Development of tracking function using small educational drone TELLO

-First post- Nice to meet you, I am currently in the fourth year of college. I'm using TELLO to develop a tracking function (although it's not that good ...). The specialty of the professor in charge is the electronic circuit system, and I am in a state of being overwhelmed without hearing about the program. There are some points that cannot be reached, but please help.

-Development environment- ---windows10 ---python

-Contents of programming-

import socket import threading import cv2 import numpy as np

event = threading.Event()

face_cascade = cv2.CascadeClassifier('haarcascade_frontalface_default.xml')

cap = cv2.VideoCapture(0)

width = int(cap.get(cv2.CAP_PROP_FRAME_WIDTH)) height = int(cap.get(cv2.CAP_PROP_FRAME_HEIGHT))

X = width//2 Y = height//3

W = width//2 H = height//2

x = width//2 y = height//3

w = width//2 h = height//2

gain_vx = 3 gain_vy = 3

gain_bf = 0.0022

gain_x_1 = 0.15 gain_y_1 = 0.1

gain_x_2 = 0.0003 gain_y_2 = 0.00005

dx = X - x dy = Y - y

sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, True) sock.bind(("", 9000))

tello_address = ("192.168.10.1", 8889)

def send_command(msg): print(msg) msg = msg.encode(encoding="utf-8") sock.sendto(msg, tello_address) event.wait() event.clear()

def recv(): while True: try: data, server = sock.recvfrom(1518) print(data.decode(encoding="utf-8")) event.set() except Exception: break recvThread = threading.Thread(target=recv) recvThread.start()

def tracking(dx,dy,vx,vy):

if 5 < dx <= 150:
    print('right')
    drone.right(gain_x_1*dx + gain_vx*vx)

if -150 <= dx < -5:
    print('left')
    drone.left(- gain_x_1*dx - gain_vx*vx)

if dx > 150:
    print('right')
    drone.right(gain_x_2*dx*dx + gain_vx*vx/2)

if dx < -150:
    print('left')
    drone.left(gain_x_2*dx*dx - gain_vx*vx/2)

if dy > 5:
    print('down')
    drone.down(gain_y_2*dy*dy + gain_vy*vy/2)

if dy < 5:
    print('up')
    drone.up(gain_y_2*dy*dy + gain_vy*vy/2)

else:
    print("___ERROR___")

def main(): try: send_command("command") send_command("streamon") send_command("takeoff")

    cap = cv2.VideoCapture("udp://0.0.0.0:11111")

    while True:
        ret, img = cap.read()
        cv2.rectangle(img, (X, Y), (X+W, Y+H), color=(0,0,255),thickness= 4)


        gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
        faces = face_cascade.detectMultiScale(gray, 1.3, 5)
        for (x,y,w,h) in faces:
            cv2.rectangle(img,(x,y),(x+w,y+h),(255,0,0),2)
            roi_gray = gray[y:y+h, x:x+w]
            roi_color = img[y:y+h, x:x+w]
        cv2.imshow('img', img)

        tracking(dx,dy,vx,vy)


        if cv2.waitKey(1) & 0xFF == ord('q'):
            break




except Exception as ex:
    print (ex)

finally:
    cap.release()
    cv2.destroyAllWindows()
    send_command("streamoff")
    sock.close()
    print("--- END ---")

if name == "main": main()

-Points that don't work- ① Where is appropriate if frame skip is included? ➁ Is it a problem before frame skipping in the first place?

Thank you.

-The site I used as a reference- https://atsblog.org/tello_tracking_camshift/ http://totech.hateblo.jp/entry/2017/10/22/100726