Object tracking with MeArmPi

What's this

This is test code of object tracking with MeArmPi.

You can do followings:

• Video streaming from Tello on your browser.
• Object / Color Tracking.
• Change tracking mode (streamonly, test, tracking).

browser image

Reference

MeaArmPi TechnicalOverview

This document is very helpful. Plese read this first and test demo code with your MeArmPi. https://groups.google.com/group/mearm/attach/18a4eb363ddaa/MeArmPiTechnicalOverviewV0-2DRAFT.pdf?part=0.1

Mearm(Python library)

https://gist.github.com/bjpirt/9666d8c623cb98e755c92f1fbeeb6118

Flask Video streaming

http://blog.miguelgrinberg.com/post/video-streaming-with-flask https://github.com/ECI-Robotics/opencv_remote_streaming_processing/

OpenCV (camshift sample code)

https://github.com/opencv/opencv/tree/master/samples/python

Prerequisites

• MeArmPi
• Raspberry Pi 3B / PiCamera module V2
• Python 3.5

Required Packages

You need to install packages on Raspberry Pi

• OpenCV prerequisite libraries

sudo apt update
sudo apt install python3-pip -y
sudo apt install libatlas3-base libwebp6 libtiff5 libjasper1 libilmbase12 libopenexr22 -y
sudo apt install libgstreamer1.0-0 libavcodec57 libavformat57 libswscale4 libqtgui4 libqt4-test -y

• Required packages with this app.

pip3 install opencv-python
pip3 install flask

How to use

Make sure that picamera is enabled (rasp-config) and modprobe bcm2835-v412.

sudo modprobe bcm2835-v4l2

You must also start pigpiod daemon.

sudo pigpiod

Command Option

$ python3 app.py -h
usage: app.py [-h] [-a {camshift,meanshift}] [-s] [-t]
              [-c {blue,red,yellow,green}]

opencv object tracking with MearmPi

optional arguments:
  -h, --help            show this help message and exit
  -a {camshift,meanshift}, --algorithm {camshift,meanshift}
                        select object tracking algorithm
  -s, --stream_only     stream mode (without object traking)
  -t, --test            test mode (without moving arms)
  -c {blue,red,yellow,green}, --color {blue,red,yellow,green}

Object tracking settings

Define parameters in config.ini. you might need to adjust some parameters in your environment.

[camera]
# deifne frame resolution and frame rate.
# (320 * 240  16fps : recommend setting)
frame_prop = (320, 240, 16)
# initial track area
track_area = (80, 80)
.
.
.

Run app (example)

At first, your can run app.py with test option to confirm if settings are fine.

This example is Color(yellow) tracking.

python3 app.py -c yellow --test

access to the streaming url with your browser

http://<your mearm ip addr>:5000/

colors are defined in color.ini

# define hsv (hue, staturation, lightness)
[yellow]
lower = 20, 100, 100
upper = 40, 255, 255
.
.

Misc

Test with only servos

It is strongly suggested that you confirm if servo settings are correct with your MeArm Pi. Run app.py with the arms of MeArmPi removed from servos then you can see that servos move to the right direction.