Pluto Drone Control

This repository contains Python scripts for controlling a Pluto drone and performing computer vision tasks such as ArUco marker detection and depth estimation using Intel RealSense cameras.

Contents

• pluto_throttle.py: Connects to a Pluto drone using the dagger library, arms/disarms the drone, and gradually increases throttle.
• ArUco_detection.py: Detects ArUco markers in a webcam feed and displays their positions.
• ArUco_detection_wrealsense.py: Detects ArUco markers using an Intel RealSense camera, estimates their 3D positions, and displays distance information.
• transformation.py: Detects ArUco markers and computes their normalized positions in the camera frame.
• position_control_wPID.py: (Currently empty) Intended for implementing position control with PID for the drone.

Requirements

• Python 3.7+
• dagger (for Pluto drone control)
• opencv-python
• numpy
• pyrealsense2 (for RealSense camera support)

Install dependencies with:

pip install opencv-python numpy pyrealsense2
# dagger may need to be installed from source or a specific repo

Usage

• Drone Throttle Control:

  python pluto_throttle.py

• ArUco Detection (Webcam):

  python ArUco_detection.py

• ArUco Detection with RealSense:

  python ArUco_detection_wrealsense.py

• Transformation Demo:

  python transformation.py

Notes

• Ensure your Pluto drone is on and connected to the correct WiFi network before running pluto_throttle.py.
• For RealSense scripts, make sure the camera is connected and drivers are installed.
• The dagger library may require manual installation or setup from the Pluto drone SDK.

License

MIT