ArUco marker landing in Drone Programming - Interactive Code Practice

Practice - 5 Tasks

1fill in blank

easy

Complete the code to import the ArUco marker dictionary.

Drone Programming

import cv2
aruco_dict = cv2.aruco.Dictionary_get(cv2.aruco.[1])

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ADICT_7X7_1000

BDICT_5X5_100

CDICT_6X6_250

DDICT_4X4_50

Attempts:

3 left

💡 Hint

Common Mistakes

Choosing a dictionary size that does not match the marker size.

The DICT_4X4_50 dictionary is commonly used for ArUco markers with 4x4 bits and 50 unique markers.

2fill in blank

medium

Complete the code to detect ArUco markers in the image.

Drone Programming

corners, ids, rejected = cv2.aruco.detectMarkers(image, [1])

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Aparameters

Bcv2.aruco.DetectorParameters_create()

Caruco_dict

Dcv2.aruco.Dictionary_get()

Attempts:

3 left

💡 Hint

Common Mistakes

Passing detector parameters instead of the dictionary.

The detectMarkers function requires the dictionary of markers to detect, which is aruco_dict.

3fill in blank

hard

Fix the error in the code to estimate the pose of the detected marker.

Drone Programming

rvec, tvec, _ = cv2.aruco.estimatePoseSingleMarkers(corners, marker_length, [1], camera_matrix, dist_coeffs)

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Adist_coeffs

Bcamera_matrix

Cparameters

Daruco_dict

Attempts:

3 left

💡 Hint

Common Mistakes

Passing distortion coefficients instead of camera matrix.

The third argument must be the camera matrix, which contains the camera's intrinsic parameters.

4fill in blank

hard

Fill both blanks to draw the detected marker's axis on the image.

Drone Programming

cv2.aruco.drawAxis(image, [1], [2], rvec[0], tvec[0], axis_length)

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Acamera_matrix

Bdist_coeffs

Caruco_dict

Dparameters

Attempts:

3 left

💡 Hint

Common Mistakes

Swapping the order of camera matrix and distortion coefficients.

The drawAxis function requires the camera matrix and distortion coefficients to correctly draw the axis.

5fill in blank

hard

Fill all three blanks to command the drone to land on the detected ArUco marker.

Drone Programming

if ids is not None:
    x, y, z = tvec[0][0]
    drone.move_to(x[1]0.1, y[2]0.1, z[3]0.1)
    if abs(x) < 0.05 and abs(y) < 0.05 and abs(z) < 0.1:
        drone.land()

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A-

B+

C*

D/

Attempts:

3 left

💡 Hint

Common Mistakes

Using addition or multiplication which moves the drone away from the marker.

The drone should adjust its position by subtracting 0.1 to move closer to the marker coordinates.