Added new gestures and detection parameters tuning

config.txt

@@ -1,6 +1,7 @@
 device = 0
 width = 960
 height = 540
-min_detection_confidence = 0.5
+min_detection_confidence = 0.7
 min_tracking_confidence = 0.5
+buffer_len = 5
 is_keyboard = True

gestures/tello_gesture_controller.py

@@ -1,5 +1,6 @@
 from djitellopy import Tello
 
+
 class TelloGestureController:
     def __init__(self, tello: Tello):
         self.tello = tello
@@ -16,23 +17,33 @@ class TelloGestureController:
         print("GESTURE", gesture_id)
 
         if not self._is_landing:
-            if gesture_id == 0:
+            if gesture_id == 0:  # Forward
                 self.forw_back_velocity = 30
-            elif gesture_id == 1:
+            elif gesture_id == 1:  # STOP
+                self.forw_back_velocity = self.up_down_velocity = \
+                    self.left_right_velocity = self.yaw_velocity = 0
+            if gesture_id == 5:  # Back
                 self.forw_back_velocity = -30
-            elif gesture_id == 2:
-                self.forw_back_velocity = 0
-            elif gesture_id == 3:
+
+            elif gesture_id == 2:  # UP
+                self.up_down_velocity = 25
+            elif gesture_id == 4:  # DOWN
+                self.up_down_velocity = -25
+
+            elif gesture_id == 3:  # LAND
                 self._is_landing = True
                 self.forw_back_velocity = self.up_down_velocity = \
                     self.left_right_velocity = self.yaw_velocity = 0
                 self.tello.land()
+
+            elif gesture_id == 6: # LEFT
+                self.left_right_velocity = 20
+            elif gesture_id == 7: # RIGHT
+                self.left_right_velocity = -20
+
             elif gesture_id == -1:
                 self.forw_back_velocity = self.up_down_velocity = \
                     self.left_right_velocity = self.yaw_velocity = 0
 
             self.tello.send_rc_control(self.left_right_velocity, self.forw_back_velocity,
                                        self.up_down_velocity, self.yaw_velocity)
-
-
-

main.py

@@ -29,6 +29,9 @@ def get_args():
     parser.add("--min_tracking_confidence",
                help='min_tracking_confidence',
                type=float)
+    parser.add("--buffer_len",
+               help='Length of gesture buffer',
+               type=int)
 
     args = parser.parse_args()
 
@@ -64,7 +67,7 @@ def main():
 
 
     # Take-off drone
-    # tello.takeoff()
+    tello.takeoff()
 
     cap = tello.get_frame_read()
 
@@ -74,7 +77,7 @@ def main():
 
     gesture_detector = GestureRecognition(args.use_static_image_mode, args.min_detection_confidence,
                                           args.min_tracking_confidence)
-    gesture_buffer = GestureBuffer(buffer_len=5)
+    gesture_buffer = GestureBuffer(buffer_len=args.buffer_len)
 
     def tello_control(key, keyboard_controller, gesture_controller):
         global gesture_buffer

model/keypoint_classifier/keypoint_classifier_label.csv

@@ -1,7 +1,7 @@
 Forward
 Stop
 Up
-OK
+Land
 Down
 Back
 Left