def main():
video = Video()
#image = video.frame()
#cap = cv2.VideoCapture(-1)
#cap = cv2.VideoCapture("udpsrc port=5600 caps='application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H264 ! rtph264depay ! avdec_h264 ! clockoverlay valignment=bottom ! autovideosink fps-update-interval=1000 sync=false")
while (1):
if not video.frame_available():
continue
image = video.frame()
crocodile(image)
cv2.imshow("Frame", image)
### MAGICA ######
if cv2.waitKey(1) & 0xFF == ord('q'):
break
class DetectAlphanumeric:
def __init__(self):
self.video = Video()
self.frame = self.video.frame()
def detect(self):
self.frame = self.video.frame()
self.cv_image = cv_bridge.imgmsg_to_cv2(self.frame)
#blur = cv2.GaussianBlur(self.frame,(3,3),0)
ret3, th3 = cv2.threshold(self.frame, 0, 255,
cv2.THRESH_BINARY + cv2.THRESH_OTSU)
cv2.imshow("Camera", self.frame)
cv2.imshow("Threshold", th3)
text = pytesseract.image_to_string(th3)
print(text)
return text
def __init__(self):
self.video = Video()
self.frame = self.video.frame()
print("oi")
with detection_graph.as_default():
print("oi")
od_graph_def = tf.GraphDef()
with tf.gfile.GFile("frozen_model.pb", 'rb') as fid:
serialized_graph = fid.read()
od_graph_def.ParseFromString(serialized_graph)
tf.import_graph_def(od_graph_def, name='')
## Loads the label map GFile
category_index = label_map_util.create_category_index_from_labelmap(
"label_map.pbtxt", use_display_name=True)
#cap = cv2.VideoCapture(-1)
video = Video()
while True:
print("Entrou no while")
if not video.frame_available():
continue
image = video.frame()
#obj = run_inference(image, detection_graph)
#print(obj)
#cv2.imshow("Objects", obj)
show_image(image)
#cv2.imshow("Camera", image)
k = cv2.waitKey(5) & 0xFF
if k == 27:
break
cap.release()
def main():
class VisualElement:
def __init__(self, imgName, position):
self.img = pygame.image.load(imgName)
self.position = position
def show(self):
mainDisplay.blit(self.img, self.position)
pass
class Text:
def __init__(self, text, position):
pygame.font.init()
global FONT
self.surface = FONT.render(str(text), True, brightGreen)
self.rectangle = self.surface.get_rect()
self.rectangle.center = position
def show(self):
mainDisplay.blit(self.surface, self.rectangle)
class Button:
def __init__(self, imgName, imgPressedName, position, size, msg):
self.buttonImg = pygame.image.load(imgName)
self.buttonPressedImg = pygame.image.load(imgPressedName)
self.buttonPose = position
self.buttonSize = size
self.buttonMsg = msg
self.show()
def show(self):
mainDisplay.blit(self.buttonImg, self.buttonPose)
def active(self):
mainDisplay.blit(self.buttonPressedImg, self.buttonPose)
def inside(self):
position = self.buttonPose
mousePos = pygame.mouse.get_pos()
s = self.buttonSize
x = mousePos[0] - position[0]
y = mousePos[1] - position[1]
if (y >= -x and y <= x) and (y >= x - s and y <= s - x):
return True
else:
return False
pass
def publishMsg(self, msg=""):
pub = rospy.Publisher('controle', String, queue_size=10)
rospy.init_node('interface', anonymous=True)
rate = rospy.Rate(20) # 10hz
if msg.len() > 1:
str = msg
else:
str = self.buttonMsg
pub.publish(str)
rate.sleep()
mainDisplay.fill(grey)
mousePos = pygame.mouse.get_pos()
#=========== Criando os objetos para os botoes =================#
upButton = Button(
'/home/caio/catkin_ws/src/dronecontrol/interface/media/upbutton.png',
'/home/caio/catkin_ws/src/dronecontrol/interface/media/upbuttonpressed.png',
((leftControllerCenterX), (leftControllerCenterY - shift)), 150, upMSG)
downButton = Button(
'/home/caio/catkin_ws/src/dronecontrol/interface/media/downbutton.png',
'/home/caio/catkin_ws/src/dronecontrol/interface/media/downbuttonpressed.png',
((leftControllerCenterX), (leftControllerCenterY + shift)), 150,
downMSG)
rightButton = Button(
'/home/caio/catkin_ws/src/dronecontrol/interface/media/rightbutton.png',
'/home/caio/catkin_ws/src/dronecontrol/interface/media/rightbuttonpressed.png',
((rightControllerCenterX + shift), (rightControllerCenterY)), 150,
rightMSG)
leftButton = Button(
'/home/caio/catkin_ws/src/dronecontrol/interface/media/leftbutton.png',
'/home/caio/catkin_ws/src/dronecontrol/interface/media/leftbuttonpressed.png',
((rightControllerCenterX - shift), (rightControllerCenterY)), 150,
leftMSG)
frontButton = Button(
'/home/caio/catkin_ws/src/dronecontrol/interface/media/upbutton.png',
'/home/caio/catkin_ws/src/dronecontrol/interface/media/upbuttonpressed.png',
((rightControllerCenterX), (rightControllerCenterY - shift)), 150,
frontMSG)
backButton = Button(
'/home/caio/catkin_ws/src/dronecontrol/interface/media/downbutton.png',
'/home/caio/catkin_ws/src/dronecontrol/interface/media/downbuttonpressed.png',
((rightControllerCenterX), (rightControllerCenterY + shift)), 150,
backMSG)
yawRightButton = Button(
'/home/caio/catkin_ws/src/dronecontrol/interface/media/rightbutton.png',
'/home/caio/catkin_ws/src/dronecontrol/interface/media/rightbuttonpressed.png',
((leftControllerCenterX + shift), (leftControllerCenterY)), 150,
yawRightMSG)
yawLeftButton = Button(
'/home/caio/catkin_ws/src/dronecontrol/interface/media/leftbutton.png',
'/home/caio/catkin_ws/src/dronecontrol/interface/media/leftbuttonpressed.png',
((leftControllerCenterX - shift), (leftControllerCenterY)), 150,
yawLeftMSG)
button_list = {
upButton, downButton, rightButton, leftButton, frontButton, backButton,
yawRightButton, yawLeftButton
}
frame = VisualElement(
'/home/caio/catkin_ws/src/dronecontrol/interface/media/frame.png',
(((display_width / 2) - ((display_height + shift) / 2)), 0))
element_list = {frame}
#============== Inicializacao do subscriber de posicao =========#
rospy.init_node("ControlGUI", anonymous=True)
rate = rospy.Rate(60)
#pose_param=""
#battery_param=""
#state_param=""
class Param:
def __init__(self, pose_topic, battery_topic, state_topic):
self.pose_topic = rospy.get_param("~pose_topic", pose_topic)
self.battery_topic = rospy.get_param("~battery_topic",
battery_topic)
self.state_topic = rospy.get_param("state_topic", state_topic)
def pose_callback(data):
global position
position.pose.position.x = data.pose.position.x
position.pose.position.y = data.pose.position.y
position.pose.position.z = data.pose.position.z
def pose_sub(self, topic_name):
self.pose_topic = topic_name.data
position_sub = rospy.Subscriber(self.pose_topic, PoseStamped,
pose_callback)
#==================== BATERIA ======================#
def battery_callback(bat_dat):
global battery
battery.voltage = bat_dat.voltage
battery.percentage = bat_dat.percentage
battery.current = bat_dat.current
def bat_sub(self, topic_name):
self.battery_topic = topic_name.data
battery_subscriber = rospy.Subscriber(self.battery_topic,
BatteryState,
battery_callback)
def state_callback(state_data):
global current_state
current_state = state_data
def state_sub(self, topic_name):
self.state_topic = topic_name.data
state_status_subscribe = rospy.Subscriber(
self.state_topic, State, state_callback)
#======== IMAGENS ==========#
cam_image = pygame.Surface((cam_width, cam_height))
def img_callback(img):
global cam_image
global newImage
cam_image = pygame.image.fromstring(img.data, (320, 240), "RGB")
cam_image = pygame.transform.scale(cam_image, (cam_width, cam_height))
#mainDisplay.blit(cam_image, cam_pose)
#============ LOG ===============#
open('/home/caio/catkin_ws/src/dronecontrol/interface/log',
'w').close() # Apaga os dados do log anterior
file = open('/home/caio/catkin_ws/src/dronecontrol/interface/log', 'a')
file.write("*********** flight log *************\n")
file.write(
"Elapsed Time;X Position;Y Position;Z Position;Voltage;Current\n\n")
def log():
global position
global last_time
if (time.time() - last_time) > 0.1:
file.write(str(time.time() - init_time))
file.write(';')
file.write(str(position.pose.position.x))
file.write(';')
file.write(str(position.pose.position.y))
file.write(';')
file.write(str(position.pose.position.z))
file.write(';')
file.write(str(battery.voltage))
file.write(';')
file.write(str(battery.current))
file.write('\n')
last_time = time.time()
exit = False
img_sub = rospy.Subscriber('/camera1/image_raw', Image, img_callback)
video = Video()
while not exit:
# if not video.frame_available():
# # continue
# # cam = video.frame()
# #cam_image = pygame.image.fromstring(img.data, (320,240), "RGB")
# cam = pygame.transform.scale(cam, (cam_width, cam_height))
# mainDisplay.blit(cam, cam_pose)
#cv2.imshow("cam",cam)
mousePos = pygame.mouse.get_pos() # Pega posicao do mouse
mainDisplay.fill(grey)
pygame.draw.rect(mainDisplay, darkGreen, dataRect)
#### Mostra os botoes de acordo com a posicao do mouse
for Button in button_list:
if Button.inside():
Button.active()
mousec = pygame.mouse.get_pressed()
click = mousec[0]
if click == 1:
Button.publishMsg()
else:
Button.show()
#
#========= Mostra elementos visuais =========#
for Element in element_list:
Element.show()
#
position_text = Text("Position: ", (350, 550))
battery_text = Text("Battery Tension: ", (350, 625))
battery_voltage = Text(battery.voltage, (400, 640))
battery_text2 = Text("Battery Current:", (350, 660))
battery_current = Text(battery.current, (400, 680))
x_pose = Text(position.pose.position.x, (380, 570))
y_pose = Text(position.pose.position.y, (380, 585))
z_pose = Text(position.pose.position.z, (380, 600))
position_text.show()
x_pose.show()
y_pose.show()
z_pose.show()
battery_text.show()
battery_voltage.show()
battery_text2.show()
battery_current.show()
for event in pygame.event.get():
print('entrou no for')
if event.type == pygame.QUIT:
exit = True
publish("stop")
file.close()
#====== Botoes!!! ==========#
elif event.type == pygame.KEYDOWN:
if event.key == pygame.K_LEFT:
leftButton.active()
leftButton.publishMsg()
else:
leftButton.show()
if event.key == pygame.K_RIGHT:
rightButton.active()
rightButton.publishMsg()
else:
rightButton.show()
if event.key == pygame.K_UP:
frontButton.active()
frontButton.publishMsg()
else:
frontButton.show()
if event.key == pygame.K_DOWN:
backButton.active()
backButton.publishMsg()
else:
backButton.show()
if event.key == pygame.K_w:
upButton.active()
upButton.publishMsg()
else:
upButton.show()
if event.key == pygame.K_a:
yawLeftButton.active()
yawLeftButton.publishMsg()
else:
yawLeftButton.show()
if event.key == pygame.K_s:
downButton.active()
downButton.publishMsg()
else:
downButton.show()
if event.key == pygame.K_d:
yawRightButton.active()
yawRightButton.publishMsg()
else:
yawRightButton.show()
if event.key == pygame.K_j:
publish("disarm")
elif event.type == pygame.KEYUP:
publish("stop")
log()
pygame.display.update()
clock.tick()
pygame.event.poll()