def start(self):
info = tello_center.get_config(JudgeServerLocal.CONFIG_BOX_INFO,
fallback=None)
if info is None:
info = {
1: IDX_CAT,
2: IDX_GAS_TANK,
3: IDX_BABY,
4: IDX_FILES,
5: IDX_PAINTING
}
self.targets = []
self.results = []
rand = random.Random(
tello_center.get_config(JudgeServerLocal.CONFIG_RANDOM_SEED,
fallback=None))
while len(self.targets) != 3:
idx = rand.randint(1, 5)
if idx in self.results:
continue
self.results.append(idx)
self.targets.append(info[idx])
self.logger.info("Initial with {%d: %s, %d: %s, %d: %s}" %
(self.results[0], id2name[self.targets[0]],
self.results[1], id2name[self.targets[1]],
self.results[2], id2name[self.targets[2]]))
def preload(service: tello_center.PreLoadService):
if tello_center.get_config(YoloService.CONFIG_USE_YOLO, fallback=True):
weights = tello_center.get_config(YoloService.CONFIG_YOLO_WEIGHTS,
fallback='fire_new_1207.pt')
service.put_loaded(YoloService.PRELOAD_YOLO_DETECTOR,
Detect(0.1, weights=weights))
else:
service.put_loaded(YoloService.PRELOAD_YOLO_DETECTOR,
detect.Detect(0.1))
def start(self):
if tello_center.get_config(YoloService.CONFIG_LOOP_DETECTION,
fallback=True):
self.logger.info('start loop detection')
t = threading.Thread(target=self.loop_thread)
t.daemon = True
t.start()
if tello_center.get_config(YoloService.CONFIG_DETECT_ON_MAIN_THREAD,
fallback=True):
self.task_loop = TaskLoop(flag=self.flag)
def override_lock_loop():
tello_center.input_exit_thread(daemon=True)
self.task_loop.start()
tello_center.lock_loop = override_lock_loop
def post_detect(self, img):
if tello_center.get_config(YoloService.CONFIG_DETECT_ON_MAIN_THREAD,
fallback=True):
task = DetectImage(
tello_center.get_preloaded(YoloService.PRELOAD_YOLO_DETECTOR),
img)
return task.invoke_on(self.task_loop)
else:
return self.get_detector().detect(img)
def on_request_exit(self):
tello_center.Service.on_request_exit(self)
if tello_center.get_config(
TelloBackendService.CONFIG_AUTO_LAND_ON_EXIT, True):
self.drone.land()
def process(self, image, state: tello_data.TelloData, showimg):
x, y, w, h = redball_detecter.find_red_ball(image)
if x is not None:
cv2.rectangle(showimg, (x, y), (x + w, y + h), (255, 0, 0),
thickness=2)
px = x + w / 2.0
py = y + h / 2.0
view = 45 / 180.0 * np.pi
det = 10 / 180.0 * np.pi
_y, _dis_y, _det_y = solve_system(det, (np.pi - view) / 2, view,
720, x, x + h, 10)
pix_size = 1.0 / w * 10 # 单位像素对应的实际长度
la_x = 480
la_y = 168
cx = int(x + w / 2)
cy = int(y + h / 2)
rh = _y(la_y) - _y(cy) # (360 - cy) * pix_size
# delta = 20
# ry1 = _y(la_y)
# ry2 = _y(la_y + delta)
# scale = (ry2 - ry1) / delta
ry = (cx - la_x) * pix_size # (cx - 480) * pix_size
ry += (180 - state.x) * np.tan(state.mpry[1] / 180.0 * np.pi)
cv2.line(showimg, (la_x, la_y), (cx, la_y), (0, 255, 0),
thickness=2)
cv2.line(showimg, (cx, la_y), (cx, cy), (0, 255, 0), thickness=2)
s = "y offset: %.2fcm" % ry
cv2.putText(showimg,
s, (la_x, la_y),
cv2.FONT_HERSHEY_PLAIN,
1, (0, 0, 0),
thickness=5)
cv2.putText(showimg,
s, (la_x, la_y),
cv2.FONT_HERSHEY_PLAIN,
1, (255, 255, 255),
thickness=1)
s = "h offset: %.2fcm" % rh
cv2.putText(showimg,
s, (cx, la_y + 20),
cv2.FONT_HERSHEY_PLAIN,
1, (0, 0, 0),
thickness=5)
cv2.putText(showimg,
s, (cx, la_y + 20),
cv2.FONT_HERSHEY_PLAIN,
1, (255, 255, 255),
thickness=1)
pos = state.get_pos()
ray = state.get_ray(px, py)
if self.world.available():
pos = self.world.collide_ray_window(pos, ray)
if pos is not None:
pos = pos[0]
# print(pos)
self.detectedPos.append(pos)
if self.pos_handler is not None:
self.pos_handler(pos)
s = '%.2f %.2f %.2f' % (pos[0], pos[1], pos[2])
la_x = 960 - 200
la_y = 720 - 30
cv2.putText(showimg,
s, (la_x, la_y),
cv2.FONT_HERSHEY_PLAIN,
1, (0, 0, 0),
thickness=5)
cv2.putText(showimg,
s, (la_x, la_y),
cv2.FONT_HERSHEY_PLAIN,
1, (255, 255, 255),
thickness=1)
if tello_center.get_config(
FireDetector.CONFIG_SHOW_POS_MAP, fallback=False):
fmap = np.array([206, 300, 3])
locks.imshow('fire_map', fmap)
self.preload.put_loaded(FireDetector.PRELOAD_FIRE_POS,
np.copy(pos))
elif self.pos_handler is not None:
self.pos_handler(None)