def addWayPoint(self, event):
x = event.pos().x()
y = event.pos().y()
point = (x, y)
self.wayPoints.append(point)
if (event.button() == QtCore.Qt.LeftButton):
lonMin, latMin, lonMax, latMax = self.imageMetadata['bbox']
sizeX, sizeY = self.imageMetadata['size']
lat, lon = ImageUtils.posImage2Coords(x, y, sizeX, sizeY, latMin,
lonMin, latMax, lonMax)
point_ll = (lat, lon)
self.wayPoints_lat_lon.append(point)
currentRowCount = self.table.rowCount()
item = QTableWidgetItem()
alt = QTableWidgetItem()
if self.toffButton.isChecked():
if self.toffButton.text() == 'Take off':
item.setText("TAKE OFF to " + str(lat) + ' ' + str(lon))
self.toffButton.setChecked(False)
self.toffButton.setText('Land')
else:
item.setText("LAND in " + str(lat) + ' ' + str(lon))
self.toffButton.setChecked(False)
self.toffButton.setText('Take off')
else:
item.setText("lat: " + str(lat) + ' lon: ' + str(lon))
alt.setText(self.altitudeText.text())
self.table.insertRow(currentRowCount)
self.table.setItem(currentRowCount, 0, item)
self.table.setItem(currentRowCount, 1, alt)
def update_waypoints(self):
self.wayPoints = []
bbox = self.imageMetadata["bbox"]
print(bbox)
imagesize = self.imageMetadata["size"]
list_wp = []
for i in range(len(self.wayPoints_lat_lon)):
geo_point = self.wayPoints_lat_lon[i]
point = ImageUtils.posCoords2Image(bbox[0], bbox[1], bbox[2],
bbox[3], geo_point[0],
geo_point[1], imagesize[0],
imagesize[1])
self.wayPoints.append(point)
def retrieve_new_map(lat, lon, radius, width, heigth):
bbox = getBoundingBox(lat, lon, radius)
wms = WebMapService('http://www.ign.es/wms-inspire/pnoa-ma', version='1.3.0')
bbox = getBoundingBox(lat, lon, radius)
print(bbox)
img = wms.getmap(layers=['OI.OrthoimageCoverage'],
styles=['default'],
srs='EPSG:4326',
bbox=(bbox),
size=(width, heigth),
format='image/png',
transparent=True)
with open('images/tmp.png', 'wb') as f:
f.write(img.read())
ImageUtils.prepareInitialImage(img.read(), width, heigth)
opencv_image = cv2.imread("images/imageWithDisclaimer.png", 1)
image = {'bytes': opencv_image, 'bbox': bbox, 'size': (width, heigth)}
return image
def getPos(self, event):
'''
function who reference the mouse position in the image over coordinades
:param event: event executed
:return: None
'''
x = event.pos().x()
y = event.pos().y()
lonMin, latMin, lonMax, latMax = self.imageMetadata['bbox']
sizeX, sizeY = self.imageMetadata['size']
lat, lon = ImageUtils.posImage2Coords(x, y, sizeX, sizeY, latMin,
lonMin, latMax, lonMax)
self.labelGP.setText("lat: " + str(lat) + ' lon: ' + str(lon) +
" X: " + str(x) + " Y: " + str(y))
def update_position(self):
if self.pose != None:
pose = self.getPose3D().getPose3D()
lat = pose.x
lon = pose.y
bbox = self.imageMetadata["bbox"]
self.limit_warning = GeoUtils.is_position_close_border(
lat, lon, bbox)
if self.limit_warning:
self.download_zoomed_map()
else:
bbox = self.imageMetadata["bbox"]
imagesize = self.imageMetadata["size"]
x, y = ImageUtils.posCoords2Image(bbox[0], bbox[1], bbox[2],
bbox[3], lat, lon,
imagesize[0], imagesize[1])
angle = self.sensorsWidget.quatToYaw(pose.q0, pose.q1, pose.q2,
pose.q3)
self.setPosition(x, y, angle)
def updateImage(self):
img = self.imageMetadata.get("numpy")
if img is not None:
image = QImage(img.data, img.shape[1], img.shape[0],
img.shape[1] * img.shape[2], QImage.Format_RGB888)
if img.shape[1] == self.IMAGE_COLS_MAX:
x = 20
else:
x = (self.IMAGE_COLS_MAX + 20) / 2 - (img.shape[1] / 2)
if img.shape[0] == self.IMAGE_ROWS_MAX:
y = 40
else:
y = (self.IMAGE_ROWS_MAX + 40) / 2 - (img.shape[0] / 2)
img_to_show = ImageUtils.refreshPosition(self.image2show,
40.4153774, -3.708283)
size = QSize(img.shape[1], img.shape[0])
self.imageLabel.move(x, y)
self.imageLabel.resize(size)
self.imageLabel.setPixmap(QPixmap.fromImage(image))
signal.signal(signal.SIGINT, signal.SIG_DFL)
lat = 40.333285
lon = -3.797859
'''
lat =-35.363261
lon =149.165230
lat = 40.333090
lon = -3.798212
'''
H = 0.5 # radius in kilometers
'''
bbox = GeoUtils.getBoundingBox(lat,lon, h)
im = GeoUtils.retrieve_new_google_map(lat, lon, IMAGE_WIDTH, IMAGE_HEIGTH)
corners = getCorners((lat,lon),10,IMAGE_WIDTH,IMAGE_HEIGTH)
with open('images/tmp.png', 'wb') as f:
f.write(im.read())
im = open('images/tmp.png','rb')
ImageUtils.prepareInitialImage(im.read(),IMAGE_WIDTH,IMAGE_HEIGTH)
#opencv_image = cv2.imread('images/imageWithDisclaimer.png',1);
opencv_image = cv2.imread('images/tmp.png',1)
image = {'bytes': opencv_image, 'bbox': corners, 'size': (IMAGE_WIDTH,IMAGE_HEIGTH)}