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Copy pathRMTT_YOLOv3_1_test.py
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RMTT_YOLOv3_1_test.py
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import time
import cv2
import robomaster
from robomaster import robot, flight
from numpy import *
# YOLO Begin
#-------------------------------------#
# 调用摄像头或者视频进行检测
# 调用摄像头直接运行即可
# 调用视频可以将cv2.VideoCapture()指定路径
# 视频的保存并不难，可以百度一下看看
#-------------------------------------#
# import time
# import cv2
import numpy as np
from PIL import Image
from yolo import YOLO
# YOLO END
if __name__ == '__main__':
# fill in your lan address:
robomaster.config.LOCAL_IP_STR = "192.168.31.22"
# fill in robot lan address:
robomaster.config.ROBOT_IP_STR = "192.168.31.143"
# TT无人机默认 udp 模式，不设置也不影响
# DEFAULT_PROTO_TYPE = "udp"
yolo = YOLO() # For YOLO
tl_drone = robot.Drone()
# tl_drone.initialize(conn_type="ap")
tl_drone.initialize(conn_type="sta")
# 获取飞机电池电量信息
tl_battery = tl_drone.battery
battery_info = tl_battery.get_battery()
print("Drone battery soc: {0}".format(battery_info))
# stop motor spinning
tl_flight = tl_drone.flight
tl_flight.motor_off()
# initialize the camera
tl_camera = tl_drone.camera
t = time.time()
t_list = [0]*20
# 显示302帧图传
# tl_camera.start_video_stream(display=False)
# tl_camera.set_fps("high")
# tl_camera.set_resolution("high")
# tl_camera.set_bitrate(6)
# for i in range(0, 302):
# img = tl_camera.read_cv2_image()
#
# cv2.imshow("Drone", img)
# cv2.waitKey(1)
# cv2.destroyAllWindows()
# tl_camera.stop_video_stream()
tl_camera.start_video_stream(display=False)
tl_camera.set_fps("low") # 默认high
tl_camera.set_resolution("low") # 默认high
tl_camera.set_bitrate(6) # 默认6
yolo = YOLO()
# -------------------------------------#
# 调用摄像头
# capture=cv2.VideoCapture("1.mp4")
# -------------------------------------#
fps = 0.0
i = 0
while (True):
# 读取某一帧
img = tl_camera.read_cv2_image()
t1 = time.time()
# 格式转变，BGRtoRGB
img = cv2.cvtColor(img, cv2.COLOR_BGR2RGB)
# 转变成Image
img = Image.fromarray(np.uint8(img))
# 进行检测
img = np.array(yolo.detect_image(img))
# RGBtoBGR满足opencv显示格式
img = cv2.cvtColor(img, cv2.COLOR_RGB2BGR)
# 缩小原图
# height, width = img.shape[:2]
# size = (int(width*0.3), int(height*0.5))
# img = cv2.resize(img, size, interpolation=cv2.INTER_AREA)
# 放大原图，输入尺寸格式为（宽，高）
fx = 3
fy = 2.1
img = cv2.resize(img, (0, 0), fx=fx, fy=fy, interpolation=cv2.INTER_CUBIC)
fps = (fps + (1. / (time.time() - t1))) / 2
print("fps= %.2f" % (fps))
img = cv2.putText(img, "fps= %.2f" % (fps), (0, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 2)
print(i)
# cv2.imshow("video", img)
# Action Begin
i = i + 1
if i == 1:
flight_action = tl_flight.takeoff()
cv2.imshow("video", img)
# 前进300cm
elif i == 20:
flight_action.wait_for_completed()
flight_action = tl_flight.go(x=400, y=0, z=0, speed=60)
cv2.imshow("video", img)
# 右移200cm
elif i == 50:
flight_action.wait_for_completed()
flight_action = tl_flight.go(x=0, y=-150, z=0, speed=60)
cv2.imshow("video", img)
# 后退300cm
elif i == 70:
flight_action.wait_for_completed()
flight_action = tl_flight.go(x=-400, y=0, z=0, speed=60)
cv2.imshow("video", img)
# 右移200cm
elif i == 100:
flight_action.wait_for_completed()
flight_action = tl_flight.go(x=0, y=-150, z=0, speed=60)
cv2.imshow("video", img)
# 前进300cm
elif i == 120:
flight_action.wait_for_completed()
flight_action = tl_flight.go(x=150, y=0, z=0, speed=60)
cv2.imshow("video", img)
# # 右移200cm
# elif i == 150:
# flight_action.wait_for_completed()
# flight_action = tl_flight.go(x=0, y=-150, z=0, speed=60)
# cv2.imshow("video", img)
# # 后退300cm
# elif i == 170:
# flight_action.wait_for_completed()
# flight_action = tl_flight.go(x=-400, y=0, z=0, speed=60)
# cv2.imshow("video", img)
# # 左移600cm
# elif i == 200:
# flight_action.wait_for_completed()
# flight_action = tl_flight.go(x=0, y=450, z=0, speed=60)
# cv2.imshow("video", img)
# 降落
elif i == 230:
flight_action.wait_for_completed()
flight_action = tl_flight.land()
cv2.imshow("video", img)
else:
cv2.imshow("video", img)
# 向前飞50厘米，向后飞50厘米
# tl_flight.forward(distance=50).wait_for_completed()
# tl_flight.backward(distance=50).wait_for_completed()
# Action End
c = cv2.waitKey(1) & 0xff
if c == 27:
capture.release()
break
# cv2.destroyAllWindows()
# tl_camera.stop_video_stream()
tl_drone.close()