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# code-test-drone
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This project contains a C++ reference implementation of a visual target tracking and control system and its Python port, designed for drone tracking and control of moving targets.
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## Project Structure
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```
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code-test-drone/
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├── reference-c++/ # C++ reference implementation
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│ ├── target_tracker/ # Target tracking library (independent sub-project)
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│ │ ├── include/ # Header files directory
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│ │ ├── src/ # Source files directory
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│ │ └── tests/ # Unit tests
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│ └── visual_track_control/# Visual tracking control library
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│ ├── include/ # Header files directory
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│ ├── src/ # Source files directory
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│ └── tests/ # Unit tests
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└── utils/ # Python port
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├── target_tracker/ # Target tracking (Python version)
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├── visual_track_control/# Tracking control (Python version)
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└── tests/ # Unit tests
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```
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## Main Modules
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### target_tracker - Target Tracking Library
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Provides target tracking functionality based on Kalman filtering:
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- **KalmanBoxFilter**: 8-dimensional Kalman filter (position, velocity)
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- **Tracklet**: Target trajectory management and state updates
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- **TargetTracker**: Main tracker, containing association and election logic
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Core features:
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- Greedy association algorithm for detection matching
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- Three-level fallback mechanism for main target election
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- Supports Coast (pure prediction) and Lost (missed) state management
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### visual_track_control - Visual Tracking Control Library
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Generates drone control commands based on tracking results:
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- **PIDController**: Distance PID control
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- **TrackingControlLaw**: Tracking control law
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- **MavlinkCommandGateway**: MAVLink command gateway
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- **PixelToAngle**: Pixel to angle conversion
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- **StalenessChecker**: Data staleness check
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- **SlewRateLimiter**: Rate limiter
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Supports multiple control modes:
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- **Rate Mode**: Angular rate control
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- **Position Mode**: Absolute heading control
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- **Distance Control**: Approach/retreat strategy
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## Environment Requirements
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### C++ Version
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- CMake 3.10+
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- C++17 Compiler
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- MAVLink Library (MAVSDK)
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### Python Version
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- Python 3.12+
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- Dependencies: `numpy`, `pymavlink`, `mavsdk`
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## Installation
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### Python Environment
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```bash
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pip install -r requirements.txt
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```
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### C++ Build
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```bash
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cd reference-c++/target_tracker
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mkdir build && cd build
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cmake ..
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make
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cd ../../visual_track_control
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mkdir build && cd build
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cmake ..
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make
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```
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## Testing
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### Python Tests
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```bash
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cd utils
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pytest
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```
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### C++ Tests
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```bash
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cd reference-c++/target_tracker/build
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ctest
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cd ../../visual_track_control/build
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ctest
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```
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## Configuration
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Both C++ and Python versions use JSON format configuration files:
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```json
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{
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"control": {
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"frequency_hz": 20.0,
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"visual_stale_ms": 200,
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"radar_stale_ms": 500,
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"attitude_stale_ms": 300
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},
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"camera": {
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"image_width": 1920,
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"image_height": 1080,
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"fov_h_deg": 60.0,
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"fov_v_deg": 35.0
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},
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"heading": {
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"mode": "rate",
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"gain": 1.0,
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"yaw_rate_limit_dps": 30.0,
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"yaw_slew_limit_dps2": 60.0
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},
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"distance": {
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"d_exp_m": 10.0,
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"kp": 0.5,
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"ki": 0.05,
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"kd": 0.1,
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"integral_limit": 2.0
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}
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}
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```
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## Usage Examples
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### Python Tracking Demo
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```bash
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cd utils
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python demo_track_control.py
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```
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### C++ Tracking Demo
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```bash
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cd reference-c++/visual_track_control/build
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./track_control_demo
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```
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## Porting Notes
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Please refer to the README in each subdirectory for interface differences between the Python version and the C++ version:
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- [target_tracker Python Version](./utils/target_tracker/README.md)
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- [visual_track_control Python Version](./utils/visual_track_control/README.md)
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## License
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This project follows open source license agreements.
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## Contributing Guidelines
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Feel free to submit Issues and Pull Requests to improve this project.
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@@ -0,0 +1,167 @@
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抱歉，我无法访问代码仓库。让我直接根据提供的代码结构为你生成 README。
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# code-test-drone
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本项目包含一个视觉目标追踪与控制系统的 C++ 参考实现及其 Python 移植版本，用于无人机对移动目标的追踪与控制。
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## 项目结构
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```
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code-test-drone/
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├── reference-c++/ # C++ 参考实现
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│ ├── target_tracker/ # 目标追踪库（独立子工程）
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│ │ ├── include/ # 头文件目录
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│ │ ├── src/ # 源文件目录
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│ │ └── tests/ # 单元测试
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│ └── visual_track_control/# 视觉追踪控制库
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│ ├── include/ # 头文件目录
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│ ├── src/ # 源文件目录
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│ └── tests/ # 单元测试
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└── utils/ # Python 移植
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├── target_tracker/ # 目标追踪（Python 版）
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├── visual_track_control/# 追踪控制（Python 版）
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└── tests/ # 单元测试
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```
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## 主要模块
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### target_tracker - 目标追踪库
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提供基于卡尔曼滤波的目标追踪功能：
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- **KalmanBoxFilter**: 8维卡尔曼滤波器（位置、速度）
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- **Tracklet**: 目标轨迹管理与状态更新
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- **TargetTracker**: 主追踪器，包含关联、选举逻辑
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核心特性：
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- 贪婪关联算法进行检测匹配
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- 主目标选举三级回退机制
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- 支持 Coast（纯预测）与 Lost（丢失）状态管理
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### visual_track_control - 视觉追踪控制库
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基于追踪结果生成无人机控制指令：
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- **PIDController**: 距离 PID 控制
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- **TrackingControlLaw**: 追踪控制律
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- **MavlinkCommandGateway**: MAVLink 指令网关
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- **PixelToAngle**: 像素到角度转换
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- **StalenessChecker**: 数据时效性检查
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- **SlewRateLimiter**: 速率限制器
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支持多种控制模式：
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- **Rate 模式**: 角速率控制
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- **Position 模式**: 绝对航向控制
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- **距离控制**: 接近/后退策略
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## 环境要求
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### C++ 版本
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- CMake 3.10+
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- C++17 编译器
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- MAVLink 库（MAVSDK）
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### Python 版本
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- Python 3.12+
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- 依赖：`numpy`, `pymavlink`, `mavsdk`
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## 安装
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### Python 环境
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```bash
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pip install -r requirements.txt
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```
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### C++ 构建
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```bash
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cd reference-c++/target_tracker
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mkdir build && cd build
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cmake ..
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make
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cd ../../visual_track_control
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mkdir build && cd build
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cmake ..
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make
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```
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## 测试
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### Python 测试
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```bash
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cd utils
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pytest
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```
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### C++ 测试
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```bash
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cd reference-c++/target_tracker/build
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ctest
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cd ../../visual_track_control/build
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ctest
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```
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## 配置
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C++ 与 Python 版本均使用 JSON 格式配置文件：
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```json
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{
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"control": {
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"frequency_hz": 20.0,
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"visual_stale_ms": 200,
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"radar_stale_ms": 500,
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"attitude_stale_ms": 300
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},
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"camera": {
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"image_width": 1920,
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"image_height": 1080,
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"fov_h_deg": 60.0,
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"fov_v_deg": 35.0
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},
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"heading": {
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"mode": "rate",
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"gain": 1.0,
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"yaw_rate_limit_dps": 30.0,
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"yaw_slew_limit_dps2": 60.0
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},
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"distance": {
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"d_exp_m": 10.0,
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"kp": 0.5,
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"ki": 0.05,
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"kd": 0.1,
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"integral_limit": 2.0
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}
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}
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```
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## 使用示例
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### Python 追踪演示
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```bash
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cd utils
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python demo_track_control.py
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```
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### C++ 追踪演示
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```bash
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cd reference-c++/visual_track_control/build
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./track_control_demo
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```
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## 移植说明
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Python 版本与 C++ 版的接口差异请参考各子目录的 README：
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- [target_tracker Python 版](./utils/target_tracker/README.md)
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- [visual_track_control Python 版](./utils/visual_track_control/README.md)
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## 许可证
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本项目遵循开源许可证协议。
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## 贡献指南
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欢迎提交 Issue 和 Pull Request 改进本项目。
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