65 | *.pch 66 | *.pdb 67 | *.pgc 68 | *.pgd 69 | *.rsp 70 | *.sbr 71 | *.tlb 72 | *.tli 73 | *.tlh 74 | *.tmp 75 | *.tmp_proj 76 | *.log 77 | *.vspscc 78 | *.vssscc 79 | .builds 80 | *.pidb 81 | *.log 82 | *.scc 83 | 84 | # Visual C++ cache files 85 | ipch/ 86 | *.aps 87 | *.ncb 88 | *.opensdf 89 | *.sdf 90 | *.cachefile 91 | 92 | # Visual Studio profiler 93 | *.psess 94 | *.vsp 95 | *.vspx 96 | 97 | # Guidance Automation Toolkit 98 | *.gpState 99 | 100 | # ReSharper is a .NET coding add-in 101 | _ReSharper*/ 102 | *.[Rr]e[Ss]harper 103 | 104 | # TeamCity is a build add-in 105 | _TeamCity* 106 | 107 | # DotCover is a Code Coverage Tool 108 | *.dotCover 109 | 110 | # NCrunch 111 | *.ncrunch* 112 | .*crunch*.local.xml 113 | 114 | # Installshield output folder 115 | [Ee]xpress/ 116 | 117 | # DocProject is a documentation generator add-in 118 | DocProject/buildhelp/ 119 | DocProject/Help/*.HxT 120 | DocProject/Help/*.HxC 121 | DocProject/Help/*.hhc 122 | DocProject/Help/*.hhk 123 | DocProject/Help/*.hhp 124 | DocProject/Help/Html2 125 | DocProject/Help/html 126 | 127 | # Click-Once directory 128 | publish/ 129 | 130 | # Publish Web Output 131 | *.Publish.xml 132 | *.pubxml 133 | 134 | # NuGet Packages Directory 135 | ## TODO: If you have NuGet Package Restore enabled, uncomment the next line 136 | #packages/ 137 | 138 | # Windows Azure Build Output 139 | csx 140 | *.build.csdef 141 | 142 | # Windows Store app package directory 143 | AppPackages/ 144 | 145 | # Others 146 | sql/ 147 | *.Cache 148 | ClientBin/ 149 | [Ss]tyle[Cc]op.* 150 | ~$* 151 | *~ 152 | *.dbmdl 153 | *.[Pp]ublish.xml 154 | *.pfx 155 | *.publishsettings 156 | 157 | # RIA/Silverlight projects 158 | Generated_Code/ 159 | 160 | # Backup & report files from converting an old project file to a newer 161 | # Visual Studio version. Backup files are not needed, because we have git ;-) 162 | _UpgradeReport_Files/ 163 | Backup*/ 164 | UpgradeLog*.XML 165 | UpgradeLog*.htm 166 | 167 | # SQL Server files 168 | App_Data/*.mdf 169 | App_Data/*.ldf 170 | 171 | ############# 172 | ## Windows detritus 173 | ############# 174 | 175 | # Windows image file caches 176 | Thumbs.db 177 | ehthumbs.db 178 | 179 | # Folder config file 180 | Desktop.ini 181 | 182 | # Recycle Bin used on file shares 183 | $RECYCLE.BIN/ 184 | 185 | # Mac crap 186 | .DS_Store 187 | 188 | 189 | ############# 190 | ## Python 191 | ############# 192 | 193 | *.py[co] 194 | 195 | # Packages 196 | *.egg 197 | *.egg-info 198 | dist/ 199 | build/ 200 | eggs/ 201 | parts/ 202 | var/ 203 | sdist/ 204 | develop-eggs/ 205 | .installed.cfg 206 | 207 | # Installer logs 208 | pip-log.txt 209 | 210 | # Unit test / coverage reports 211 | .coverage 212 | .tox 213 | 214 | #Translations 215 | *.mo 216 | 217 | #Mr Developer 218 | .mr.developer.cfg 219 | -------------------------------------------------------------------------------- /.project: -------------------------------------------------------------------------------- 1 | 2 | 3 | visual-follow 4 | 5 | 6 | 7 | 8 | 9 | org.python.pydev.PyDevBuilder 10 | 11 | 12 | 13 | 14 | 15 | org.python.pydev.pythonNature 16 | 17 | 18 | -------------------------------------------------------------------------------- /.pydevproject: -------------------------------------------------------------------------------- 1 | 2 | 3 | Default 4 | python 2.7 5 | 6 | /${PROJECT_DIR_NAME}/src 7 | 8 | 9 | -------------------------------------------------------------------------------- /LICENSE.txt: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. 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If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | Copyright (C) 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # visual-follow 2 | 3 | This is a developer preview of visual based follow-me enhancements. When combined with conventional GPS based follow-me, this module will attempt to usethe gimbal to keep the target centered in frame. 4 | 5 | # Limitations 6 | 7 | The blob detector depends on color - in particular a red hat or shirt. Future releases will be smarter about selecting the target. 8 | 9 | # Usage 10 | 11 | * Install the [DroneAPI](http://dev.ardupilot.com/wiki/droneapi-tutorial/). 12 | * cd src 13 | * Run mavproxy to connect to vehicle (i.e. mavproxy.py --master=/dev/ttyACM0,115000). 14 | * Run "api start src/drone_script.py" 15 | * These steps can be combined into a single init script as necessary 16 | -------------------------------------------------------------------------------- /src/drone_script.py: -------------------------------------------------------------------------------- 1 | import cv2 2 | import time 3 | import os.path 4 | import os 5 | 6 | from file_utils import Logger 7 | from polyphemus import process_stream 8 | 9 | mustarm = False 10 | 11 | def get_vehicle(): 12 | api = local_connect() # @UndefinedVariable 13 | v = api.get_vehicles()[0] 14 | return v 15 | 16 | def wait_for_arm(v): 17 | print "Waiting for arming" 18 | while not v.armed: 19 | time.sleep(0.001) 20 | print "ARMED" 21 | 22 | 23 | def open_camera(): 24 | # yuck - opencv has no way to count # of cameras, so do this hack of looking for /dev/video* 25 | numCameras = len(filter(lambda s: s.startswith("video"), os.listdir("/dev"))) 26 | 27 | c = cv2.VideoCapture() 28 | # We start our search with higher numbered (likely external) cameras 29 | for cnum in range(0, numCameras): 30 | c.open(numCameras - cnum - 1) 31 | if c.isOpened(): 32 | return c 33 | 34 | raise Exception('No cameras found') 35 | 36 | print "DroneScript - Visual-Follow Running" 37 | v = get_vehicle() 38 | 39 | while True: 40 | if mustarm: 41 | wait_for_arm(v) 42 | 43 | video_in = open_camera() 44 | homedir = os.path.expanduser("~") 45 | logger = Logger(path= homedir + "/Videos/") 46 | 47 | process_stream(video_in, logger, vehicle=v, require_arming=mustarm) 48 | -------------------------------------------------------------------------------- /src/file_utils.py: -------------------------------------------------------------------------------- 1 | import cv2 2 | import datetime 3 | import glob 4 | import os 5 | 6 | def get_new_file_name(path): 7 | video_counter = len(glob.glob1(path, "*.avi")) 8 | filename = "demo_%03d" % video_counter 9 | return path + time_stamped(filename) + ".avi" 10 | 11 | def time_stamped(fname, fmt='{fname}_%Y-%m-%d-%H-%M-%S'): 12 | return datetime.datetime.now().strftime(fmt).format(fname=fname) 13 | 14 | 15 | def make_path(path): 16 | if not os.path.exists(path): 17 | os.makedirs(path) 18 | 19 | def get_attitude_string(vehicle): 20 | return str(vehicle.attitude.pitch) + "," + str(vehicle.attitude.roll) + "," + str(vehicle.attitude.yaw) 21 | 22 | def get_location_string(vehicle): 23 | return str(vehicle.location.lat) + "," + str(vehicle.location.lon) + "," + str(vehicle.location.alt) + "," + str(vehicle.location.is_relative) 24 | 25 | 26 | class Logger: 27 | frame_number = 0 28 | 29 | def __init__(self, path="../vids/"): 30 | make_path(path) 31 | 32 | filename = get_new_file_name(path) 33 | self.videoWriter = cv2.VideoWriter(filename=filename, # Provide a file to write the video to 34 | fourcc=cv2.cv.CV_FOURCC('P', 'I', 'M', '1'), # bring up codec dialog box 35 | fps=30, 36 | frameSize=(640, 480)) 37 | self.logFile = open(filename[:-3] + "csv", "w") 38 | self.write_header() 39 | 40 | def write_header(self): 41 | self.logFile.write("frame,datetime,pitch,roll,yaw,lat,lon,alt,is_relative;\n") 42 | 43 | def log(self, frame, vehicle): 44 | self.frame_number = self.frame_number + 1 45 | self.videoWriter.write(frame) 46 | if vehicle: 47 | self.logFile.write(str(self.frame_number) + "," + str(datetime.datetime.today()) + "," + get_attitude_string(vehicle) + "," + get_location_string(vehicle) + ";\n") 48 | else: 49 | self.logFile.write(str(self.frame_number) + "," + str(datetime.datetime.today()) + ";\n") 50 | 51 | def close(self): 52 | self.videoWriter.release() 53 | self.logFile.close() 54 | -------------------------------------------------------------------------------- /src/gui.py: -------------------------------------------------------------------------------- 1 | import cv2 2 | 3 | 4 | def render_crosshairs(frame, target): 5 | if target != None: 6 | green = 20, 255, 60 7 | 8 | cx, cy = target 9 | cv2.circle(frame, (cx, cy), 4, green, 5) 10 | cv2.line(frame, (0, cy), (frame.shape[1], cy), green, 1) 11 | cv2.line(frame, (cx, 0), (cx, frame.shape[0]), green, 1) 12 | 13 | cv2.putText(frame,'Y:%d'%cy,(0,25), cv2.FONT_HERSHEY_SIMPLEX, 1,(0,0,0),2) 14 | -------------------------------------------------------------------------------- /src/main.py: -------------------------------------------------------------------------------- 1 | import argparse 2 | import cv2 3 | 4 | 5 | from polyphemus import process_stream 6 | from file_utils import Logger 7 | 8 | 9 | if __name__ == '__main__': 10 | parser = argparse.ArgumentParser(description="Track a red blob and adjust camera gimbal to follow") 11 | parser.add_argument('-r', '--record', action="store_true", default=False, help='record the output of the program to ../vids/demo_X.avi') 12 | parser.add_argument('-i', '--input', action="store", help='use a video filename as an input instead of a webcam') 13 | args = parser.parse_args() 14 | 15 | video_in = cv2.VideoCapture() 16 | 17 | if args.input != None: 18 | video_in.open(args.input) 19 | else: 20 | video_in.open(0) 21 | 22 | if args.record: 23 | logger = Logger() 24 | else: 25 | logger = None 26 | try: 27 | process_stream(video_in, logger) 28 | except KeyboardInterrupt: 29 | print "KeyboardInterrupt detected." 30 | 31 | -------------------------------------------------------------------------------- /src/pid.py: -------------------------------------------------------------------------------- 1 | class Pid: 2 | ref = 240 3 | integral = 0.0 4 | previus_error = 0.0 5 | 6 | def __init__(self, kp, ki, kd): 7 | self.kp = kp 8 | self.ki = ki 9 | self.kd = kd 10 | 11 | def compute(self, output, reference): 12 | error = reference - output 13 | self.integral = self.integral + error 14 | self.integral = max(min(10000, self.integral), 0) 15 | derivative = (error - self.previus_error) 16 | control = error * self.kp + self.integral * self.ki + derivative * self.kd 17 | self.previus_error = error 18 | return control 19 | 20 | def print_graph(output,control): 21 | graph = '|' * int((output) / 2) 22 | print 'Y %d,\tpwm %d -' % (output, control) + graph -------------------------------------------------------------------------------- /src/polyphemus.py: -------------------------------------------------------------------------------- 1 | import cv2 2 | import sys 3 | 4 | from gui import render_crosshairs 5 | from pid import Pid, print_graph 6 | from red_blob_detection import RedBlobDetector 7 | 8 | # Set to false if you don't want to show any windows 9 | showGUI = True 10 | 11 | controller = Pid(kp=0.2, ki=0.05, kd=0.2) 12 | 13 | vision_algorithm = RedBlobDetector() 14 | 15 | def move_camera(vehicle, pwm): 16 | if vehicle: 17 | pwm = max(pwm, 1) # Ensure we never ask for negative or zero pwm values 18 | msg = vehicle.message_factory.rc_channels_override_encode(1, 1, 0, 0, 0, 0, 0, pwm, 0, 0) 19 | vehicle.send_mavlink(msg) 20 | vehicle.flush() 21 | 22 | def disable_camera(vehicle): 23 | if vehicle: 24 | msg = vehicle.message_factory.rc_channels_override_encode(1, 1, 0, 0, 0, 0, 0, 0, 0, 0) 25 | vehicle.send_mavlink(msg) 26 | vehicle.flush() 27 | 28 | 29 | def process_stream(video_in, logger, vehicle=None, require_arming=False): 30 | if not video_in.isOpened(): 31 | raise Exception("Could not open Video Stream. Bad filename name or missing camera.") 32 | 33 | while True: 34 | frame = get_frame(video_in) 35 | 36 | process_frame(logger, frame, vehicle) 37 | 38 | if vehicle: 39 | if require_arming and not vehicle.armed: 40 | break 41 | ch = 0xFF & cv2.waitKey(5) 42 | if ch == 27: 43 | break 44 | 45 | disable_camera(vehicle) 46 | 47 | print "Done with stream" 48 | if logger: 49 | logger.close() 50 | cv2.destroyAllWindows() 51 | video_in.release() 52 | 53 | def get_frame(videoInput): 54 | gotNewFrame, frame = videoInput.read() 55 | if not gotNewFrame: 56 | print "Reached EOF or webcam disconnected" 57 | sys.exit(0) 58 | return frame 59 | 60 | def process_frame(logger, frame, vehicle): 61 | if logger: 62 | logger.log(frame,vehicle) 63 | 64 | target = vision_algorithm.detect_target(frame) 65 | 66 | camera_pid(target, vehicle) 67 | 68 | render_crosshairs(frame, target) 69 | if showGUI: 70 | cv2.imshow("frame", frame) 71 | 72 | def camera_pid(target, vehicle): 73 | if target != None: 74 | _, cy = target 75 | 76 | control = controller.compute(cy, 240) 77 | pwm = control+1500 78 | move_camera(vehicle, pwm) 79 | 80 | print_graph(cy,pwm) 81 | -------------------------------------------------------------------------------- /src/red_blob_detection.py: -------------------------------------------------------------------------------- 1 | import cv2 2 | 3 | import numpy as np 4 | 5 | 6 | class RedBlobDetector: 7 | hist = np.array([[255.], [0.], [0.], [0.], [0.], [0.], [0.], [0.], [0.], [0.], [0.], [0.], [0.], [0.], [0.], [255.]]) 8 | hist = hist.astype(np.float32, copy=False) 9 | 10 | def detect_target(self,frame): 11 | prob = filter_red_pixels(self.hist, frame) 12 | binary_img = clean_up_with_morphology(prob) 13 | target = detect_biggest_polygon(binary_img) 14 | return target_coordinates(target) 15 | 16 | 17 | def filter_red_pixels(hist, frame): 18 | hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV) 19 | unsaturated_pixels = discard_saturated_pixels(hsv) 20 | red_pixels = filter_by_color(hist, hsv) 21 | red_pixels &= unsaturated_pixels 22 | return red_pixels 23 | 24 | def discard_saturated_pixels(hsv): 25 | mask = cv2.inRange(hsv, np.array((0., 150., 0.)), np.array((180., 255., 255.))) 26 | return mask 27 | 28 | def filter_by_color(hist, hsv): 29 | prob = cv2.calcBackProject([hsv], [0], hist, [0, 180], 1) 30 | return prob 31 | 32 | def clean_up_with_morphology(prob): 33 | erode = cv2.erode(prob, None, iterations=1) 34 | dilated = cv2.dilate(erode, None, iterations=2) 35 | binary_img = cv2.erode(dilated, None, iterations=1) 36 | return binary_img 37 | 38 | def detect_biggest_polygon(binary_img): 39 | binary_img_to_process = binary_img.copy() # contour detection will mess up the image 40 | contours, _ = cv2.findContours(binary_img_to_process, cv2.RETR_LIST, cv2.CHAIN_APPROX_SIMPLE) 41 | biggest_contour = None 42 | if contours != []: 43 | biggest_contour_index = 0 44 | for i in range(1, len(contours)): 45 | if cv2.contourArea(contours[i]) > cv2.contourArea(contours[biggest_contour_index]): 46 | biggest_contour_index = i 47 | 48 | biggest_contour = contours[biggest_contour_index] 49 | return biggest_contour 50 | 51 | def target_coordinates(target): 52 | if target == None: 53 | return None 54 | contour_centroid = cv2.moments(target) 55 | try: 56 | cx, cy = int(contour_centroid['m10'] / contour_centroid['m00']), int(contour_centroid['m01'] / contour_centroid['m00']) 57 | return (cx,cy) 58 | except ZeroDivisionError: 59 | return None --------------------------------------------------------------------------------