def __init__(self):
self.bridge = CvBridge()
self.image_sub = rospy.Subscriber("/drone/camera1/image_raw",Image,self.callback)
self.train_descriptor=[]
self.score = [0,0,0,0,0,0,0,0,0,0]
self.alpha = 0
self._pid = PID(0.001,0,0)
self.whichone = 'none'
self.gorev = 1.11
self.pist_1=[4,4]
self.pist_2=[-4,4]
self.pist_3=[-4,-4]
self.pist_4=[4,-4]
self.pist_5=[0,0]
self.stm_pist = None
self.odtu_pist=None
self.ort_pist=None
self.landing_pist=None
for each in range(5):
self.thresh, self.dedet, self.isim, self.sift, train_descriptor_a, self.surf, self.bf = baslat(each)
self.train_descriptor.append(train_descriptor_a)
pist_2 = [-1, 1]
pist_3 = [-1, -1]
pist_4 = [1, -1]
pist_5 = [0, 0]
pid = PID(0.001, 0, 0)
train_descriptor = []
score = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
alpha = 0
stm_pist = None
odtu_pist = None
ort_pist = None
landing_pist = None
for each in range(5):
thresh, dedet, isim, sift, train_descriptor_a, surf, bf = baslat(each)
train_descriptor.append(train_descriptor_a)
parser = argparse.ArgumentParser(
description='Control Copter and send commands in GUIDED mode ')
parser.add_argument(
'--connect',
help=
"Vehicle connection target string. If not specified, SITL automatically started and used."
)
args = parser.parse_args()
connection_string = '/dev/ttyACM0'
sitl = None
if not connection_string:
from cv_bridge import CvBridge, CvBridgeError
import matplotlib
matplotlib.use('Agg')
import matplotlib.pyplot as plt
import numpy as np
import time
from ip import baslat,islet, hangisi
from goruntu_isle1 import baslat,hangisi
from dronekit import connect, VehicleMode, LocationGlobal, LocationGlobalRelative
from pymavlink import mavutil # Needed for command message definitions
import math
import argparse
a=5
gorev=1.1
thresh, dedet, isim, sift, train_descriptor, surf, bf = baslat(0)
parser = argparse.ArgumentParser(description='Control Copter and send commands in GUIDED mode ')
parser.add_argument('--connect',help="Vehicle connection target string. If not specified, SITL automatically started and used.")
args = parser.parse_args()
connection_string = '127.0.0.1:14550'
sitl = None
#Start SITL if no connection string specified
if not connection_string:
import dronekit_sitl
sitl = dronekit_sitl.start_default()
connection_string = sitl.connection_string()
# Connect to the Vehicle
print('Connecting to vehicle on: %s' % connection_string)
vehicle = connect(connection_string, wait_ready=True)