RyzeTelloPython/facetracking_org.py at main · semakarahan/RyzeTelloPython · GitHub

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import cv2

import numpy as np

from djitellopy import tello

import time

me = tello.Tello()

me.connect()

print(me.get_battery())

me.streamon()

me.takeoff()

me.send_rc_control(0, 0, 25, 0)

time.sleep(2.2)

w, h = 360, 240

fbRange = [6200, 6800]

pid = [0.4, 0.4, 0]

pError = 0

def findFace(img):

    faceCascade = cv2.CascadeClassifier("Resources/haarcascade_frontalface_default.xml")

    imgGray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)

    faces = faceCascade.detectMultiScale(imgGray, 1.2, 8)

    myFaceListC = []

    myFaceListArea = []

    for (x, y, w, h) in faces:

        cv2.rectangle(img, (x, y), (x + w, y + h), (0, 0, 255), 2)

        cx = x + w // 2

        cy = y + h // 2

        area = w * h

        cv2.circle(img, (cx, cy), 5, (0, 255, 0), cv2.FILLED)

        myFaceListC.append([cx, cy])

        myFaceListArea.append(area)

    if len(myFaceListArea) != 0:

        i = myFaceListArea.index(max(myFaceListArea))

        return img, [myFaceListC[i], myFaceListArea[i]]

    else:

        return img, [[0, 0], 0]

def trackFace(info, w, pid, pError):
    area = info[1]
    x,y = info[0]
    fb = 0
    error = x- w//2

    speed = pid[0] * error + pid[1] * (error – pError)

    speed = int(np.clip(speed, -100, 100))

    if area > fbRange[0] and area < fbRange[1]:

        fb = 0

    elif area > fbRange[1]:

        fb = -20

    elif area < fbRange[0] and area != 0:

        fb = 20

    if x == 0:

        speed = 0

        error = 0

    #print(speed, fb)

    me.send_rc_control(0, fb, 0, speed)

    return error

#cap = cv2.VideoCapture(1)

while True:

    #_, img = cap.read()

    img = me.get_frame_read().frame

    img = cv2.resize(img, (w, h))

    img, info = findFace(img)

    pError = trackFace( info, w, pid, pError)

    #print(“Center”, info[0], “Area”, info[1])

    cv2.imshow(“Output”, img)

    if cv2.waitkey(1) & 0xFF == ord(‘q’):

        me.land()

        break