def __init__(self):
self.input_queue = Queue.Queue()
self.rl = None
self.console = wxconsole.MessageConsole(title='MAVExplorer')
self.exit = False
self.status = MEStatus()
self.settings = MPSettings(
[ MPSetting('marker', str, '+', 'data marker', tab='Graph'),
MPSetting('condition', str, None, 'condition'),
MPSetting('xaxis', str, None, 'xaxis'),
MPSetting('linestyle', str, None, 'linestyle'),
MPSetting('show_flightmode', bool, True, 'show flightmode'),
MPSetting('legend', str, 'upper left', 'legend position'),
MPSetting('legend2', str, 'upper right', 'legend2 position')
]
)
self.mlog = None
self.command_map = command_map
self.completions = {
"set" : ["(SETTING)"],
"condition" : ["(VARIABLE)"],
"graph" : ['(VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE)'],
"map" : ['(VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE)']
}
self.aliases = {}
self.graphs = []
self.flightmode_selections = []
self.last_graph = GraphDefinition('Untitled', '', '', [], None)
def __init__(self, mpstate):
super(CUAVModule, self).__init__(mpstate, "CUAV", "CUAV checks")
self.console.set_status('RPM', 'RPM: --', row=8, fg='black')
self.console.set_status('RFind', 'RFind: --', row=8, fg='black')
self.console.set_status('Button', 'Button: --', row=8, fg='black')
self.console.set_status('ICE', 'ICE: --', row=8, fg='black')
self.rate_period = mavutil.periodic_event(1.0/15)
self.button_remaining = None
self.button_change = None
self.last_button_update = time.time()
self.last_target_update = time.time()
self.button_change_recv_time = 0
self.button_announce_time = 0
self.last_rpm_update = 0
self.last_rpm_value = None
self.last_rpm_announce = 0
self.showLandingZone = 0
self.showJoeZone = True
self.target = None
from MAVProxy.modules.lib.mp_settings import MPSettings, MPSetting
self.cuav_settings = MPSettings(
[ MPSetting('rpm_threshold', int, 6000, 'RPM Threshold'),
MPSetting('wind_speed', float, 0, 'wind speed (m/s)'),
MPSetting('wind_direction', float, 0, 'wind direction (degrees)') ])
self.add_completion_function('(CUAVCHECKSETTING)', self.cuav_settings.completion)
self.add_command('cuavcheck', self.cmd_cuavcheck,
'cuav check control',
['set (CUAVCHECKSETTING)'])
#make the initial map menu
if mp_util.has_wxpython:
self.menu = MPMenuSubMenu('UAV Challenge', items=[MPMenuCheckbox('Show Landing Zone', 'Show Landing Zone', '# cuavcheck toggleLandingZone'), MPMenuCheckbox('Show Joe Zone', 'Show Joe Zone', '# cuavcheck toggleJoeZone')])
self.module('map').add_menu(self.menu)
def select(self):
self.fc_settings = MPSettings([
self.FC_MPSetting('fence_maxdist', float, 1000,
'Max FencePoint Distance from location'),
self.FC_MPSetting('wp_maxdist', float, 500,
'Max WayPoint Distance from location'),
self.FC_MPSetting('rally_maxdist', float, 200,
'Max Rally Distance from location'),
self.FC_MPSetting('param_fence_maxalt', float, 120,
'Value parameter FENCE_MAXALT should have'),
self.FC_MPSetting('rally_filename', str,
"%s-foamy-rally.txt" % self.lc_name,
"%s Rally Point File" % self.lc_name),
self.FC_MPSetting('fence_filename', str,
"%s-foamy-fence.txt" % self.lc_name,
"%s Fence File" % self.lc_name),
self.FC_MPSetting('mission_filename_cw', str,
"%s-foamy-mission-cw.txt" % self.lc_name,
"%s Mission (CW) File" % self.lc_name),
self.FC_MPSetting('mission_filename_ccw', str,
"%s-foamy-mission-ccw.txt" % self.lc_name,
"%s Mission (CCW) File" % self.lc_name),
])
self.x.add_completion_function('(FIELDCHECKCHECKSETTING)',
self.fc_settings.completion)
self.x.add_command('fieldcheck', self.cmd_fieldcheck,
'field check control',
['check', 'set (FIELDCHECKSETTING)'])
def __init__(self, mpstate):
super(CUAVCompanionModule, self).__init__(mpstate, "CUAV",
"CUAV companion")
self.led_state = LED_OFF
self.led_force = None
self.led_send_time = 0
self.button_change_time = 0
self.last_attitude_ms = 0
self.last_mission_check_ms = 0
self.last_wp_move_ms = 0
self.add_command('cuavled', self.cmd_cuavled, "cuav led command",
['<red|green|flash|off|refresh>'])
from MAVProxy.modules.lib.mp_settings import MPSettings, MPSetting
self.cuav_settings = MPSettings([
MPSetting('wp_center', int, 2, 'center search USER number'),
MPSetting('wp_start', int, 1, 'start search USER number'),
MPSetting('wp_end', int, 3, 'end search USER number'),
MPSetting('wp_land', int, 4, 'landing start USER number'),
MPSetting('auto_mission', bool, True, 'enable auto mission code')
])
self.add_command('cuav', self.cmd_cuav, 'cuav companion control',
['set (CUAVSETTING)'])
self.add_completion_function('(CUAVSETTING)',
self.cuav_settings.completion)
self.wp_move_count = 0
self.last_lz_latlon = None
self.last_wp_list_ms = 0
self.started_landing = False
self.updated_waypoints = False
self.last_buzzer = time.time()
def __init__(self, mpstate):
super(CMACModule, self).__init__(mpstate,
"CMAC",
"CMAC Checks",
public=True)
self.rate_period = mavutil.periodic_event(1.0 / 15)
self.is_armed = False
self.done_map_menu = False
from MAVProxy.modules.lib.mp_settings import MPSettings, MPSetting
self.cmac_settings = MPSettings([
MPSetting('fence_maxdist', float, 1000,
'Max FencePoint Distance from south-CMAC'),
MPSetting('wp_maxdist', float, 500,
'Max WayPoint Distance from south-CMAC'),
MPSetting('rally_maxdist', float, 200,
'Max Rally Distance from south-CMAC'),
])
self.add_completion_function('(CMACCHECKSETTING)',
self.cmac_settings.completion)
self.add_command('cmaccheck', self.cmd_cmaccheck, 'cmac check control',
['check', 'set (CMACCHECKSETTING)'])
self.last_fence_fetch = 0
self.last_mission_fetch = 0
self.last_rally_fetch = 0
self.done_heartbeat_check = 0
self.check()
def __init__(self):
self.input_queue = multiproc.Queue()
self.rl = None
self.console = wxconsole.MessageConsole(title='MAVExplorer')
self.exit = False
self.status = MEStatus()
self.settings = MPSettings([
MPSetting('marker', str, '+', 'data marker', tab='Graph'),
MPSetting('condition', str, None, 'condition'),
MPSetting('xaxis', str, None, 'xaxis'),
MPSetting('linestyle', str, None, 'linestyle'),
MPSetting('show_flightmode', bool, True, 'show flightmode'),
MPSetting('sync_xzoom', bool, True, 'sync X-axis zoom'),
MPSetting('sync_xmap', bool, True, 'sync X-axis zoom for map'),
MPSetting('legend', str, 'upper left', 'legend position'),
MPSetting('legend2', str, 'upper right', 'legend2 position'),
MPSetting('title', str, None, 'Graph title'),
MPSetting('debug', int, 0, 'debug level'),
MPSetting('paramdocs', bool, True, 'show param docs'),
])
self.mlog = None
self.mav_param = None
self.filename = None
self.command_map = command_map
self.completions = {
"set": ["(SETTING)"],
"condition": ["(VARIABLE)"],
"graph": [
'(VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE)'
],
"map": ['(VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE)'],
"param": ['download', 'check', 'help (PARAMETER)'],
}
self.aliases = {}
self.graphs = []
self.flightmode_selections = []
self.last_graph = GraphDefinition(self.settings.title, '', '', [],
None)
#pipe to the wxconsole for any child threads (such as the save dialog box)
self.parent_pipe_recv_console, self.child_pipe_send_console = multiproc.Pipe(
duplex=False)
#pipe for creating graphs (such as from the save dialog box)
self.parent_pipe_recv_graph, self.child_pipe_send_graph = multiproc.Pipe(
duplex=False)
self.param_help = param_help.ParamHelp()
tConsoleWrite = threading.Thread(target=self.pipeRecvConsole)
tConsoleWrite.daemon = True
tConsoleWrite.start()
tGraphWrite = threading.Thread(target=self.pipeRecvGraph)
tGraphWrite.daemon = True
tGraphWrite.start()
def __init__(self, mpstate):
super(CameraGroundModule,
self).__init__(mpstate,
"camera_ground",
"cuav camera control (ground)",
public=True,
multi_vehicle=True)
self.unload_event = threading.Event()
self.unload_event.clear()
self.transmit_queue = Queue.Queue()
self.decoder = video_play.VideoReader()
self.is_armed = False
self.capture_count = 0
self.image = None
self.last_capture_count = None
self.handled_timestamps = {}
self.viewer = mp_image.MPImage(title='Image',
width=200,
height=200,
auto_size=True)
from MAVProxy.modules.lib.mp_settings import MPSettings, MPSetting
self.camera_settings = MPSettings([
MPSetting('m_bandwidth',
int,
500,
'max bandwidth on mavlink',
increment=1,
tab='GCS'),
MPSetting('m_maxqueue',
int,
5,
'Maximum images queue for mavlink',
tab='GCS'),
],
title='Camera Settings')
self.msocket = None
self.msend = None
self.last_heartbeat = time.time()
self.transmit_thread = self.start_thread(self.transmit_threadfunc)
self.add_command('camera', self.cmd_camera, 'camera control',
['<status>', 'set (CAMERASETTING)'])
self.add_completion_function('(CAMERASETTING)',
self.camera_settings.completion)
# prevent loopback of messages
for mtype in ['DATA16', 'DATA32', 'DATA64', 'DATA96']:
self.module('link').no_fwd_types.add(mtype)
print("camera ground initialised")
def __init__(self):
self.input_queue = queue.Queue()
self.rl = None
self.console = wxconsole.MessageConsole(title='MAVExplorer')
self.exit = False
self.status = MEStatus()
self.settings = MPSettings([
MPSetting('marker', str, '+', 'data marker', tab='Graph'),
MPSetting('condition', str, None, 'condition'),
MPSetting('xaxis', str, None, 'xaxis'),
MPSetting('linestyle', str, None, 'linestyle'),
MPSetting('show_flightmode', bool, True, 'show flightmode'),
MPSetting('legend', str, 'upper left', 'legend position'),
MPSetting('legend2', str, 'upper right', 'legend2 position')
])
self.mlog = None
self.command_map = command_map
self.completions = {
"set": ["(SETTING)"],
"condition": ["(VARIABLE)"],
"graph": [
'(VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE)'
],
"map": ['(VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE)']
}
self.aliases = {}
self.graphs = []
self.flightmode_selections = []
self.last_graph = GraphDefinition('Untitled', '', '', [], None)
#pipe to the wxconsole for any child threads (such as the save dialog box)
self.parent_pipe_recv_console, self.child_pipe_send_console = Pipe(
duplex=False)
#pipe for creating graphs (such as from the save dialog box)
self.parent_pipe_recv_graph, self.child_pipe_send_graph = Pipe(
duplex=False)
tConsoleWrite = threading.Thread(target=self.pipeRecvConsole)
tConsoleWrite.daemon = True
tConsoleWrite.start()
tGraphWrite = threading.Thread(target=self.pipeRecvGraph)
tGraphWrite.daemon = True
tGraphWrite.start()
def __init__(self):
self.message_count = {}
self.message_field_count = {}
self.arrays = dict()
self.plot_processes = []
self.send_queues = []
self.recv_queues = []
self.master_rect = None
self.flightmode_list = []
self.input_queue = Queue.Queue()
self.rl = None
#self.console = wxconsole.MessageConsole(title='MAVHawkview')
self.exit = False
self.websocket_enabled = None
self.log_max_timestamp = None
self.log_min_timestamp = None
self.status = MEStatus()
self.settings = MPSettings(
[ MPSetting('marker', str, '+', 'data marker', tab='Graph'),
MPSetting('condition', str, None, 'condition'),
MPSetting('xaxis', str, None, 'xaxis'),
MPSetting('linestyle', str, None, 'linestyle'),
MPSetting('flightmode', str, None, 'flightmode', choice=['apm','px4']),
MPSetting('legend', str, 'upper left', 'legend position'),
MPSetting('legend2', str, 'upper right', 'legend2 position'),
MPSetting('grid', str, 'off', 'grid', choice=['on','off'])
]
)
self.mlog = None
# self.command_map = command_map
self.completions = {
"set" : ["(SETTING)"],
"condition" : ["(VARIABLE)"],
"graph" : ['(VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE)'],
"map" : ['(VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE) (VARIABLE)']
}
self.aliases = {}
self.graphs = []
self.flightmode_selections = []
def process(args):
'''process a set of files'''
global slipmap, mosaic
scan_count = 0
files = []
if os.path.isdir(args.directory):
files.extend(file_list(args.directory, ['jpg', 'pgm', 'png']))
else:
if args.directory.find('*') != -1:
files.extend(glob.glob(args.directory))
else:
files.append(args.directory)
files.sort()
num_files = len(files)
print("num_files=%u" % num_files)
region_count = 0
slipmap = mp_slipmap.MPSlipMap(service=args.service,
elevation=True,
title='Map')
icon = slipmap.icon('redplane.png')
slipmap.add_object(
mp_slipmap.SlipIcon('plane', (0, 0),
icon,
layer=3,
rotation=0,
follow=True,
trail=mp_slipmap.SlipTrail()))
for flag in args.flag:
a = flag.split(',')
lat = a[0]
lon = a[1]
icon = 'flag.png'
if len(a) > 2:
icon = a[2] + '.png'
icon = slipmap.icon(icon)
slipmap.add_object(
mp_slipmap.SlipIcon('icon - %s' % str(flag),
(float(lat), float(lon)),
icon,
layer=3,
rotation=0,
follow=False))
if args.mission:
from pymavlink import mavwp
wp = mavwp.MAVWPLoader()
wp.load(args.mission.name)
plist = wp.polygon_list()
if len(plist) > 0:
for i in range(len(plist)):
slipmap.add_object(
mp_slipmap.SlipPolygon('Mission-%s-%u' %
(args.mission.name, i),
plist[i],
layer='Mission',
linewidth=2,
colour=(255, 255, 255)))
if args.mavlog:
mpos = mav_position.MavInterpolator()
mpos.set_logfile(args.mavlog.name)
else:
mpos = None
if args.gammalog is not None:
gamma = parse_gamma_log(args.gammalog)
else:
gamma = None
if args.kmzlog:
kmzpos = mav_position.KmlPosition(args.kmzlog.name)
else:
kmzpos = None
if args.triggerlog:
triggerpos = mav_position.TriggerPosition(args.triggerlog.name)
else:
triggerpos = None
# create a simple lens model using the focal length
if args.camera_params:
C_params = cam_params.CameraParams.fromfile(args.camera_params.name)
else:
C_params = cam_params.CameraParams(lens=args.lens,
sensorwidth=args.sensorwidth,
xresolution=args.xresolution,
yresolution=args.yresolution)
if args.target:
target = args.target.split(',')
else:
target = [0, 0, 0]
camera_settings = MPSettings([
MPSetting('roll_stabilised', bool, args.roll_stabilised,
'Roll Stabilised'),
MPSetting('altitude',
int,
args.altitude,
'Altitude',
range=(0, 10000),
increment=1),
MPSetting(
'minalt', int, 30, 'MinAltitude', range=(0, 10000), increment=1),
MPSetting('mpp100',
float,
0.0977,
'MPPat100m',
range=(0, 10000),
increment=0.001),
MPSetting('rotate180', bool, args.rotate_180, 'rotate180'),
MPSetting('filter_type',
str,
'compactness',
'Filter Type',
choice=['simple', 'compactness']),
MPSetting('target_lattitude',
float,
float(target[0]),
'target latitude',
increment=1.0e-7),
MPSetting('target_longitude',
float,
float(target[1]),
'target longitude',
increment=1.0e-7),
MPSetting('target_radius',
float,
float(target[2]),
'target radius',
increment=1),
MPSetting('quality',
int,
75,
'Compression Quality',
range=(1, 100),
increment=1),
MPSetting('thumbsize',
int,
args.thumbsize,
'Thumbnail Size',
range=(10, 200),
increment=1),
MPSetting('minscore',
int,
args.minscore,
'Min Score',
range=(0, 1000),
increment=1,
tab='Scoring'),
MPSetting('brightness',
float,
1.0,
'Display Brightness',
range=(0.1, 10),
increment=0.1,
digits=2,
tab='Display'),
],
title='Camera Settings')
image_settings = MPSettings([
MPSetting('MinRegionArea',
float,
0.05,
range=(0, 100),
increment=0.05,
digits=2,
tab='Image Processing'),
MPSetting('MaxRegionArea',
float,
4.0,
range=(0, 100),
increment=0.1,
digits=1),
MPSetting('MinRegionSize',
float,
0.02,
range=(0, 100),
increment=0.05,
digits=2),
MPSetting('MaxRegionSize',
float,
3.0,
range=(0, 100),
increment=0.1,
digits=1),
MPSetting('MaxRarityPct',
float,
0.02,
range=(0, 100),
increment=0.01,
digits=2),
MPSetting('RegionMergeSize',
float,
1.0,
range=(0, 100),
increment=0.1,
digits=1),
MPSetting('BlueEmphasis', bool, args.blue_emphasis),
MPSetting('SaveIntermediate', bool, args.debug)
],
title='Image Settings')
mosaic = cuav_mosaic.Mosaic(slipmap,
C=C_params,
camera_settings=camera_settings,
image_settings=image_settings,
start_menu=True,
classify=args.categories,
thumb_size=args.mosaic_thumbsize)
joelog = cuav_joe.JoeLog(None)
if args.view:
viewer = mp_image.MPImage(title='Image', can_zoom=True, can_drag=True)
start_time = time.time()
for f in files:
if not mosaic.started():
print("Waiting for startup")
if args.start:
mosaic.has_started = True
while not mosaic.started():
mosaic.check_events()
time.sleep(0.01)
if mpos:
# get the position by interpolating telemetry data from the MAVLink log file
# this assumes that the filename contains the timestamp
if gamma is not None:
frame_time = parse_gamma_time(f, gamma)
else:
frame_time = cuav_util.parse_frame_time(f)
frame_time += args.time_offset
if camera_settings.roll_stabilised:
roll = 0
else:
roll = None
try:
pos = mpos.position(frame_time, roll=roll)
except Exception:
print("No position available for %s" % frame_time)
# skip this frame
continue
elif kmzpos is not None:
pos = kmzpos.position(f)
elif triggerpos is not None:
pos = triggerpos.position(f)
else:
# get the position using EXIF data
pos = mav_position.exif_position(f)
pos.time += args.time_offset
# update the plane icon on the map
if pos is not None:
slipmap.set_position('plane', (pos.lat, pos.lon), rotation=pos.yaw)
if camera_settings.altitude > 0:
pos.altitude = camera_settings.altitude
# check for any events from the map
slipmap.check_events()
mosaic.check_events()
im_orig = cuav_util.LoadImage(f, rotate180=camera_settings.rotate180)
if im_orig is None:
continue
(w, h) = cuav_util.image_shape(im_orig)
if False:
im_640 = cv.CreateImage((640, 480), 8, 3)
cv.Resize(im_full, im_640, cv.CV_INTER_NN)
im_640 = numpy.ascontiguousarray(cv.GetMat(im_640))
im_full = im_orig
im_full = numpy.ascontiguousarray(cv.GetMat(im_full))
count = 0
total_time = 0
t0 = time.time()
img_scan = im_full
scan_parms = {}
for name in image_settings.list():
scan_parms[name] = image_settings.get(name)
scan_parms['SaveIntermediate'] = float(scan_parms['SaveIntermediate'])
scan_parms['BlueEmphasis'] = float(scan_parms['BlueEmphasis'])
if pos is not None:
(sw, sh) = cuav_util.image_shape(img_scan)
altitude = pos.altitude
if altitude < camera_settings.minalt:
altitude = camera_settings.minalt
scan_parms[
'MetersPerPixel'] = camera_settings.mpp100 * altitude / 100.0
regions = scanner.scan(img_scan, scan_parms)
else:
regions = scanner.scan(img_scan)
regions = cuav_region.RegionsConvert(regions,
cuav_util.image_shape(img_scan),
cuav_util.image_shape(im_full))
count += 1
t1 = time.time()
frame_time = pos.time
if pos:
for r in regions:
r.latlon = cuav_util.gps_position_from_image_region(
r, pos, w, h, altitude=altitude, C=C_params)
if camera_settings.target_radius > 0 and pos is not None:
regions = cuav_region.filter_radius(
regions, (camera_settings.target_lattitude,
camera_settings.target_longitude),
camera_settings.target_radius)
regions = cuav_region.filter_regions(
im_full,
regions,
frame_time=frame_time,
min_score=camera_settings.minscore,
filter_type=camera_settings.filter_type)
scan_count += 1
if pos and len(regions) > 0:
altitude = camera_settings.altitude
if altitude <= 0:
altitude = None
joelog.add_regions(frame_time,
regions,
pos,
f,
width=w,
height=h,
altitude=altitude)
mosaic.add_image(pos.time, f, pos)
region_count += len(regions)
if len(regions) > 0:
composite = cuav_mosaic.CompositeThumbnail(
cv.GetImage(cv.fromarray(im_full)), regions)
thumbs = cuav_mosaic.ExtractThumbs(composite, len(regions))
mosaic.add_regions(regions, thumbs, f, pos)
if args.view:
img_view = img_scan
(wview, hview) = cuav_util.image_shape(img_view)
mat = cv.fromarray(img_view)
for r in regions:
r.draw_rectangle(mat, (255, 0, 0))
cv.CvtColor(mat, mat, cv.CV_BGR2RGB)
viewer.set_image(mat)
viewer.set_title('Image: ' + os.path.basename(f))
if args.saveview:
cv.CvtColor(mat, mat, cv.CV_RGB2BGR)
cv.SaveImage('view-' + os.path.basename(f), mat)
total_time += (t1 - t0)
if t1 != t0:
print('%s scan %.1f fps %u regions [%u/%u]' %
(os.path.basename(f), count / total_time, region_count,
scan_count, num_files))
#raw_input("hit ENTER when ready")
print("All images processed (%u seconds)" % (time.time() - start_time))
while True:
# check for any events from the map
slipmap.check_events()
mosaic.check_events()
time.sleep(0.2)
def process(folderfile):
'''process a file'''
file_index = 0
files = []
if os.path.isdir(folderfile):
files = file_list(folderfile, ['jpg', 'jpeg', 'png'])
else:
files.append(folderfile)
fname = files[file_index]
settings = MPSettings([
MPSetting('MetersPerPixel',
float,
0.2,
range=(0, 10),
increment=0.01,
digits=2,
tab='Image Processing'),
MPSetting('MinRegionArea',
float,
0.15,
range=(0, 100),
increment=0.05,
digits=2),
MPSetting('MaxRegionArea',
float,
2.0,
range=(0, 100),
increment=0.1,
digits=1),
MPSetting('MinRegionSize',
float,
0.1,
range=(0, 100),
increment=0.05,
digits=2),
MPSetting(
'MaxRegionSize', float, 2, range=(0, 100), increment=0.1,
digits=1),
MPSetting('MaxRarityPct',
float,
0.02,
range=(0, 100),
increment=0.01,
digits=2),
MPSetting('RegionMergeSize',
float,
3.0,
range=(0, 100),
increment=0.1,
digits=1),
MPSetting('minscore',
int,
0,
'Min Score',
range=(0, 1000),
increment=1,
tab='Scoring'),
MPSetting(
'filter_type', str, 'simple', 'Filter Type', choice=['simple']),
MPSetting('brightness',
float,
1.0,
'Display Brightness',
range=(0.1, 10),
increment=0.1,
digits=2,
tab='Display')
],
title='Settings')
menu = MPMenuSubMenu(
'View',
items=[
MPMenuItem('Original Image', 'Original Image', '_1original.pnm'),
MPMenuItem('Unquantised Image', 'Unquantised Image',
'_1unquantised.pnm'),
MPMenuItem('Thresholded Image', 'Thresholded Image',
'_2thresholded.pnm'),
MPMenuItem('Neighbours Image', 'Neighbours Image',
'_3neighbours.pnm'),
MPMenuItem('Regions Image', 'Regions Image', '_4regions.pnm'),
MPMenuItem('Prune Large Image', 'Prune Large Image',
'_5prunelarge.pnm'),
MPMenuItem('Merged Image', 'Merged Large', '_6merged.pnm'),
MPMenuItem('Pruned Image', 'Pruned Image', '_7pruned.pnm'),
MPMenuItem('Fit Window', 'Fit Window', 'fitWindow'),
MPMenuItem('Full Zoom', 'Full Zoom', 'fullSize'),
MPMenuItem('Next Image', 'Next Image', 'nextImage'),
MPMenuItem('Previous Image', 'Previous Image', 'previousImage')
])
im_orig = cv2.imread(fname, -1)
im_numpy = numpy.ascontiguousarray(im_orig)
# create the various views
view = mp_image.MPImage(title='FullImage', can_zoom=True, can_drag=True)
view.set_popup_menu(menu)
dlg = wxsettings.WXSettings(settings)
selected_image = "_1original.pnm"
while dlg.is_alive() and view.is_alive():
last_change = settings.last_change()
scan_parms = {
'MinRegionArea': settings.MinRegionArea,
'MaxRegionArea': settings.MaxRegionArea,
'MinRegionSize': settings.MinRegionSize,
'MaxRegionSize': settings.MaxRegionSize,
'MaxRarityPct': settings.MaxRarityPct,
'RegionMergeSize': settings.RegionMergeSize,
'SaveIntermediate': 1.0,
'MetersPerPixel': settings.MetersPerPixel
}
t0 = time.time()
regions = scanner.scan(im_numpy, scan_parms)
regions = cuav_region.RegionsConvert(regions,
cuav_util.image_shape(im_orig),
cuav_util.image_shape(im_orig),
False)
t1 = time.time()
print("Processing %s took %.2f seconds" % (fname, t1 - t0))
show_image(view, str(file_index + 1) + selected_image, im_orig, fname)
while last_change == settings.last_change() and dlg.is_alive():
new_index = file_index
for event in view.events():
if isinstance(event, MPMenuItem):
if event.returnkey == 'nextImage':
new_index = (file_index + 1) % len(files)
elif event.returnkey == 'previousImage':
new_index = (file_index - 1) % len(files)
elif event.returnkey.endswith("pnm"):
selected_image = event.returnkey
show_image(view,
str(file_index + 1) + selected_image,
im_orig, fname)
if new_index != file_index:
file_index = new_index
fname = files[file_index]
im_orig = cv2.imread(fname, -1)
im_numpy = numpy.ascontiguousarray(im_orig)
break
time.sleep(0.1)
#remove all the pnm's
directory = os.getcwd()
lst = os.listdir(directory)
for item in lst:
if item.endswith(".pnm"):
os.remove(os.path.join(directory, item))
def __init__(self, mpstate):
super(CameraGroundModule,
self).__init__(mpstate,
"camera_ground",
"cuav camera control (ground)",
public=True)
self.unload_event = threading.Event()
self.unload_event.clear()
self.view_thread = None
self.handled_timestamps = {}
self.camera_settings = MPSettings([
MPSetting('air_address',
str,
"",
'Air Addresses in RemIP:RemPort:LocalPort:Bandwidth\
format (127.0.0.1:1440:1234:45, ...)',
tab='GCS'),
MPSetting('brightness',
float,
1.0,
'Display Brightness',
range=(0.1, 10),
increment=0.1,
digits=2,
tab='Display'),
MPSetting('debug', bool, False, 'debug enable'),
MPSetting('camparms', str, None,
'camera parameters file (json) in cuav package'),
MPSetting('mosaic_thumbsize',
int,
35,
'Mosaic Thumbnail Size',
range=(10, 200),
increment=1),
MPSetting('maxqueue', int, 100, 'Maximum images queue'),
MPSetting('target_latitude',
float,
0,
'filter detected images to latitude',
tab='Filter to Location'),
MPSetting('target_longitude',
float,
0,
'filter detected images to longitude',
tab='Filter to Location'),
MPSetting('target_radius',
float,
0,
'filter detected images to radius',
tab='Filter to Location'),
],
title='Camera (ground) Settings')
self.viewing = False
self.boundary = None
self.boundary_polygon = None
#just make a temp dir for the downloaded images and thumbs
#this folder is deleted when the module is unloaded
#self.camera_dir = tempfile.mkdtemp()
self.camera_dir = self.mpstate.status.logdir
self.bsend = []
self.msend = None
self.msocket = None
self.mcount = [0, 0, 0]
self.last_msg_stamp = [0, 0, 0]
self.last_status_update = 0
#self.last_minscore = None
self.mosaic = None
self.last_heartbeat = time.time()
self.joelog = None
self.c_params = None
self.preview_window = None
self.add_command('camera', self.cmd_camera, 'camera control',
['<status|view|boundary>', 'set (CAMERASETTING)'])
self.add_command('remote', self.cmd_remote, "remote command",
['(COMMAND)'])
self.add_command('remotem', self.cmd_remotem,
"remote command over mavlink", ['(COMMAND)'])
self.add_completion_function('(CAMERASETTING)',
self.settings.completion)
self.add_completion_function('(CAMERASETTING)',
self.camera_settings.completion)
for mtype in ['DATA16', 'DATA32', 'DATA64', 'DATA96']:
self.module('link').no_fwd_types.add(mtype)
print("camera (ground) initialised")
def __init__(self, mpstate):
super(CameraAirModule, self).__init__(mpstate,
"camera_air",
"cuav camera control (air)",
public=True,
multi_vehicle=True)
self.running = False
self.unload_event = threading.Event()
self.unload_event.clear()
self.capture_thread = None
self.is_armed = True
self.airstart_triggered = False
self.transmit_queue = Queue.Queue()
self.capture_count = 0
self.encoder = video_encode.VideoWriter()
self.camera = picamera.PiCamera()
self.start_time = None
self.handled_timestamps = {}
from MAVProxy.modules.lib.mp_settings import MPSettings, MPSetting
self.camera_settings = MPSettings([
MPSetting('quality',
int,
90,
'Compression Quality',
range=(1, 100),
increment=1,
tab='GCS'),
MPSetting('cropX',
int,
0,
'crop X position',
range=(0, 2000),
increment=1,
tab='GCS'),
MPSetting('cropY',
int,
0,
'crop X position',
range=(0, 2000),
increment=1,
tab='GCS'),
MPSetting('cropW',
int,
0,
'crop width',
range=(0, 2000),
increment=1,
tab='GCS'),
MPSetting('cropH',
int,
0,
'crop height',
range=(0, 2000),
increment=1,
tab='GCS'),
MPSetting('clock_sync', bool, False, 'GPS Clock Sync'),
MPSetting('flipV', bool, False, 'flip vertically'),
MPSetting('flipH', bool, False, 'flip horizontally'),
MPSetting('save_images', bool, False, 'save images'),
MPSetting('min_width', int, 32, 'min delta width'),
MPSetting('m_bandwidth',
int,
2000,
'max bandwidth on mavlink',
increment=1,
tab='GCS'),
MPSetting('m_maxqueue',
int,
20,
'Maximum images queue for mavlink',
tab='GCS'),
MPSetting('minspeed', int, 20,
'For airstart, minimum speed for capture to start'),
MPSetting('minalt',
int,
30,
'MinAltitude of images',
range=(0, 10000),
increment=1),
],
title='Camera Settings')
self.msocket = None
self.msend = None
self.last_heartbeat = time.time()
self.add_command('camera', self.cmd_camera, 'camera control',
['<start|stop|status>', 'set (CAMERASETTING)'])
self.add_completion_function('(CAMERASETTING)',
self.camera_settings.completion)
# prevent loopback of messages
for mtype in ['DATA16', 'DATA32', 'DATA64', 'DATA96']:
self.module('link').no_fwd_types.add(mtype)
print("camera initialised")
def __init__(self):
self.console = textconsole.SimpleConsole()
self.map = None
self.map_functions = {}
self.vehicle_type = None
self.vehicle_name = None
from MAVProxy.modules.lib.mp_settings import MPSettings, MPSetting
self.settings = MPSettings([
MPSetting('link',
int,
1,
'Primary Link',
tab='Link',
range=(0, 4),
increment=1),
MPSetting('streamrate',
int,
4,
'Stream rate link1',
range=(-1, 20),
increment=1),
MPSetting('streamrate2',
int,
4,
'Stream rate link2',
range=(-1, 20),
increment=1),
MPSetting('heartbeat',
int,
1,
'Heartbeat rate',
range=(0, 5),
increment=1),
MPSetting('mavfwd', bool, True, 'Allow forwarded control'),
MPSetting('mavfwd_rate', bool, False,
'Allow forwarded rate control'),
MPSetting('shownoise', bool, True, 'Show non-MAVLink data'),
MPSetting('baudrate',
int,
opts.baudrate,
'baudrate for new links',
range=(0, 10000000),
increment=1),
MPSetting('rtscts', bool, opts.rtscts, 'enable flow control'),
MPSetting('select_timeout', float, 0.5, 'select timeout'),
MPSetting('altreadout',
int,
10,
'Altitude Readout',
range=(0, 100),
increment=1,
tab='Announcements'),
MPSetting('distreadout',
int,
200,
'Distance Readout',
range=(0, 10000),
increment=1),
MPSetting('moddebug',
int,
0,
'Module Debug Level',
range=(0, 3),
increment=1,
tab='Debug'),
MPSetting('compdebug',
int,
0,
'Computation Debug Mask',
range=(0, 3),
tab='Debug'),
MPSetting('flushlogs', bool, False, 'Flush logs on every packet'),
MPSetting('requireexit', bool, False, 'Require exit command'),
MPSetting('wpupdates', bool, True, 'Announce waypoint updates'),
MPSetting('basealt',
int,
0,
'Base Altitude',
range=(0, 30000),
increment=1,
tab='Altitude'),
MPSetting('wpalt',
int,
100,
'Default WP Altitude',
range=(0, 10000),
increment=1),
MPSetting('rallyalt',
int,
90,
'Default Rally Altitude',
range=(0, 10000),
increment=1),
MPSetting('terrainalt',
str,
'Auto',
'Use terrain altitudes',
choice=['Auto', 'True', 'False']),
MPSetting('rally_breakalt',
int,
40,
'Default Rally Break Altitude',
range=(0, 10000),
increment=1),
MPSetting('rally_flags',
int,
0,
'Default Rally Flags',
range=(0, 10000),
increment=1),
MPSetting('source_system',
int,
255,
'MAVLink Source system',
range=(0, 255),
increment=1,
tab='MAVLink'),
MPSetting('source_component',
int,
0,
'MAVLink Source component',
range=(0, 255),
increment=1),
MPSetting('target_system',
int,
0,
'MAVLink target system',
range=(0, 255),
increment=1),
MPSetting('target_component',
int,
0,
'MAVLink target component',
range=(0, 255),
increment=1)
])
self.completions = {
"script": ["(FILENAME)"],
"set": ["(SETTING)"],
"module":
["list", "load (AVAILMODULES)", "<unload|reload> (LOADEDMODULES)"]
}
self.status = MPStatus()
# master mavlink device
self.mav_master = None
# mavlink outputs
self.mav_outputs = []
# SITL output
self.sitl_output = None
self.mav_param = mavparm.MAVParmDict()
self.modules = []
self.modules_idle = [] # modules with idle callbacks
self.modules_packet = [] # modules that want to read packets
self.public_modules = {}
self.functions = MAVFunctions()
self.select_extra = {}
self.continue_mode = False
self.aliases = {}
self.max_rx_packets = None
self.logqueue = None
self.logqueue_raw = None
self.rx_blacklist = set(
) # A set of message types which could never be delegated to packet handlers (for use by DroneAPI high speed processing)
def process(args):
'''process a file'''
file_index = 0
if os.path.isdir(args[0]):
files = file_list(args[0], ['jpg', 'pgm', 'png'])
else:
files = args
fname = files[file_index]
settings = MPSettings([
MPSetting('MetersPerPixel',
float,
0.2,
range=(0, 10),
increment=0.01,
digits=2,
tab='Image Processing'),
MPSetting('MinRegionArea',
float,
0.15,
range=(0, 100),
increment=0.05,
digits=2),
MPSetting('MaxRegionArea',
float,
2.0,
range=(0, 100),
increment=0.1,
digits=1),
MPSetting('MinRegionSize',
float,
0.1,
range=(0, 100),
increment=0.05,
digits=2),
MPSetting(
'MaxRegionSize', float, 2, range=(0, 100), increment=0.1,
digits=1),
MPSetting('MaxRarityPct',
float,
0.02,
range=(0, 100),
increment=0.01,
digits=2),
MPSetting('RegionMergeSize',
float,
3.0,
range=(0, 100),
increment=0.1,
digits=1),
MPSetting('minscore',
int,
0,
'Min Score',
range=(0, 1000),
increment=1,
tab='Scoring'),
MPSetting('filter_type',
str,
'simple',
'Filter Type',
choice=['simple', 'compactness']),
MPSetting('brightness',
float,
1.0,
'Display Brightness',
range=(0.1, 10),
increment=0.1,
digits=2,
tab='Display')
],
title='Settings')
menu = MPMenuSubMenu(
'View',
items=[
MPMenuItem('Original Image', 'Original Image', 'originalImage'),
MPMenuItem('Unquantised Image', 'Unquantised Image',
'unquantisedImage'),
MPMenuItem('Thresholded Image', 'Thresholded Image',
'thresholdedImage'),
MPMenuItem('Neighbours Image', 'Neighbours Image',
'neighboursImage'),
MPMenuItem('Regions Image', 'Regions Image', 'regionsImage'),
MPMenuItem('Prune Large Image', 'Prune Large Image',
'prunelargeImage'),
MPMenuItem('Merged Image', 'Merged Large', 'mergedImage'),
MPMenuItem('Pruned Image', 'Pruned Image', 'prunedImage'),
MPMenuItem('Fit Window', 'Fit Window', 'fitWindow'),
MPMenuItem('Full Zoom', 'Full Zoom', 'fullSize'),
MPMenuItem('Next Image', 'Next Image', 'nextImage'),
MPMenuItem('Previous Image', 'Previous Image', 'previousImage')
])
im_orig = cuav_util.LoadImage(fname)
im_numpy = numpy.ascontiguousarray(cv.GetMat(im_orig))
im_rgb = cv.fromarray(im_numpy)
cv.CvtColor(im_rgb, im_rgb, cv.CV_BGR2RGB)
# create the various views
view = mp_image.MPImage(title='FullImage', can_zoom=True, can_drag=True)
view.set_popup_menu(menu)
dlg = wxsettings.WXSettings(settings)
selected_image = "original"
while dlg.is_alive() and view.is_alive():
last_change = settings.last_change()
scan_parms = {
'MinRegionArea': settings.MinRegionArea,
'MaxRegionArea': settings.MaxRegionArea,
'MinRegionSize': settings.MinRegionSize,
'MaxRegionSize': settings.MaxRegionSize,
'MaxRarityPct': settings.MaxRarityPct,
'RegionMergeSize': settings.RegionMergeSize,
'SaveIntermediate': 1.0,
'MetersPerPixel': settings.MetersPerPixel
}
t0 = time.time()
regions = scanner.scan(im_numpy, scan_parms)
regions = cuav_region.RegionsConvert(regions,
cuav_util.image_shape(im_orig),
cuav_util.image_shape(im_orig),
False)
t1 = time.time()
print("Processing %s took %.2f seconds" % (fname, t1 - t0))
show_image(view, selected_image, im_rgb, fname)
while last_change == settings.last_change() and dlg.is_alive():
new_index = file_index
for event in view.events():
if isinstance(event, MPMenuItem):
if event.returnkey == 'nextImage':
new_index = (file_index + 1) % len(files)
elif event.returnkey == 'previousImage':
new_index = (file_index - 1) % len(files)
elif event.returnkey.endswith("Image"):
selected_image = event.returnkey[:-5]
show_image(view, selected_image, im_rgb, fname)
if new_index != file_index:
file_index = new_index
fname = files[file_index]
im_orig = cuav_util.LoadImage(fname)
im_numpy = numpy.ascontiguousarray(cv.GetMat(im_orig))
im_rgb = cv.fromarray(im_numpy)
cv.CvtColor(im_rgb, im_rgb, cv.CV_BGR2RGB)
break
time.sleep(0.1)
def __init__(self, mpstate):
super(CUAVModule, self).__init__(mpstate,
"CUAV",
"CUAV checks",
public=True)
self.console.set_status('RPM', 'RPM: --', row=8, fg='black')
self.console.set_status('RFind', 'RFind: --', row=8, fg='black')
self.console.set_status('Button', 'Button: --', row=8, fg='black')
self.console.set_status('ICE', 'ICE: --', row=8, fg='black')
self.console.set_status('FuelPump', 'FuelPump: --', row=8, fg='black')
self.console.set_status('DNFZ', 'DNFZ -- --', row=6, fg='black')
self.rate_period = mavutil.periodic_event(1.0 / 15)
self.button_remaining = None
self.button_change = None
self.last_button_update = time.time()
self.last_target_update = time.time()
self.button_change_recv_time = 0
self.button_announce_time = 0
self.fuel_change = None
self.last_fuel_update = time.time()
self.fuel_change_recv_time = 0
self.last_rpm_update = 0
self.last_rpm_value = None
self.last_rpm_announce = 0
self.showLandingZone = 0
self.showJoeZone = True
self.target = None
self.last_recall_check = 0
from MAVProxy.modules.lib.mp_settings import MPSettings, MPSetting
self.cuav_settings = MPSettings([
MPSetting('rpm_threshold', int, 6000, 'RPM Threshold'),
MPSetting('wind_speed', float, 0, 'wind speed (m/s)'),
MPSetting('wind_direction', float, 0, 'wind direction (degrees)'),
MPSetting('button_pin', float, 0, 'button pin'),
MPSetting('fuel_pin', float, 1, 'fuel pin'),
MPSetting('wp_center', int, 2, 'center search USER number'),
MPSetting('wp_start', int, 1, 'start search USER number'),
MPSetting('wp_end', int, 3, 'end search USER number'),
MPSetting('wp_land', int, 4, 'landing start USER number'),
MPSetting('wp_recall', int, 5, 'recall Kraken USER number'),
MPSetting('wp_release', int, 6, 'release Kraken USER number')
])
self.add_completion_function('(CUAVCHECKSETTING)',
self.cuav_settings.completion)
self.add_command('cuavcheck', self.cmd_cuavcheck, 'cuav check control',
[
'checkparams', 'movetarget', 'resettarget',
'showJoeZone', 'set (CUAVCHECKSETTING)'
])
#make the initial map menu
if mp_util.has_wxpython and self.module('map'):
self.menu = MPMenuSubMenu(
'UAV Challenge',
items=[
MPMenuCheckbox('Show Landing Zone', 'Show Landing Zone',
'# cuavcheck toggleLandingZone'),
MPMenuCheckbox('Show Joe Zone', 'Show Joe Zone',
'# cuavcheck toggleJoeZone')
])
self.module('map').add_menu(self.menu)
def process(args):
'''process a set of files'''
global slipmap, mosaic
scan_count = 0
files = []
for a in args:
if os.path.isdir(a):
files.extend(file_list(a, ['jpg', 'pgm', 'png']))
else:
if a.find('*') != -1:
files.extend(glob.glob(a))
else:
files.append(a)
files.sort()
num_files = len(files)
print("num_files=%u" % num_files)
region_count = 0
slipmap = mp_slipmap.MPSlipMap(service=opts.service,
elevation=True,
title='Map')
icon = slipmap.icon('redplane.png')
slipmap.add_object(
mp_slipmap.SlipIcon('plane', (0, 0),
icon,
layer=3,
rotation=0,
follow=True,
trail=mp_slipmap.SlipTrail()))
if opts.mission:
from pymavlink import mavwp
wp = mavwp.MAVWPLoader()
wp.load(opts.mission)
boundary = wp.polygon()
slipmap.add_object(
mp_slipmap.SlipPolygon('mission',
boundary,
layer=1,
linewidth=1,
colour=(255, 255, 255)))
if opts.mavlog:
mpos = mav_position.MavInterpolator()
mpos.set_logfile(opts.mavlog)
else:
mpos = None
if opts.kmzlog:
kmzpos = mav_position.KmlPosition(opts.kmzlog)
else:
kmzpos = None
if opts.triggerlog:
triggerpos = mav_position.TriggerPosition(opts.triggerlog)
else:
triggerpos = None
# create a simple lens model using the focal length
C_params = cam_params.CameraParams(lens=opts.lens,
sensorwidth=opts.sensorwidth)
if opts.camera_params:
C_params.load(opts.camera_params)
camera_settings = MPSettings([
MPSetting('roll_stabilised', bool, True, 'Roll Stabilised'),
MPSetting(
'altitude', int, 0, 'Altitude', range=(0, 10000), increment=1),
MPSetting('filter_type',
str,
'simple',
'Filter Type',
choice=['simple', 'compactness']),
MPSetting('fullres', bool, False, 'Full Resolution'),
MPSetting('quality',
int,
75,
'Compression Quality',
range=(1, 100),
increment=1),
MPSetting('thumbsize',
int,
60,
'Thumbnail Size',
range=(10, 200),
increment=1),
MPSetting('minscore',
int,
75,
'Min Score',
range=(0, 1000),
increment=1,
tab='Scoring'),
MPSetting('brightness',
float,
1.0,
'Display Brightness',
range=(0.1, 10),
increment=0.1,
digits=2,
tab='Display')
],
title='Camera Settings')
image_settings = MPSettings([
MPSetting('MinRegionArea',
float,
0.15,
range=(0, 100),
increment=0.05,
digits=2,
tab='Image Processing'),
MPSetting('MaxRegionArea',
float,
2.0,
range=(0, 100),
increment=0.1,
digits=1),
MPSetting('MinRegionSize',
float,
0.1,
range=(0, 100),
increment=0.05,
digits=2),
MPSetting(
'MaxRegionSize', float, 2, range=(0, 100), increment=0.1,
digits=1),
MPSetting('MaxRarityPct',
float,
0.02,
range=(0, 100),
increment=0.01,
digits=2),
MPSetting('RegionMergeSize',
float,
3.0,
range=(0, 100),
increment=0.1,
digits=1),
MPSetting('SaveIntermediate', bool, False)
],
title='Image Settings')
mosaic = cuav_mosaic.Mosaic(slipmap,
C=C_params,
camera_settings=camera_settings,
image_settings=image_settings,
start_menu=True)
joelog = cuav_joe.JoeLog(None)
if opts.view:
viewer = mp_image.MPImage(title='Image', can_zoom=True, can_drag=True)
if camera_settings.filter_type == 'compactness':
calculate_compactness = True
print("Using compactness filter")
else:
calculate_compactness = False
for f in files:
if not mosaic.started():
print("Waiting for startup")
while not mosaic.started():
mosaic.check_events()
time.sleep(0.01)
if mpos:
# get the position by interpolating telemetry data from the MAVLink log file
# this assumes that the filename contains the timestamp
frame_time = cuav_util.parse_frame_time(f) + opts.time_offset
if camera_settings.roll_stabilised:
roll = 0
else:
roll = None
try:
pos = mpos.position(frame_time, roll=roll)
except Exception:
print("No position available for %s" % frame_time)
# skip this frame
continue
elif kmzpos is not None:
pos = kmzpos.position(f)
elif triggerpos is not None:
pos = triggerpos.position(f)
else:
# get the position using EXIF data
pos = mav_position.exif_position(f)
pos.time += opts.time_offset
# update the plane icon on the map
if pos is not None:
slipmap.set_position('plane', (pos.lat, pos.lon), rotation=pos.yaw)
if camera_settings.altitude > 0:
pos.altitude = camera_settings.altitude
# check for any events from the map
slipmap.check_events()
mosaic.check_events()
im_orig = cuav_util.LoadImage(f)
(w, h) = cuav_util.image_shape(im_orig)
if not opts.camera_params:
C_params.set_resolution(w, h)
im_full = im_orig
im_640 = cv.CreateImage((640, 480), 8, 3)
cv.Resize(im_full, im_640, cv.CV_INTER_NN)
im_640 = numpy.ascontiguousarray(cv.GetMat(im_640))
im_full = numpy.ascontiguousarray(cv.GetMat(im_full))
count = 0
total_time = 0
t0 = time.time()
if camera_settings.fullres:
img_scan = im_full
else:
img_scan = im_640
scan_parms = {}
for name in image_settings.list():
scan_parms[name] = image_settings.get(name)
scan_parms['SaveIntermediate'] = float(scan_parms['SaveIntermediate'])
if pos is not None:
(sw, sh) = cuav_util.image_shape(img_scan)
mpp = cuav_util.meters_per_pixel(pos, C=C_params)
if mpp is not None:
scan_parms['MetersPerPixel'] = mpp * (w / float(sw))
regions = scanner.scan(img_scan, scan_parms)
else:
regions = scanner.scan(img_scan)
regions = cuav_region.RegionsConvert(regions,
cuav_util.image_shape(img_scan),
cuav_util.image_shape(im_full),
calculate_compactness)
count += 1
t1 = time.time()
frame_time = pos.time
regions = cuav_region.filter_regions(
im_full,
regions,
frame_time=frame_time,
min_score=camera_settings.minscore,
filter_type=camera_settings.filter_type)
scan_count += 1
mosaic.add_image(pos.time, f, pos)
if pos and len(regions) > 0:
altitude = camera_settings.altitude
if altitude <= 0:
altitude = None
joelog.add_regions(frame_time,
regions,
pos,
f,
width=w,
height=h,
altitude=altitude)
region_count += len(regions)
if len(regions) > 0:
composite = cuav_mosaic.CompositeThumbnail(
cv.GetImage(cv.fromarray(im_full)), regions)
thumbs = cuav_mosaic.ExtractThumbs(composite, len(regions))
mosaic.add_regions(regions, thumbs, f, pos)
if opts.view:
img_view = img_scan
(wview, hview) = cuav_util.image_shape(img_view)
mat = cv.fromarray(img_view)
for r in regions:
r.draw_rectangle(mat, (255, 0, 0))
cv.CvtColor(mat, mat, cv.CV_BGR2RGB)
viewer.set_image(mat)
viewer.set_title('Image: ' + os.path.basename(f))
total_time += (t1 - t0)
if t1 != t0:
print('%s scan %.1f fps %u regions [%u/%u]' %
(os.path.basename(f), count / total_time, region_count,
scan_count, num_files))
can_zoom=True,
can_drag=True)
menu = MPMenuTop([])
view_menu = MPMenuSubMenu('View', [
MPMenuItem('Next Image\tCtrl+N', 'Next Image', 'nextImage'),
MPMenuItem('Previous Image\tCtrl+P', 'Previous Image', 'previousImage')
])
menu.add(view_menu)
view_image.set_menu(menu)
settings = MPSettings([
MPSetting('threshold',
int,
6100,
'High Threshold',
tab='Settings',
range=(0, 65535)),
MPSetting('blue_threshold', float, 0.75, 'Blue Threshold', range=(0, 1)),
MPSetting('green_threshold', float, 0.4, 'Green Threshold', range=(0, 1))
])
changed = True
def settings_callback(setting):
'''called on a changed setting'''
global changed
changed = True
def show_value(x, y):
def __init__(self):
self.console = textconsole.SimpleConsole()
self.map = None
self.map_functions = {}
self.vehicle_type = None
self.vehicle_name = None
from MAVProxy.modules.lib.mp_settings import MPSettings, MPSetting
self.settings = MPSettings([
MPSetting('link',
int,
1,
'Primary Link',
tab='Link',
range=(0, 4),
increment=1),
MPSetting('streamrate',
int,
4,
'Stream rate link1',
range=(-1, 20),
increment=1),
MPSetting('streamrate2',
int,
4,
'Stream rate link2',
range=(-1, 20),
increment=1),
MPSetting('heartbeat',
int,
1,
'Heartbeat rate',
range=(0, 5),
increment=1),
MPSetting('mavfwd', bool, True, 'Allow forwarded control'),
MPSetting('mavfwd_rate', bool, False,
'Allow forwarded rate control'),
MPSetting('shownoise', bool, True, 'Show non-MAVLink data'),
MPSetting('altreadout',
int,
10,
'Altitude Readout',
range=(0, 100),
increment=1,
tab='Announcements'),
MPSetting('distreadout',
int,
200,
'Distance Readout',
range=(0, 10000),
increment=1),
MPSetting('moddebug',
int,
0,
'Module Debug Level',
range=(0, 3),
increment=1,
tab='Debug'),
MPSetting('flushlogs', bool, False, 'Flush logs on every packet'),
MPSetting('requireexit', bool, False, 'Require exit command'),
MPSetting('basealt',
int,
0,
'Base Altitude',
range=(0, 30000),
increment=1,
tab='Altitude'),
MPSetting('wpalt',
int,
100,
'Default WP Altitude',
range=(0, 10000),
increment=1),
MPSetting('rallyalt',
int,
90,
'Default Rally Altitude',
range=(0, 10000),
increment=1),
MPSetting('terrainalt',
str,
'Auto',
'Use terrain altitudes',
choice=['Auto', 'True', 'False']),
MPSetting('wpupdates', bool, True, 'Show waypoint updates'),
MPSetting('rally_breakalt',
int,
40,
'Default Rally Break Altitude',
range=(0, 10000),
increment=1),
MPSetting('rally_flags',
int,
0,
'Default Rally Flags`',
range=(0, 10000),
increment=1),
MPSetting('baudrate',
int,
opts.baudrate,
'baudrate for new links',
range=(0, 10000000),
increment=1),
MPSetting('rtscts', bool, opts.rtscts, 'enable flow control'),
MPSetting('select_timeout', float, 0.01, 'select timeout')
])
self.completions = {"script": ["(FILENAME)"], "set": ["(SETTING)"]}
self.status = MPStatus()
# master mavlink device
self.mav_master = None
# mavlink outputs
self.mav_outputs = []
# SITL output
self.sitl_output = None
self.mav_param = mavparm.MAVParmDict()
self.modules = []
self.public_modules = {}
self.functions = MAVFunctions()
self.select_extra = {}
self.continue_mode = False
self.aliases = {}
def __init__(self):
self.console = textconsole.SimpleConsole()
self.map = None
self.map_functions = {}
self.vehicle_type = None
self.vehicle_name = None
from MAVProxy.modules.lib.mp_settings import MPSettings, MPSetting
self.settings = MPSettings(
[ MPSetting('link', int, 1, 'Primary Link', tab='Link', range=(0,4), increment=1),
MPSetting('streamrate', int, 4, 'Stream rate link1', range=(-1,100), increment=1),
MPSetting('streamrate2', int, 4, 'Stream rate link2', range=(-1,100), increment=1),
MPSetting('heartbeat', int, 1, 'Heartbeat rate', range=(0,5), increment=1),
MPSetting('mavfwd', bool, True, 'Allow forwarded control'),
MPSetting('mavfwd_rate', bool, False, 'Allow forwarded rate control'),
MPSetting('shownoise', bool, True, 'Show non-MAVLink data'),
MPSetting('baudrate', int, opts.baudrate, 'baudrate for new links', range=(0,10000000), increment=1),
MPSetting('rtscts', bool, opts.rtscts, 'enable flow control'),
MPSetting('select_timeout', float, 0.01, 'select timeout'),
MPSetting('altreadout', int, 10, 'Altitude Readout',
range=(0,100), increment=1, tab='Announcements'),
MPSetting('distreadout', int, 200, 'Distance Readout', range=(0,10000), increment=1),
MPSetting('moddebug', int, opts.moddebug, 'Module Debug Level', range=(0,3), increment=1, tab='Debug'),
MPSetting('compdebug', int, 0, 'Computation Debug Mask', range=(0,3), tab='Debug'),
MPSetting('flushlogs', bool, False, 'Flush logs on every packet'),
MPSetting('requireexit', bool, False, 'Require exit command'),
MPSetting('wpupdates', bool, True, 'Announce waypoint updates'),
MPSetting('basealt', int, 0, 'Base Altitude', range=(0,30000), increment=1, tab='Altitude'),
MPSetting('wpalt', int, 100, 'Default WP Altitude', range=(0,10000), increment=1),
MPSetting('rallyalt', int, 90, 'Default Rally Altitude', range=(0,10000), increment=1),
MPSetting('terrainalt', str, 'Auto', 'Use terrain altitudes', choice=['Auto','True','False']),
MPSetting('rally_breakalt', int, 40, 'Default Rally Break Altitude', range=(0,10000), increment=1),
MPSetting('rally_flags', int, 0, 'Default Rally Flags', range=(0,10000), increment=1),
MPSetting('source_system', int, 255, 'MAVLink Source system', range=(0,255), increment=1, tab='MAVLink'),
MPSetting('source_component', int, 0, 'MAVLink Source component', range=(0,255), increment=1),
MPSetting('target_system', int, 0, 'MAVLink target system', range=(0,255), increment=1),
MPSetting('target_component', int, 0, 'MAVLink target component', range=(0,255), increment=1),
MPSetting('state_basedir', str, None, 'base directory for logs and aircraft directories'),
MPSetting('allow_unsigned', bool, True, 'whether unsigned packets will be accepted'),
MPSetting('dist_unit', str, 'm', 'distance unit', choice=['m', 'nm', 'miles'], tab='Units'),
MPSetting('height_unit', str, 'm', 'height unit', choice=['m', 'feet']),
MPSetting('speed_unit', str, 'm/s', 'height unit', choice=['m/s', 'knots', 'mph']),
MPSetting('vehicle_name', str, '', 'Vehicle Name', tab='Vehicle'),
])
self.completions = {
"script" : ["(FILENAME)"],
"set" : ["(SETTING)"],
"status" : ["(VARIABLE)"],
"module" : ["list",
"load (AVAILMODULES)",
"<unload|reload> (LOADEDMODULES)"]
}
self.status = MPStatus()
# master mavlink device
self.mav_master = None
# mavlink outputs
self.mav_outputs = []
self.sysid_outputs = {}
# SITL output
self.sitl_output = None
self.mav_param = mavparm.MAVParmDict()
self.modules = []
self.public_modules = {}
self.functions = MAVFunctions()
self.select_extra = {}
self.continue_mode = False
self.aliases = {}
import platform
self.system = platform.system()
def __init__(self, mpstate):
super(CameraAirModule, self).__init__(mpstate,
"camera_air",
"cuav camera control (air)",
public=True)
self.running = False
self.unload_event = threading.Event()
self.unload_event.clear()
self.capture_thread = None
self.scan_thread = None
self.transmit_thread = None
self.airstart_triggered = False
self.terrain_alt = None
self.handled_timestamps = {}
self.imagefilenamemapping = {}
self.posmapping = {}
self.is_armed = True
self.lz = cuav_landingregion.LandingZone()
from MAVProxy.modules.lib.mp_settings import MPSettings, MPSetting
self.camera_settings = MPSettings([
MPSetting('roll_stabilised', bool, False, 'Roll Stabilised'),
MPSetting('roll_limit', float, 0, 'Roll stabilisation limit'),
MPSetting('minspeed', int, 20,
'For airstart, minimum speed for capture to start'),
MPSetting('minalt',
int,
30,
'MinAltitude of images',
range=(0, 10000),
increment=1),
MPSetting('rotate180',
bool,
False,
'rotate images by 180',
tab='Capture2'),
MPSetting('ignoretimestamps',
bool,
False,
'Ignore image timestamps',
tab='Capture2'),
MPSetting('camparms',
str,
None,
'camera parameters file (json) in cuav package',
tab='Imaging'),
MPSetting(
'imagefile', str, None, 'latest captured image',
tab='Imaging'),
MPSetting('filter_type',
str,
'simple',
'Filter Type',
choice=['simple'],
tab='Imaging'),
MPSetting(
'blue_emphasis', bool, False, 'BlueEmphasis', tab='Imaging'),
MPSetting('use_capture_time',
bool,
True,
'Use Capture Time (false for sim)',
tab='Simulation'),
MPSetting('target_latitude',
float,
0,
'filter detected images to latitude',
tab='Filter to Location'),
MPSetting('target_longitude',
float,
0,
'filter detected images to longitude',
tab='Filter to Location'),
MPSetting('target_radius',
float,
0,
'filter detected images to radius',
tab='Filter to Location'),
MPSetting(
'gcs_address',
str,
"",
'GCS Addresses in RemIP:RemPort:LocalPort:Bandwidth format (127.0.0.1:1440:1234:45, ...)',
tab='GCS'),
MPSetting('qualitysend',
int,
90,
'Compression Quality for send',
range=(1, 100),
increment=1,
tab='GCS'),
MPSetting('transmit',
bool,
True,
'Transmit Enable for thumbnails',
tab='GCS'),
MPSetting('maxqueue', int, 50, 'Maximum images queue', tab='GCS'),
MPSetting('thumbsize',
int,
60,
'Thumbnail Size',
range=(10, 200),
increment=1),
MPSetting('minscore',
int,
1000,
'Min Score to pass detection',
range=(0, 100000),
increment=1,
tab='Imaging'),
MPSetting('clock_sync', bool, False, 'GPS Clock Sync'),
MPSetting('m_minscore',
int,
20000,
'Min Score to pass detection on mavlink',
range=(0, 100000),
increment=1,
tab='Imaging'),
MPSetting('m_bandwidth',
int,
500,
'max bandwidth on mavlink',
increment=1,
tab='GCS'),
MPSetting('m_maxqueue',
int,
5,
'Maximum images queue for mavlink',
tab='GCS'),
MPSetting('preview',
bool,
True,
'enable camera preview window',
tab='Imaging'),
MPSetting('previewquality',
int,
40,
'Compression Quality for preview',
range=(1, 100),
increment=1,
tab='Imaging'),
MPSetting('previewscale',
int,
5,
'preview downscaling',
range=(1, 10),
increment=1,
tab='Imaging'),
MPSetting('previewfreq',
int,
4,
'preview image frequency',
range=(1, 10),
increment=1,
tab='Imaging'),
],
title='Camera Settings')
self.image_settings = MPSettings([
MPSetting('MinRegionArea',
float,
0.15,
range=(0, 100),
increment=0.05,
digits=2,
tab='Image Processing'),
MPSetting('MaxRegionArea',
float,
1.0,
range=(0, 100),
increment=0.1,
digits=1,
tab='Image Processing'),
MPSetting('MinRegionSize',
float,
0.2,
range=(0, 100),
increment=0.05,
digits=2,
tab='Image Processing'),
MPSetting('MaxRegionSize',
float,
1.0,
range=(0, 100),
increment=0.1,
digits=1,
tab='Image Processing'),
MPSetting('MaxRarityPct',
float,
0.02,
range=(0, 100),
increment=0.01,
digits=2,
tab='Image Processing'),
MPSetting('RegionMergeSize',
float,
1.0,
range=(0, 100),
increment=0.1,
digits=1,
tab='Image Processing'),
],
title='Image Settings')
self.capture_count = 0
self.scan_count = 0
self.error_count = 0
self.error_msg = None
self.region_count = 0
self.scan_fps = 0
self.scan_queue = multiproc.Queue()
self.transmit_queue = multiproc.Queue()
self.have_set_gps_time = False
self.c_params = None
self.jpeg_size = 0
self.xmit_queue = []
self.efficiency = []
self.last_watch = 0
self.boundary = None
self.boundary_polygon = None
self.bandwidth_used = []
self.rtt_estimate = []
self.bsend = [] #note this is an array of bsends
# msend is a BlockSender over MAVLink
self.msocket = None
self.msend = None
self.last_heartbeat = time.time()
self.mpos = mav_position.MavInterpolator(backlog=500, gps_lag=0.0)
self.joelog = None #cuav_joe.JoeLog(os.path.join(self.settings.imagefile, '..', 'joe.log'), append=self.continue_mode)
self.add_command(
'camera', self.cmd_camera, 'camera control',
['<start|stop|status|boundary|airstart>', 'set (CAMERASETTING)'])
self.add_completion_function('(CAMERASETTING)',
self.camera_settings.completion)
# prevent loopback of messages
for mtype in ['DATA16', 'DATA32', 'DATA64', 'DATA96']:
self.module('link').no_fwd_types.add(mtype)
print("camera initialised")
