def detect(self, img, x=0, y=0, w=0, h=0):
detector = tello_center.get_preloaded(
YoloService.PRELOAD_YOLO_DETECTOR) # type: Detect
if detector is None:
raise BaseException('detector not loaded')
if w == 0 or h == 0:
return self.post_detect(img)
else:
c = np.copy(img[y:y + h, x:x + w])
locks.imshow('copy', c)
results = self.post_detect(c)
if results is not None:
for r in results:
r.x1 += x
r.x2 += x
r.y1 += y
r.y2 += y
else:
results = []
# for r in detector.detect(img) or []:
# results.append(r)
if len(results) == 0:
return None
return results
def __getattribute__(self, item):
if item == 'key':
return object.__getattribute__(self, item)
handler = tello_center.get_preloaded(self.key)
if handler is None:
if item == 'enable':
return False
return None
return handler.__getattribute__(item)
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 loop_thread(self):
while self.flag():
detector = tello_center.get_preloaded(
YoloService.PRELOAD_YOLO_DETECTOR) # type: Detect
if self.backend.available() and detector is not None:
img, _ = self.backend.drone.get_image_and_state()
if img is None:
time.sleep(0.1)
continue
img = np.copy(img)
result = self.detect(img)
#result = self.detect(img, 480, 100, 480, 360)
detector.draw_result(img, result)
locks.imshow('detect', img)
time.sleep(0.3)
else:
time.sleep(0.1)
self.logger.info('exit loop detection')
def spinCameraTask(task):
#self = startup
angleDegrees = task.time*30.0
# angleDegrees = 0
angleRadians = angleDegrees*(pi/180.0)
if self.backend.available() and self.backend.drone.get_state() is not None:
state = self.backend.drone.get_state() # type: tello_data.TelloData
if state.mid > 0:
pos = state.get_pos()
hpr = state.get_hpr() / np.pi * 180
tello.setPos(pos[0], pos[1], pos[2])
tello.setDirection(hpr[0], hpr[1], hpr[2])
else:
pass
else:
tello.setPos(3*sin(angleRadians), -3*cos(angleRadians), 1.6)
tello.setDirection(angleDegrees, 0, 0)
pos = tello_center.get_preloaded(tello_image_process.FireDetector.PRELOAD_FIRE_POS)
if pos is not None:
box.setPos(pos[0], pos[1], pos[2])
time.sleep(1.0/60.0)
return Task.cont
def get_detector(self) -> Detect:
return tello_center.get_preloaded(
YoloService.PRELOAD_YOLO_DETECTOR) # type: Detect