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Pose Ordered Tello

Human-Robot-Interaction using Pose-Estimation tree.

The code contains of 3 main parts:

  1. Pose Estimation
  2. Body Tracking
  3. And some other actions for Sending Commands for the Tello Drone!

The Commands Part Contains of:

  1. Active Track
  2. Forward Movement
  3. Backward Movement
  4. Left Movement
  5. Right Movement
  6. Flipping Backward
  7. Taking a Snapshot
  8. Land

Visual Explanation

For the Active Track Part:

3 PID Controllers are applied for tracking the person in the frame.

  1. To control the altitude(Tracking Error = Y position of the person in each frame).
  2. Control the orientation(TE = X position of the person in the frame).
  3. Control the distance(TE = height difference of Hip and Nose of the person).

For the Pose Detection:

  1. Body joints were detected using Google's Mediapipe Framework
  2. Angles of the elbows and shoulders for both right and left hands are being detected
  3. Based on the given angles, each pose is getting detected
  4. Based on that, the commands are being sent to the Quadcopter
  5. After executing each command, 50 frames of images are ignored until the following command arises!

Note: Only tested on Ubuntu 20.04 and Windows 11(Perfectly Working!)!

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pose-ordered-tello's Issues

why did this error occur

socket.gaierror: [Errno 11001] getaddrinfo failed

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
File "D:\Pose-Ordered-Tello-main\Main.py", line 41, in
with mp.solutions.pose.Pose(
File "F:\anaconda3\envs\tellopose\lib\site-packages\mediapipe\python\solutions\pose.py", line 145, in init
_download_oss_pose_landmark_model(model_complexity)
File "F:\anaconda3\envs\tellopose\lib\site-packages\mediapipe\python\solutions\pose.py", line 100, in _download_oss_pose_landmark_model
download_utils.download_oss_model(
File "F:\anaconda3\envs\tellopose\lib\site-packages\mediapipe\python\solutions\download_utils.py", line 32, in download_oss_model
with urllib.request.urlopen(model_url) as response, open(model_abspath,
File "F:\anaconda3\envs\tellopose\lib\urllib\request.py", line 222, in urlopen
return opener.open(url, data, timeout)
File "F:\anaconda3\envs\tellopose\lib\urllib\request.py", line 525, in open
response = self._open(req, data)
File "F:\anaconda3\envs\tellopose\lib\urllib\request.py", line 542, in _open
result = self._call_chain(self.handle_open, protocol, protocol +
File "F:\anaconda3\envs\tellopose\lib\urllib\request.py", line 502, in _call_chain
result = func(*args)
File "F:\anaconda3\envs\tellopose\lib\urllib\request.py", line 1397, in https_open
return self.do_open(http.client.HTTPSConnection, req,
File "F:\anaconda3\envs\tellopose\lib\urllib\request.py", line 1357, in do_open
raise URLError(err)
urllib.error.URLError: <urlopen error [Errno 11001] getaddrinfo failed>
[INFO] tello.py - 437 - Send command: 'streamoff'
[INFO] tello.py - 461 - Response streamoff: 'ok'

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