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Pluto_drone_interiit

Prerequisites

  • Ubuntu 20.04/Ubuntu 22.04
  • Python3
  • Terminos function is used, which is a python standard library. It works only on linux.

Installation

  • OpenCv installation
$ sudo apt update

$ sudo apt install libopencv-dev python3-opencv
  • Install numpy
pip3 install numpy
  • Install aruco
pip3 install aruco

Keyboard to control Pluto

  • Up arrow : Forward
  • Down arrow : Backward
  • Left arrow : go left
  • Right arrow : go right
  • q : take_off
  • w : Increase height
  • s : Decrease height
  • e : land
  • a : yaw left
  • d : yaw right
  • j : trim left roll
  • l : trim right roll
  • i : trim front pitch
  • k : trim back pitch

Program Files

  • task1 : Performs task 1, using the keyboard controls the pluto drone.
  • rectangle_2 : Performs task 2, moving the drone in a rectangle.
  • Aruco Marker OpenCV: Performs the task 2 to detect the Aruco marker and returns the respective position coordinates.
    • CAMERA-CALIBARTION:Camera calibration consists in obtaining the camera intrinsic parameters and distortion coefficients. This parameters remain fixed unless the camera optic is modified, thus camera calibration only need to be done once. For the same we have uploaded chessboard images in different- different plane and angle.
    • POSE-ESTIMATION: The camera pose relative to the marker is a 3d transformation from the marker coordinate system to the camera coordinate system. It is specified by rotation and translation vectors.
    • MARKER-DETECTION: We will apply the ArUco detector with OpenCV’s cv2.aruco.detectMarkers function.
    • Pattern-PNG: Pattern png for camera calibration.
    • calib_data:As a result of the calibration, we get a camera matrix: a matrix of 3x3 elements with the focal distances and the camera center coordinates, and the distortion c coefficients: a vector of 5 or more elements that models the distortion produced by your camera.

For Task 1 execute this file: task1.py from task1 folder For task2 hover part execute this file: rectangle_hover.py from task2 For task2 for rectangle path execute this file: rectangle_final.py