.gitignore

@@ -194,5 +194,4 @@ pyrightconfig.json
 
 data/
 
-test.py
 # End of https://www.toptal.com/developers/gitignore/api/python,visualstudiocode

README.md

@@ -28,8 +28,6 @@ python agent.py
 
 在无人机底部摄像头检测到无人船上的 Apriltag 后，无人机将开始降落。在降落过程中，无人机将尝试保持在无人船正上方，并在降落过程中调整自身位置，以确保安全降落。
 
-### 
-
 ## License
 USVLander 根据 MIT 许可证发布。这意味着您可以自由地使用、修改和分发该软件，但您必须包含原始作者的版权声明和许可声明。
 

main.py

@@ -0,0 +1,21 @@
+from djitellopy import Tello
+import cv2
+
+my_drone = Tello()
+my_drone.connect()
+print(my_drone.get_battery())
+my_drone.streamon()
+my_drone.set_video_direction(Tello.CAMERA_FORWARD)
+while True:
+    # Read a frame from the video stream
+    img = my_drone.get_frame_read().frame
+    img = cv2.resize(img, (360, 240))
+    # Display the frame
+    cv2.imshow("Image", img)
+    # Check for key press to exit
+    if cv2.waitKey(1) & 0xFF == ord('q'):
+        break
+
+cv2.destroyAllWindows()
+my_drone.streamoff()
+# my_drone.land()

test.py

@@ -0,0 +1,14 @@
+import pupil_apriltags as apriltag
+import cv2
+
+tag_detector = apriltag.Detector(families='tag36h11')
+
+img = cv2.imread('Snipaste_2024-06-22_21-30-43.png')
+# cv2.imshow('aaa', img)
+# print(img.shape)
+tag = tag_detector.detect(img[:,:,0], estimate_tag_pose=True, camera_params=([353.836278849487, 353.077028029136, 163.745870517989, 115.130883974855]), tag_size=0.018)
+
+for t in tag:
+    if t.tag_id == 0:
+        print(t.pose_t)
+        print(t.tag_id)