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precision-landing-mavros.py
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precision-landing-mavros.py
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import rospy
from sensor_msgs.msg import Image
import cv2
import time
import numpy as np
from cv2 import aruco
from mavros_msgs.srv import CommandBool, SetMode
from mavros_msgs.msg import State
from geometry_msgs.msg import PoseStamped
from std_msgs.msg import Header
from cv_bridge import CvBridge
import argparse
class MarkerDetector:
def __init__(self, target_type, target_size, camera_info):
self.target_type = target_type
self.marker_size = target_size
if self.target_type == 'aruco':
self.dictionary = aruco.getPredefinedDictionary(cv2.aruco.DICT_5X5_1000)
self.parameters = aruco.DetectorParameters()
self.detector = aruco.ArucoDetector(self.dictionary, self.parameters)
elif self.target_type == 'qrcode':
print("QR Code not implemented yet!")
self.camera_matrix = camera_info[0]
self.dist_coeff = camera_info[1]
self.np_camera_matrix = np.array(self.camera_matrix)
self.np_dist_coeff = np.array(self.dist_coeff)
self.horizontal_res = camera_info[2][0]
self.vertical_res = camera_info[2][1]
self.horizontal_fov = camera_info[3][0]
self.vertical_fov = camera_info[3][1]
def pose_estimation(self, corners, marker_size, mtx, distortion):
marker_points = np.array([[-marker_size / 2, marker_size / 2, 0],
[marker_size / 2, marker_size / 2, 0],
[marker_size / 2, -marker_size / 2, 0],
[-marker_size / 2, -marker_size / 2, 0]], dtype=np.float32)
nada, rvec, tvec = cv2.solvePnP(marker_points, corners, mtx, distortion, False, cv2.SOLVEPNP_IPPE_SQUARE)
return rvec, tvec
def aruco_detection(self, frame):
markerCorners, markerIds, rejected = self.detector.detectMarkers(frame)
i = 0
if len(markerCorners) > 0:
closest_target = []
closest_dist = 100000
for corners in markerCorners:
marker_points = corners[0]
final_image = self.draw_marker(frame, marker_points)
pose = self.pose_estimation(marker_points, self.marker_size, self.np_camera_matrix, self.np_dist_coeff)
rvec, tvec = pose
x = round(tvec[0][0], 2)
y = round(tvec[1][0], 2)
z = round(tvec[2][0], 2)
x_sum = marker_points[0][0] + marker_points[1][0] + marker_points[2][0] + marker_points[3][0]
y_sum = marker_points[0][1] + marker_points[1][1] + marker_points[2][1] + marker_points[3][1]
x_avg = x_sum / 4
y_avg = y_sum / 4
x_ang = (x_avg - self.horizontal_res * 0.5) * self.horizontal_fov / self.horizontal_res
y_ang = (y_avg - self.vertical_res * 0.5) * self.vertical_fov / self.vertical_res
payload = markerIds[i][0]
i += 1
if z < closest_dist:
closest_dist = z
closest_target = [x, y, z, x_ang, y_ang, payload, final_image]
return closest_target
return None
def draw_marker(self, frame, points):
topLeft, topRight, bottomRight, bottomLeft = points
tR = (int(topRight[0]), int(topRight[1]))
bR = (int(bottomRight[0]), int(bottomRight[1]))
bL = (int(bottomLeft[0]), int(bottomLeft[1]))
tL = (int(topLeft[0]), int(topLeft[1]))
cX = int((tR[0] + bL[0]) / 2.0)
cY = int((tR[1] + bL[1]) / 2.0)
rect = cv2.rectangle(frame, tL, bR, (0, 0, 255), 2)
final = cv2.circle(rect, (cX, cY), radius=4, color=(0, 0, 255), thickness=-1)
return final
class PrecLand:
def __init__(self, target_type, target_size, camera_info):
self.detector = MarkerDetector(target_type, target_size, camera_info)
rospy.init_node('drone_node', anonymous=False)
self.bridge_object = CvBridge()
self.newimg_pub = rospy.Publisher('camera/colour/image_new', Image, queue_size=10)
self.state_sub = rospy.Subscriber('/mavros/state', State, self.state_cb)
self.local_pos_pub = rospy.Publisher('/mavros/setpoint_position/local', PoseStamped, queue_size=10)
self.arming_client = rospy.ServiceProxy('/mavros/cmd/arming', CommandBool)
self.set_mode_client = rospy.ServiceProxy('/mavros/set_mode', SetMode)
self.current_state = State()
self.teste = []
self.cam = cv2.VideoCapture(0)
def state_cb(self, state):
self.current_state = state
def send_land_message(self, x_ang, y_ang, dist_m, time=0):
msg = PoseStamped()
msg.header = Header()
msg.header.stamp = rospy.Time.now()
msg.pose.position.x = x_ang
msg.pose.position.y = y_ang
msg.pose.position.z = dist_m
self.local_pos_pub.publish(msg)
print("Mensagem enviada")
def msg_receiver(self):
ret, frame = self.cam.read()
if not ret:
return
closest_target = self.detector.aruco_detection(frame)
if closest_target is not None and self.current_state.mode == 'LAND':
x, y, z, x_ang, y_ang, payload, draw_img = closest_target
dist = float(z) / 100
self.send_land_message(x_ang, y_ang, dist)
print(f'MARKER POSITION: x = {x} | y = {y} | z = {z} | x_ang = {round(x_ang, 2)} | y_ang = {round(y_ang, 2)} | ID = {payload}')
ros_img = self.bridge_object.cv2_to_imgmsg(draw_img, 'bgr8')
self.newimg_pub.publish(ros_img)
def arm_and_takeoff(self, aTargetAltitude):
while not self.current_state.connected:
print(" Waiting for vehicle to connect...")
time.sleep(1)
self.set_mode_client(base_mode=0, custom_mode="GUIDED")
self.arming_client(True)
while not self.current_state.armed:
print(" Waiting for arming...")
time.sleep(1)
pose = PoseStamped()
pose.pose.position.x = 0
pose.pose.position.y = 0
pose.pose.position.z = aTargetAltitude
for i in range(100):
self.local_pos_pub.publish(pose)
time.sleep(0.1)
while not rospy.is_shutdown():
self.local_pos_pub.publish(pose)
if self.current_state.mode == "GUIDED" and self.current_state.armed:
print("Taking off!")
break
time.sleep(1)
while self.current_state.mode == "GUIDED":
print(" Altitude: ", self.current_state.altitude.local)
if self.current_state.altitude.local >= aTargetAltitude * 0.95:
print(f"Reached target altitude {self.current_state.altitude.local}")
break
time.sleep(1)
if __name__ == '__main__':
marker_size = 50
camera_matrix = [[467.74270306499267, 0.0, 320.5],
[0.0, 467.74270306499267, 240.5],
[0.0, 0.0, 1.0]]
dist_coeff = [0.0, 0.0, 0.0, 0.0, 0]
res = (640, 480)
fov = (1.2, 1.1)
camera = [camera_matrix, dist_coeff, res, fov]
precision_landing = PrecLand('aruco', marker_size, camera)
precision_landing.arm_and_takeoff(10)
print("Take off complete")
if precision_landing.current_state.mode != 'LAND':
precision_landing.set_mode_client(base_mode=0, custom_mode='LAND')
while precision_landing.current_state.mode != 'LAND':
time.sleep(1)
print('vehicle in LAND mode')
print("Going for precision landing...")
rate = rospy.Rate(20)
while not rospy.is_shutdown():
precision_landing.msg_receiver()
rate.sleep()
print("END")