def UAVScan(RGDiff=75, FramesCount=5):
"""
Function to detect fire using UAV thermal camera based on thresholding image's intesity
:params RGDiff:
FramesCount:
:return Detected: True if fire detected
latQuad, longQuad : Coordinates of fire detection
"""
cam_quad = cv2.VideoCapture("rtmp://127.0.0.1:1935/live/quad")
cntDetected = 0
while 1:
retQuad, frmQuad = cam_quad.read()
if not retQuad:
continue
qq = (np.sum((frmQuad[:, :, 2].astype(int) -
frmQuad[:, :, 1].astype(int)) > RGDiff))
if qq:
cntDetected += 1
if cntDetected > FramesCount:
quadCoords = alarmRequests.getQuadCoords()
latQuad = float(quadCoords[0])
longQuad = float(quadCoords[1])
#absAltQuad = float(quadCoords[2])
cv2.imwrite('/home/theasis/software/static_cam/fireFrame.jpg',
frmQuad)
print("Validated...")
return True, latQuad, longQuad
cam_quad.release()
# if break while loop
return False, -1, -1
def UAVScan():
cam_quad = cv.VideoCapture("rtmp://127.0.0.1:1935/live/quad")
cntDetected = 0
while 1:
retQuad, frmQuad = cam_quad.read()
qq = (np.sum((frmQuad[:, :, 2].astype(int) -
frmQuad[:, :, 1].astype(int)) > 75))
if qq:
cntDetected += 1
if cntDetected > 0:
quadCoords = alarmRequests.getQuadCoords()
latQuad = float(quadCoords[0])
longQuad = float(quadCoords[1])
#absAltQuad = float(quadCoords[2])
cv.imwrite('/home/theasis/software/static_cam/fireFrame.jpg',
frmQuad)
print("Validated...")
return True, latQuad, longQuad
cam_quad.release()
# if break while loop
return False, -1, -1
def checkIfDroneIsHome(): droneHomeCoords = [ 38.123456, 21.567890] #isDroneHome = True droneCurrentCoords = alarmRequests.getQuadCoords() droneCurrentCoords[0] = float(droneCurrentCoords[0]) droneCurrentCoords[1] = float(droneCurrentCoords[1]) droneCurrentCoords[2] = float(droneCurrentCoords[2]) if np.abs(droneHomeCoords[0] - droneCurrentCoords[0])<0.00001 and np.abs(droneHomeCoords[1] - droneCurrentCoords[1])<0.00001: isDroneHome = True else: isDroneHome = False return isDroneHome