Can anyone help me?
Basically I am trying to make object following Python program for DJI Tello using YOLOv8 as my beginner level object detection and dji tello program.
And I am unable to fix the errors. Kindly help me and do checkout if any other error exists I would be really thankful if someone can help me in this regard.
Code:
import cv2
import numpy as np
from djitellopy import Tello
from ultralytics import YOLO
import sys
sys.path.insert(0, r"C:\Users\abeer\OneDrive\Desktop\ultralytics")
from ultralytics.utils.ops import non_max_suppression, scale_coords
Load the YOLOv8 model
model = YOLO(r"C:\FYP\Tello Programs\My TELLO Journey\TELLO Ball Tracker(TBT)\Tello Ball Tracker - TBT.v3i.yolov8\runs\detect\train\weights\best.pt")
Initialize DJI Tello
tello = Tello()
tello.connect()
tello.streamon()
Initial speed
S = 60
PID coefficients for the bounding box’s x, y, and area coordinates
pid_x = [0.5, 0.5, 0]
pid_y = [0.5, 0.5, 0]
pid_area = [0.5, 0.5, 0]
Initialize the error and integral terms
error_x, integral_x = 0, 0
error_y, integral_y = 0, 0
error_area, integral_area = 0, 0
The target area of the bounding box (area of the frame to be covered by the bounding box)
target_area = 720*960/5
The target position of the bounding box’s center (center of the frame)
target_x = 960 // 2
target_y = 720 // 2
Take off
tello.takeoff()
Fly to human height
tello.move_up(160)
while True:
# Get the current frame
frame_read = tello.get_frame_read()
frame = cv2.cvtColor(frame_read.frame, cv2.COLOR_BGR2RGB)
frame = cv2.resize(frame, (960, 720))
# Perform object detection
results = model.predict(frame, show=False, conf=0.9)
# If an object was detected
if results[0] is not None and len(results[0].boxes) > 0:
# Get the bounding box with the highest objectness score
max_score_idx = results[0].boxes[:, 4].argmax()
x1, y1, x2, y2 = results[0].boxes[max_score_idx, :4].tolist()
# Calculate the bounding box's area and center
area = (x2 - x1) * (y2 - y1)
center_x = (x1 + x2) / 2
center_y = (y1 + y2) / 2
# Calculate the error terms
error_x_prev = error_x
error_y_prev = error_y
error_area_prev = error_area
error_x = target_x - center_x
error_y = target_y - center_y
error_area = target_area - area
# Calculate the integral terms
integral_x += error_x
integral_y += error_y
integral_area += error_area
# Calculate the derivative terms
derivative_x = error_x - error_x_prev
derivative_y = error_y - error_y_prev
derivative_area = error_area - error_area_prev
# Calculate the adjustment values for the drone's position
adjustment_x = sum([pid_x[i] * error_x for i, error_x in enumerate([error_x, integral_x, derivative_x])])
adjustment_y = sum([pid_y[i] * error_y for i, error_y in enumerate([error_y, integral_y, derivative_y])])
adjustment_area = sum([pid_area[i] * error_area for i, error_area in enumerate([error_area, integral_area, derivative_area])])
# Adjust the drone's position
if adjustment_x > 0:
tello.move_right(min(S, adjustment_x))
elif adjustment_x < 0:
tello.move_left(min(S, -adjustment_x))
if adjustment_y > 0:
tello.move_up(min(S, adjustment_y))
elif adjustment_y < 0:
tello.move_down(min(S, -adjustment_y))
if adjustment_area > 0:
tello.move_forward(min(S, adjustment_area))
elif adjustment_area < 0:
tello.move_back(min(S, -adjustment_area))
# If no object was detected
else:
# Hover in place
tello.send_rc_control(0, 0, 0, 0)
# Display the frame
cv2.imshow('Tello Tracking...', frame)
# Break the loop if 'q' is pressed
if cv2.waitKey(1) & 0xFF == ord('q'):
tello.land()
break
cv2.destroyAllWindows()
Error:
no frame!
left block unavailable for requested intra mode
error while decoding MB 0 15, bytestream 7222
0: 480x640 (no detections), 78.7ms
Speed: 15.6ms preprocess, 78.7ms inference, 15.6ms postprocess per image at shape (1, 3, 480, 640)
Traceback (most recent call last):
File “c:\FYP\Tello Programs\My TELLO Journey\TELLO Ball Tracker(TBT)\Tello Ball Tracker - TBT.v3i.yolov8\test.py”, line 56, in
max_score_idx = results[0].boxes[:, 4].argmax()
~~~~~~~~~~~~~~~~^^^^^^
File “C:\Users\abeer\AppData\Local\Programs\Python\Python311\Lib\site-packages\ultralytics\engine\results.py”, line 63, in getitem
return self.class(self.data[idx], self.orig_shape)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File “C:\Users\abeer\AppData\Local\Programs\Python\Python311\Lib\site-packages\ultralytics\engine\results.py”, line 400, in init
assert n in (6, 7), f’expected n in [6, 7], but got {n}’ # xyxy, (track_id), conf, cls
^^^^^^^^^^^
AssertionError: expected n in [6, 7], but got 0