Compare commits

..

41 Commits

Author SHA1 Message Date
p6z7sf4pe 865a222005 MainActivity更新
2 years ago
p6z7sf4pe 642c14b307 backup_rules
2 years ago
p6z7sf4pe 36243b5916 原有安卓图标
2 years ago
p6z7sf4pe d63f05d50e 部署图
2 years ago
p6z7sf4pe 173a788131 设计架构
2 years ago
p6z7sf4pe e32b648b5e MVC
2 years ago
p6z7sf4pe d5d4b87c95 终端
2 years ago
p6z7sf4pe cd630be5f8 attempt
2 years ago
p6z7sf4pe 966af5560b uav
2 years ago
p6z7sf4pe 7e71bd20d4 接受无人机回传
2 years ago
p6z7sf4pe 8b18cf1c6b 无人机自动巡航
2 years ago
p6z7sf4pe 5b7900dd12 异常情况处理
2 years ago
p6z7sf4pe 74401acce8 登录
2 years ago
p6z7sf4pe dd730862bc 操纵无人机状态图
2 years ago
p6z7sf4pe d2a6f8fcb2 1
2 years ago
p6z7sf4pe 2b5693974d APP应用图标调整
2 years ago
p6z7sf4pe 9c67c82e2a APP应用图标
2 years ago
p6z7sf4pe 74c0eb034d 增加传感器报警弹窗
2 years ago
p6z7sf4pe b9c409e12c ADD file via upload
2 years ago
p6z7sf4pe 6e230d4cb1 标点方式及平滑控制更新
2 years ago
p6z7sf4pe 7da2e2c751 图标更新
2 years ago
p6z7sf4pe 0b80cb6573 图标更新
2 years ago
p6z7sf4pe accd8152d4 文档更新
2 years ago
p6z7sf4pe 73f7bc4f6e first
2 years ago
p6z7sf4pe 0befd97ab5 主类
2 years ago
p6z7sf4pe 4484618b04 控制
2 years ago
p6z7sf4pe cc4cb2f77b login界面
2 years ago
p6z7sf4pe b76ee3b271 map
2 years ago
p6z7sf4pe 25a1801f69 video
2 years ago
p6z7sf4pe e40b495287 update
2 years ago
p6z7sf4pe 286ecfc0da second
2 years ago
p6z7sf4pe e5a908e0d8 first
2 years ago
p6z7sf4pe 8d50f93253 detect
2 years ago
p6z7sf4pe 56a47fd408 main
2 years ago
p6z7sf4pe 5ad78c5c17 画面组件
2 years ago
p6z7sf4pe 2abf752ea5 控制组件
2 years ago
p6z7sf4pe 81edcc03a1 飞行速度组件
2 years ago
p6z7sf4pe b888c706be 文档更新
2 years ago
p6z7sf4pe 8b030e5886 软件设计约束文档更新
3 years ago
p6z7sf4pe 64b09aa11e ADD file via upload
3 years ago
p6z7sf4pe 41498fc42a update
3 years ago

@ -1,8 +0,0 @@
<?xml version="1.0" encoding="UTF-8"?>
<module type="PYTHON_MODULE" version="4">
<component name="NewModuleRootManager">
<content url="file://$MODULE_DIR$" />
<orderEntry type="jdk" jdkName="E:\Program Files\anaconda3\envs\shaobing" jdkType="Python SDK" />
<orderEntry type="sourceFolder" forTests="false" />
</component>
</module>

@ -1,6 +0,0 @@
<component name="InspectionProjectProfileManager">
<settings>
<option name="USE_PROJECT_PROFILE" value="false" />
<version value="1.0" />
</settings>
</component>

@ -1,4 +0,0 @@
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="ProjectRootManager" version="2" project-jdk-name="E:\Program Files\anaconda3\envs\shaobing" project-jdk-type="Python SDK" />
</project>

@ -1,8 +0,0 @@
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="ProjectModuleManager">
<modules>
<module fileurl="file://$PROJECT_DIR$/.idea/Shaobing.iml" filepath="$PROJECT_DIR$/.idea/Shaobing.iml" />
</modules>
</component>
</project>

@ -1,7 +0,0 @@
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="VcsDirectoryMappings">
<mapping directory="" vcs="Git" />
<mapping directory="$PROJECT_DIR$/src/PyQtClient/Resources/Data/Projects/PyQt" vcs="Git" />
</component>
</project>

@ -1,64 +0,0 @@
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="AutoImportSettings">
<option name="autoReloadType" value="SELECTIVE" />
</component>
<component name="ChangeListManager">
<list default="true" id="f3b53e87-e36a-4c95-acf0-d651a7921b93" name="更改" comment="" />
<option name="SHOW_DIALOG" value="false" />
<option name="HIGHLIGHT_CONFLICTS" value="true" />
<option name="HIGHLIGHT_NON_ACTIVE_CHANGELIST" value="false" />
<option name="LAST_RESOLUTION" value="IGNORE" />
</component>
<component name="Git.Settings">
<option name="RECENT_GIT_ROOT_PATH" value="$PROJECT_DIR$" />
</component>
<component name="MarkdownSettingsMigration">
<option name="stateVersion" value="1" />
</component>
<component name="ProjectId" id="2RnD8aXMQVWHVYrLZZJBinH4ICo" />
<component name="ProjectViewState">
<option name="hideEmptyMiddlePackages" value="true" />
<option name="showLibraryContents" value="true" />
</component>
<component name="PropertiesComponent"><![CDATA[{
"keyToString": {
"RunOnceActivity.ShowReadmeOnStart": "true",
"WebServerToolWindowFactoryState": "false",
"git-widget-placeholder": "master",
"last_opened_file_path": "F:/sbrg/Shaobing",
"node.js.detected.package.eslint": "true",
"node.js.detected.package.tslint": "true",
"node.js.selected.package.eslint": "(autodetect)",
"node.js.selected.package.tslint": "(autodetect)",
"nodejs_package_manager_path": "npm",
"vue.rearranger.settings.migration": "true"
}
}]]></component>
<component name="SpellCheckerSettings" RuntimeDictionaries="0" Folders="0" CustomDictionaries="0" DefaultDictionary="应用程序级" UseSingleDictionary="true" transferred="true" />
<component name="TaskManager">
<task active="true" id="Default" summary="默认任务">
<changelist id="f3b53e87-e36a-4c95-acf0-d651a7921b93" name="更改" comment="" />
<created>1687876792481</created>
<option name="number" value="Default" />
<option name="presentableId" value="Default" />
<updated>1687876792481</updated>
<workItem from="1687876793655" duration="764000" />
</task>
<servers />
</component>
<component name="TypeScriptGeneratedFilesManager">
<option name="version" value="3" />
</component>
<component name="Vcs.Log.Tabs.Properties">
<option name="TAB_STATES">
<map>
<entry key="MAIN">
<value>
<State />
</value>
</entry>
</map>
</option>
</component>
</project>

@ -1,2 +1,2 @@
# 哨兵软件系统
# Shaobing

Binary file not shown.

Before

Width:  |  Height:  |  Size: 4.2 MiB

Binary file not shown.

Binary file not shown.

Binary file not shown.

Binary file not shown.

Binary file not shown.

After

Width:  |  Height:  |  Size: 803 KiB

Binary file not shown.

After

Width:  |  Height:  |  Size: 360 KiB

Binary file not shown.

After

Width:  |  Height:  |  Size: 556 KiB

Binary file not shown.

After

Width:  |  Height:  |  Size: 432 KiB

Binary file not shown.

After

Width:  |  Height:  |  Size: 349 KiB

Binary file not shown.

After

Width:  |  Height:  |  Size: 329 KiB

Binary file not shown.

After

Width:  |  Height:  |  Size: 275 KiB

Binary file not shown.

After

Width:  |  Height:  |  Size: 348 KiB

Binary file not shown.

After

Width:  |  Height:  |  Size: 282 KiB

Binary file not shown.

After

Width:  |  Height:  |  Size: 329 KiB

Binary file not shown.

Binary file not shown.

After

Width:  |  Height:  |  Size: 247 KiB

Binary file not shown.

Binary file not shown.

After

Width:  |  Height:  |  Size: 394 KiB

Binary file not shown.

@ -0,0 +1,191 @@
package com.example.sixaunyi;
import static androidx.constraintlayout.motion.utils.Oscillator.TAG;
import androidx.appcompat.app.AppCompatActivity;
import android.content.Intent;
import android.graphics.Bitmap;
import android.graphics.BitmapFactory;
import android.os.Bundle;
import android.os.Handler;
import android.os.Message;
import android.util.Log;
import android.view.View;
import android.widget.Button;
import android.widget.ImageButton;
import android.widget.ImageView;
import android.widget.TextView;
import android.widget.Toast;
import java.io.ByteArrayInputStream;
import java.io.ByteArrayOutputStream;
import java.io.IOException;
import java.net.DatagramPacket;
import java.net.DatagramSocket;
import java.net.InetAddress;
import java.net.*;
import android.os.Bundle;
public class VideoActivity extends AppCompatActivity {
private final static String SEND_to_IP = "192.168.43.165"; //填写接收方IP
private final static String Recieve_IP = "192.168.43.165";//填服务器IP
private final static int SEND_PORT = 8888; //发送端口号
private final static int RECEIVE_PORT = 9999; //接收端口号
private boolean listenStatus = true; //接收线程的循环标识
private byte[] buf;
Bitmap bp;
private DatagramSocket receiveSocket;
private DatagramSocket sendSocket;
private DatagramSocket reveSocket;
private InetAddress serverAddr;
private SendHandler sendHandler = new SendHandler();
private ReceiveHandler receiveHandler = new ReceiveHandler();
private Button Trans_to_Detect;
private ImageView imgShow;
private Button btn;
private ImageButton Forward_btn;
private ImageButton Back_btn;
private ImageButton Left_btn;
private ImageButton Right_btn;
private ImageButton Down_btn;
private ImageButton Up_btn;
private ImageButton TurnLeft_btn;
private ImageButton TurnRight_btn;
private ImageButton TakeOff_btn;
private Button Landing_btn;
@Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.activity_control);
imgShow = findViewById(R.id.imageView);
Forward_btn = findViewById(R.id.forward_button);
Back_btn = findViewById(R.id.backward_button);
Left_btn = findViewById(R.id.left_button);
Right_btn = findViewById(R.id.right_button);
Down_btn = findViewById(R.id.down_button);
Up_btn = findViewById(R.id.up_button);
TurnLeft_btn = findViewById(R.id.rotate_left_button);
TurnRight_btn = findViewById(R.id.rotate_right_button);
TakeOff_btn = findViewById(R.id.takeoff_button);
//Trans_to_Detect = findViewById(R.id.transfer_to_detect);
TakeOff_btn.setOnClickListener(new View.OnClickListener() {
@Override
public void onClick(View v) {
UdpSendThread udpSendThread = new UdpSendThread();
udpSendThread.start();
udpSendThread.Send("TakeOff");
UdpReceiveThread udpReceiveThread = new UdpReceiveThread();
udpReceiveThread.start();
Log.i(TAG, "onClick: 2222222222222222222222222");
}
});
/*Trans_to_Detect.setOnClickListener(new View.OnClickListener() {
@Override
public void onClick(View view) {
Intent intent = new Intent(VideoActivity.this, DetectActivity.class);
intent.addFlags(Intent.FLAG_ACTIVITY_NO_HISTORY);
startActivity(intent);
}
});*/
}
class ReceiveHandler extends Handler{
@Override
public void handleMessage(Message msg) {
super.handleMessage(msg);
imgShow.setImageBitmap(bp);
}
}
class SendHandler extends Handler {
@Override
public void handleMessage(Message msg) {
super.handleMessage(msg);
}
}
/*
* UDP数据接受线程
* */
public class UdpReceiveThread extends Thread
{
@Override
public void run()
{
try
{
reveSocket = new DatagramSocket(RECEIVE_PORT);
serverAddr = InetAddress.getByName(Recieve_IP);
//ByteArrayOutputStream out = new ByteArrayOutputStream();
while(listenStatus)
{
byte[] inBuf= new byte[1024*1024];
DatagramPacket inPacket=new DatagramPacket(inBuf,inBuf.length);
//out.write(inPacket.getData());
reveSocket.receive(inPacket);
if(!inPacket.getAddress().equals(serverAddr)){
throw new IOException("未知名的报文");
}
ByteArrayInputStream in = new ByteArrayInputStream(inPacket.getData());
receiveHandler.sendEmptyMessage(1);
bp = BitmapFactory.decodeStream(in);
}
} catch (Exception e)
{
e.printStackTrace();
}finally {
reveSocket.close();
}
}
}
/*
* UDP数据发送线程
* */
public class UdpSendThread extends Thread {
@Override
public void run() {
try {
buf ="test".getBytes();
// 创建DatagramSocket对象使用端口8888
sendSocket = new DatagramSocket(8888);
serverAddr = InetAddress.getByName(SEND_to_IP);
DatagramPacket outPacket = new DatagramPacket(buf, buf.length, serverAddr, SEND_PORT);
sendSocket.send(outPacket);
sendSocket.close();
sendHandler.sendEmptyMessage(1);
Log.i(TAG, "run: 111111111111111111111111111111111111111111111111");
} catch (Exception e) {
e.printStackTrace();
}
}
public void Send(String str){
try {
buf =str.getBytes();
// 创建DatagramSocket对象使用端口8888
sendSocket = new DatagramSocket(8888);
serverAddr = InetAddress.getByName(SEND_to_IP);
DatagramPacket outPacket = new DatagramPacket(buf, buf.length, serverAddr, SEND_PORT);
sendSocket.send(outPacket);
sendSocket.close();
sendHandler.sendEmptyMessage(1);
Log.i(TAG, "run: 111111111111111111111111111111111111111111111111");
} catch (Exception e) {
e.printStackTrace();
}
}
}
}

@ -1,62 +1,69 @@
<?xml version="1.0" encoding="utf-8"?>
<manifest xmlns:android="http://schemas.android.com/apk/res/android"
xmlns:tools="http://schemas.android.com/tools"
package="com.example.sixaunyi">
<!-- 用于访问网络,网络定位需要上网 -->
<uses-permission android:name="android.permission.INTERNET" /> <!-- 用于读取手机当前的状态 -->
<uses-permission android:name="android.permission.READ_PHONE_STATE" /> <!-- 用于写入缓存数据到扩展存储卡 -->
<uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE" /> <!-- 用于申请调用A-GPS模块 -->
<uses-permission android:name="android.permission.ACCESS_LOCATION_EXTRA_COMMANDS" /> <!-- 用于进行网络定位 -->
<uses-permission android:name="android.permission.ACCESS_COARSE_LOCATION" /> <!-- 用于访问GPS定位 -->
<uses-permission android:name="android.permission.ACCESS_FINE_LOCATION" /> <!-- 用于获取运营商信息,用于支持提供运营商信息相关的接口 -->
<uses-permission android:name="android.permission.ACCESS_NETWORK_STATE" /> <!-- 用于访问wifi网络信息wifi信息会用于进行网络定位 -->
<uses-permission android:name="android.permission.ACCESS_WIFI_STATE" /> <!-- 用于获取wifi的获取权限wifi信息会用来进行网络定位 -->
<uses-permission android:name="android.permission.CHANGE_WIFI_STATE" />
<application
android:name=".MapApplication"
android:allowBackup="true"
android:dataExtractionRules="@xml/data_extraction_rules"
android:fullBackupContent="@xml/backup_rules"
android:icon="@drawable/app"
android:label="哨兵"
android:roundIcon="@drawable/app"
android:supportsRtl="true"
android:theme="@style/Theme.Sixaunyi.NoActionBar"
tools:targetApi="31">
<activity
android:name=".SettingActivity"
android:exported="false"
android:screenOrientation="landscape"
android:theme="@style/TransparentTheme"/>
<!-- 定位service -->
<service android:name="com.amap.api.location.APSService" /> <!-- 设置高德Key -->
<meta-data
android:name="com.amap.api.v2.apikey"
android:value="530a964ff05e45d9efb905abc9480690" />
<activity
android:name=".VideoActivity"
android:exported="false"
android:screenOrientation="landscape"
/>
<activity
android:name=".MainActivity"
android:exported="true"
android:launchMode="singleTop"
android:label="@string/app_name"
android:theme="@style/Theme.AppCompat.NoActionBar">
</activity>
<activity
android:name=".LoginActivity"
android:exported="true"
android:screenOrientation="portrait">
<intent-filter>
<action android:name="android.intent.action.MAIN" />
<category android:name="android.intent.category.LAUNCHER" />
</intent-filter>
</activity>
</application>
<?xml version="1.0" encoding="utf-8"?>
<manifest xmlns:android="http://schemas.android.com/apk/res/android"
xmlns:tools="http://schemas.android.com/tools"
package="com.example.sixaunyi">
<!-- 用于访问网络,网络定位需要上网 -->
<uses-permission android:name="android.permission.INTERNET" /> <!-- 用于读取手机当前的状态 -->
<uses-permission android:name="android.permission.READ_PHONE_STATE" /> <!-- 用于写入缓存数据到扩展存储卡 -->
<uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE" /> <!-- 用于申请调用A-GPS模块 -->
<uses-permission android:name="android.permission.ACCESS_LOCATION_EXTRA_COMMANDS" /> <!-- 用于进行网络定位 -->
<uses-permission android:name="android.permission.ACCESS_COARSE_LOCATION" /> <!-- 用于访问GPS定位 -->
<uses-permission android:name="android.permission.ACCESS_FINE_LOCATION" /> <!-- 用于获取运营商信息,用于支持提供运营商信息相关的接口 -->
<uses-permission android:name="android.permission.ACCESS_NETWORK_STATE" /> <!-- 用于访问wifi网络信息wifi信息会用于进行网络定位 -->
<uses-permission android:name="android.permission.ACCESS_WIFI_STATE" /> <!-- 用于获取wifi的获取权限wifi信息会用来进行网络定位 -->
<uses-permission android:name="android.permission.CHANGE_WIFI_STATE" />
<application
android:name=".MapApplication"
android:allowBackup="true"
android:dataExtractionRules="@xml/data_extraction_rules"
android:fullBackupContent="@xml/backup_rules"
android:icon="@drawable/desktop"
android:label="哨兵"
android:roundIcon="@drawable/desktop"
android:supportsRtl="true"
android:theme="@style/Theme.Sixaunyi"
tools:targetApi="31">
<activity
android:name=".SettingActivity"
android:exported="false"
android:screenOrientation="landscape"
android:theme="@style/TransparentTheme"/>
<activity
android:name=".ControlActivity"
android:exported="false"
android:screenOrientation="landscape" /> <!-- 定位service -->
<service android:name="com.amap.api.location.APSService" /> <!-- 设置高德Key -->
<meta-data
android:name="com.amap.api.v2.apikey"
android:value="530a964ff05e45d9efb905abc9480690" />
<activity
android:name=".VideoActivity"
android:exported="false"
android:screenOrientation="landscape"
/>
<activity
android:name=".DetectActivity"
android:exported="false"
android:label="@string/title_activity_detect"
android:theme="@style/Theme.Sixaunyi.NoActionBar" />
<activity
android:name=".MainActivity"
android:exported="true"
android:label="@string/app_name"
android:theme="@style/Theme.AppCompat">
</activity>
<activity
android:name=".LoginActivity"
android:exported="true"
android:screenOrientation="portrait">
<intent-filter>
<action android:name="android.intent.action.MAIN" />
<category android:name="android.intent.category.LAUNCHER" />
</intent-filter>
</activity>
</application>
</manifest>

@ -0,0 +1,14 @@
package com.example.sixaunyi;
import androidx.appcompat.app.AppCompatActivity;
import android.os.Bundle;
public class ControlActivity extends AppCompatActivity {
@Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.activity_control);
}
}

@ -0,0 +1,40 @@
package com.example.sixaunyi;
import android.content.Intent;
import android.os.Bundle;
import android.widget.Button;
import android.widget.EditText;
import android.widget.Toast;
import androidx.appcompat.app.AppCompatActivity;
public class LoginActivity extends AppCompatActivity {
private EditText mUsername;
private EditText mPassword;
private Button mLoginButton;
@Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.activity_login);
// 获取输入框和按钮的实例
mUsername = findViewById(R.id.username);
mPassword = findViewById(R.id.password);
mLoginButton = findViewById(R.id.login);
// 设置登录按钮的点击事件
mLoginButton.setOnClickListener(v -> {
// 获取用户输入的用户名和密码
String username = mUsername.getText().toString();
String password = mPassword.getText().toString();
// 验证用户名和密码是否正确
if (username.equals("admin") && password.equals("123456") || username.equals("tiequan") && password.equals("8731")) {
// 如果验证成功,跳转到主界面
Intent intent = new Intent(LoginActivity.this, MainActivity.class);
startActivity(intent);
finish(); // 关闭登录界面
} else {
// 如果验证失败,在输入框下方提示错误信息
Toast.makeText(LoginActivity.this, "用户名或密码错误", Toast.LENGTH_SHORT).show();
}
});
}
}

@ -0,0 +1,719 @@
package com.example.sixaunyi;
import static androidx.constraintlayout.motion.utils.Oscillator.TAG;
import static java.lang.Math.PI;
import androidx.annotation.NonNull;
import androidx.appcompat.app.AppCompatActivity;
import android.Manifest;
import android.annotation.SuppressLint;
import android.content.Intent;
import android.graphics.BitmapFactory;
import android.location.Location;
import android.nfc.Tag;
import android.os.Build;
import android.os.Bundle;
import android.os.Handler;
import android.os.Message;
import android.util.Log;
import android.view.View;
import android.widget.TextView;
import android.widget.Toast;
import android.animation.Animator;
import android.animation.ValueAnimator;
import com.amap.api.location.AMapLocation;
import com.amap.api.location.AMapLocationClient;
import com.amap.api.location.AMapLocationClientOption;
import com.amap.api.location.AMapLocationListener;
import com.amap.api.maps.AMap;
import com.amap.api.maps.AMapUtils;
import com.amap.api.maps.LocationSource;
import com.amap.api.maps.MapView;
import com.amap.api.maps.model.BitmapDescriptorFactory;
import com.amap.api.maps.model.LatLng;
import com.amap.api.maps.model.Marker;
import com.amap.api.maps.model.MarkerOptions;
import com.amap.api.maps.model.animation.Animation;
import com.amap.api.maps.model.animation.TranslateAnimation;
import com.amap.api.services.core.AMapException;
import com.amap.api.services.core.LatLonPoint;
import com.amap.api.services.core.PoiItem;
import com.amap.api.services.geocoder.GeocodeResult;
import com.amap.api.services.geocoder.GeocodeSearch;
import com.amap.api.services.geocoder.RegeocodeAddress;
import com.amap.api.services.geocoder.RegeocodeQuery;
import com.amap.api.services.geocoder.RegeocodeResult;
import com.amap.api.services.poisearch.PoiResult;
import com.amap.api.services.poisearch.PoiSearch;
import com.google.android.material.floatingactionbutton.FloatingActionButton;
import android.view.animation.LinearInterpolator;
import java.io.ByteArrayInputStream;
import java.io.IOException;
import java.net.DatagramPacket;
import java.net.DatagramSocket;
import java.net.InetAddress;
import java.net.SocketException;
import java.util.ArrayList;
import java.util.List;
import pub.devrel.easypermissions.AfterPermissionGranted;
import pub.devrel.easypermissions.EasyPermissions;
public class MainActivity extends AppCompatActivity implements AMapLocationListener, LocationSource,
AMap.OnMapLongClickListener, GeocodeSearch.OnGeocodeSearchListener, AMap.OnMarkerDragListener,
AMap.OnMarkerClickListener{
//请求权限码
private static final int REQUEST_PERMISSIONS = 9527;
//声明AMapLocationClient类对象
public AMapLocationClient mLocationClient = null;
//声明AMapLocationClientOption对象
public AMapLocationClientOption mLocationOption = null;
private MapView mapView = null;
private String city;
private LatLng Current_latlng;
//地图控制器*********非常重要!!!!!!
private AMap aMap = null;
//位置更改监听
private LocationSource.OnLocationChangedListener mListener;
//地理编码搜索
private GeocodeSearch geocodeSearch;
//解析成功标识码
private static final int PARSE_SUCCESS_CODE = 1000;
//POI查询对象
private PoiSearch.Query query;
//POI搜索对象
private PoiSearch poiSearch;
//城市码
private String cityCode = null;
//浮动按钮
private FloatingActionButton fabPOI;
//浮动按钮 清空地图标点
private FloatingActionButton ClearMarker_btn;
//浮动按钮 更换活动
private FloatingActionButton ChangeAct_btn;
//标点列表
private List<Marker> markerList = new ArrayList<>();
//标识参数类
private MarkerOptions markerOption = new MarkerOptions();
//
private DatagramSocket reveSocket;
private final static String Recieve_IP = "192.168.240.46";
private final static int RECEIVE_PORT = 9999;
private boolean listenStatus = true;
private InetAddress serverAddr;
//private MainActivity.ReceiveHandler receiveHandler = new ReceiveHandler();
private String Angle;
private String MonitorAngle;
private float distance;
private float MonitorDistance;
private UdpReceiveThread udpReceiveThread;
@SuppressLint("MissingInflatedId")
@Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.activity_main);
fabPOI = findViewById(R.id.fab_poi);
ClearMarker_btn = findViewById(R.id.clearMarker_btn);
ChangeAct_btn = findViewById(R.id.change_btn);
ChangeAct_btn.show();
//tvContent = findViewById(R.id.tv_content);
/*,
*
*/
initLocation();
//初始化地图
initMap(savedInstanceState);
//检查安卓版本
checkingAndroidVersion();
udpReceiveThread = new UdpReceiveThread();
udpReceiveThread.startListening();
}
/**
* Android
*/
private void checkingAndroidVersion() {
//Android6.0及以上先获取权限再定位
if(Build.VERSION.SDK_INT >= Build.VERSION_CODES.M){
requestPermission();
}
//Android6.0以下直接定位
else {
//直接定位
mLocationClient.startLocation();
}
}
/**
*
*/
@AfterPermissionGranted(REQUEST_PERMISSIONS)
private void requestPermission() {
String[] permissions = {
Manifest.permission.ACCESS_COARSE_LOCATION,
Manifest.permission.ACCESS_FINE_LOCATION,
Manifest.permission.READ_PHONE_STATE,
Manifest.permission.WRITE_EXTERNAL_STORAGE
};
if (EasyPermissions.hasPermissions(this, permissions)) {
//有权限
//******
Log.d(TAG, "已获得权限,可以定位啦!");
showMsg("已获得权限,可以定位啦!");
//开始定位
mLocationClient.startLocation();
} else {
//false 无权限
EasyPermissions.requestPermissions(this, "需要权限", REQUEST_PERMISSIONS, permissions);
}
}
//提示框显示文本
private void showMsg(String msg) {
Toast.makeText(this, msg, Toast.LENGTH_SHORT).show();
}
/**
*
* @param requestCode
* @param permissions
* @param grantResults
*/
@Override
public void onRequestPermissionsResult(int requestCode, @NonNull String[] permissions, @NonNull int[] grantResults) {
super.onRequestPermissionsResult(requestCode, permissions, grantResults);
//设置请求到的权限结果
EasyPermissions.onRequestPermissionsResult(requestCode, permissions, grantResults, this);
}
/******** 初始化定位 *******/
private void initLocation() {
//初始化定位
try {
mLocationClient = new AMapLocationClient(getApplicationContext());
} catch (Exception e) {
e.printStackTrace();
}
if (mLocationClient != null) {
//设置定位回调监听
mLocationClient.setLocationListener(this);
//初始化AMapLocationClientOption对象
mLocationOption = new AMapLocationClientOption();
//设置定位模式为AMapLocationMode.Hight_Accuracy高精度模式。
mLocationOption.setLocationMode(AMapLocationClientOption.AMapLocationMode.Hight_Accuracy);
//获取最近3s内精度最高的一次定位结果
//设置setOnceLocationLatest(boolean b)接口为true启动定位时SDK会返回最近3s内精度最高的一次定位结果。如果设置其为truesetOnceLocation(boolean b)接口也会被设置为true反之不会默认为false。
mLocationOption.setOnceLocationLatest(true);
//设置是否返回地址信息(默认返回地址信息)
mLocationOption.setNeedAddress(true);
//设置定位请求超时时间单位是毫秒默认30000毫秒建议超时时间不要低于8000毫秒。
mLocationOption.setHttpTimeOut(20000);
//关闭缓存机制,高精度定位会产生缓存。
mLocationOption.setLocationCacheEnable(false);
//给定位客户端对象设置定位参数
mLocationClient.setLocationOption(mLocationOption);
}
}
/**
*
* @param savedInstanceState
*/
private void initMap(Bundle savedInstanceState) {
//因为mapView为null所以要加上这个括号不可常规的mapView.findViewById
mapView = (MapView) findViewById(R.id.map_view);
//在activity执行onCreate时执行mMapView.onCreate(savedInstanceState),创建地图
mapView.onCreate(savedInstanceState);
//初始化地图控制器对象
aMap = mapView.getMap();
// 设置定位监听
aMap.setLocationSource(this);
// 设置为true表示显示定位层并可触发定位false表示隐藏定位层并不可触发定位默认是false
aMap.setMyLocationEnabled(true);
//设置地图标志点击事件
aMap.setOnMarkerClickListener(this);
//设置地图标志拖拽事件
aMap.setOnMarkerDragListener(this);
//开启室内地图
//aMap.showIndoorMap(true);
//设置地图长按事件
aMap.setOnMapLongClickListener(this);
//构造 GeocodeSearch 对象
try {
geocodeSearch = new GeocodeSearch(this);
} catch (AMapException e) {
e.printStackTrace();
}
//设置监听
geocodeSearch.setOnGeocodeSearchListener(this);
}
/**
*
*/
@Override
public void activate(OnLocationChangedListener onLocationChangedListener) {
mListener = onLocationChangedListener;
if (mLocationClient == null) {
mLocationClient.startLocation();//启动定位
}
}
/**
*
*/
@Override
public void deactivate() {
mListener = null;
if (mLocationClient != null) {
mLocationClient.stopLocation();
mLocationClient.onDestroy();
}
mLocationClient = null;
}
@Override
public void onLocationChanged(AMapLocation aMapLocation) {
if (aMapLocation != null) {
//定位成功
if (aMapLocation.getErrorCode() == 0) {
//地址
String address = aMapLocation.getAddress();
//城市赋值
city = aMapLocation.getCity();
//当前位置经纬度坐标
Current_latlng = new LatLng(aMapLocation.getLatitude(), aMapLocation.getLongitude());
//获取纬度
double latitude = aMapLocation.getLatitude();
//获取经度
double longitude = aMapLocation.getLongitude();
Log.d("MainActivity", aMapLocation.getCity());
showMsg(address);
//停止定位后,本地定位服务并不会被销毁
mLocationClient.stopLocation();
if (mListener != null) {
// 显示系统图标
mListener.onLocationChanged(aMapLocation);
}
//显示浮动按钮
fabPOI.show();
//赋值
cityCode = aMapLocation.getCityCode();
}
else {
//定位失败时可通过ErrCode错误码信息来确定失败的原因errInfo是错误信息详见错误码表。
Log.e("AmapError", "location Error, ErrCode:"
+ aMapLocation.getErrorCode() + ", errInfo:"
+ aMapLocation.getErrorInfo());
}
}
}
/***********************Activity相关函数其中添加了保证mapView与activity同步相关函数******************/
@Override
protected void onResume() {
super.onResume();
//在activity执行onResume时执行mMapView.onResume (),重新绘制加载地图
mapView.onResume();
}
@Override
protected void onPause() {
super.onPause();
//在activity执行onPause时执行mMapView.onPause (),暂停地图的绘制
mapView.onPause();
}
@Override
protected void onSaveInstanceState(Bundle outState) {
super.onSaveInstanceState(outState);
//在activity执行onSaveInstanceState时执行mMapView.onSaveInstanceState (outState),保存地图当前的状态
mapView.onSaveInstanceState(outState);
}
@Override
protected void onDestroy() {
super.onDestroy();
//销毁定位客户端,同时销毁本地定位服务。
if (mLocationClient != null) {
mLocationClient.onDestroy();
}
//在activity执行onDestroy时执行mMapView.onDestroy(),销毁地图
mapView.onDestroy();
}
/******************************************************************/
/* * * 长按地图响应函数 * * */
//LatLng 为高德地图包自带的存储坐标对象
@Override
public void onMapLongClick(LatLng latLng) {
distance = AMapUtils.calculateLineDistance(Current_latlng,latLng);
LatLng Monitorlatlng = new LatLng(113.05370390725032,28.256794281117525);
MonitorDistance = AMapUtils.calculateLineDistance(Current_latlng,Monitorlatlng);
Angle = calcAngle(Current_latlng.latitude, Current_latlng.longitude, latLng.latitude,latLng.longitude);
MonitorAngle = calcAngle(Current_latlng.latitude, Current_latlng.longitude, 113.05370390725032,28.256794281117525);
//showMsg("长按了地图,经度:"+latLng.longitude+",纬度:"+latLng.latitude);
Log.i(TAG,String.valueOf(latLng.longitude));
Log.i(TAG,String.valueOf(latLng.latitude));
showMsg("直线距离:"+distance+"米"+"角度"+Angle);
//坐标转地址113.05370390725032 28.256794281117525
latlonToAddress(latLng);
//添加标点
addMarker(latLng);
addSensorMarker(latLng);
addDroneMarker(latLng);
}
/**
*
* @param latLng
*/
private void addMarker(LatLng latLng) {
//显示浮动按钮
ClearMarker_btn.show();
//添加标点
Marker marker = aMap.addMarker(markerOption
.position(latLng)
.draggable(true)
//标点图标
.icon(BitmapDescriptorFactory.
fromBitmap(BitmapFactory.decodeResource(getResources(),R.drawable.img)))
//备注
.title("路径点")
.snippet("距离:")
);
marker.showInfoWindow();
markerList.add(marker);
}
// 添加传感器标点
private Marker sensorMarker = null;
private void addSensorMarker(LatLng latLng) {
// 显示浮动按钮
ClearMarker_btn.show();
// 添加传感器标点
MarkerOptions sensorMarkerOption = new MarkerOptions();
sensorMarker = aMap.addMarker(sensorMarkerOption
.position(latLng)
.draggable(false)
// 标点图标
.icon(BitmapDescriptorFactory.
fromBitmap(BitmapFactory.decodeResource(getResources(), R.drawable.sensor)))
// 备注
.title("传感器")
.snippet("距离:")
);
sensorMarker.showInfoWindow();
}
// 添加无人机标点
private Marker droneMarker = null;
private void addDroneMarker(LatLng latLng) {
// 添加无人机标点
MarkerOptions droneMarkerOption = new MarkerOptions();
droneMarker = aMap.addMarker(droneMarkerOption
.position(latLng)
.draggable(false)
// 标点图标
.icon(BitmapDescriptorFactory.
fromBitmap(BitmapFactory.decodeResource(getResources(), R.drawable.drone)))
// 备注
.title("无人机")
.snippet("距离:")
);
droneMarker.showInfoWindow();
}
// 移动无人机标点到传感器标点并显示平移动画
public class SmoothMoveUtil {
private Marker droneMarker;
private AMap aMap;
private LatLng startLatLng;
private LatLng endLatLng;
private long duration;
public void moveDroneMarker(LatLng sensorLatLng, long duration) {
if (droneMarker != null) {
startLatLng = droneMarker.getPosition();
endLatLng = sensorLatLng;
this.duration = duration;
// 开始动画
startSmoothMove();
}
}
private void startSmoothMove() {
LatLngInterpolator latLngInterpolator = new LatLngInterpolator.LinearFixed();
ValueAnimator valueAnimator = ValueAnimator.ofFloat(0, 1);
valueAnimator.setDuration(duration);
valueAnimator.setInterpolator(new LinearInterpolator());
valueAnimator.addUpdateListener(new ValueAnimator.AnimatorUpdateListener() {
@Override
public void onAnimationUpdate(ValueAnimator animation) {
float fraction = animation.getAnimatedFraction();
LatLng newPosition = latLngInterpolator.interpolate(fraction, startLatLng, endLatLng);
droneMarker.setPosition(newPosition);
}
});
valueAnimator.addListener(new Animator.AnimatorListener() {
@Override
public void onAnimationStart(Animator animation) {
}
@Override
public void onAnimationEnd(Animator animation) {
// 动画结束
droneMarker.setPosition(endLatLng);
}
@Override
public void onAnimationCancel(Animator animation) {
}
@Override
public void onAnimationRepeat(Animator animation) {
}
});
valueAnimator.start();
}
// LatLng 插值器接口
public interface LatLngInterpolator {
LatLng interpolate(float fraction, LatLng a, LatLng b);
class LinearFixed implements LatLngInterpolator {
@Override
public LatLng interpolate(float fraction, LatLng a, LatLng b) {
double lat = (b.latitude - a.latitude) * fraction + a.latitude;
double lngDelta = b.longitude - a.longitude;
// 如果跨越了 180 度经度,则进行调整
if (Math.abs(lngDelta) > 180) {
lngDelta -= Math.signum(lngDelta) * 360;
}
double lng = lngDelta * fraction + a.longitude;
return new LatLng(lat, lng);
}
}
}
}
/**
* Marker
* @param view
*/
public void clearAllMarker(View view) {
if (markerList != null && markerList.size()>0){
for (Marker markerItem : markerList) {
markerItem.remove();
}
}
ClearMarker_btn.hide();
}
public void changeAct(View view) {
udpReceiveThread.stopListening();
Intent intent = new Intent(MainActivity.this, VideoActivity.class);
intent.addFlags(Intent.FLAG_ACTIVITY_NO_HISTORY);
startActivity(intent);
}
/**
* Marker
*
* @param marker
* @return
*/
@Override
public boolean onMarkerClick(Marker marker) {
Log.d(TAG,"点击了标点");
//显示InfoWindow
/*
if (!marker.isInfoWindowShown()) {
//显示
marker.showInfoWindow();
} else {
//隐藏
marker.hideInfoWindow();
}
*/
return true;
}
/**
*
* @param marker
*/
@Override
public void onMarkerDragStart(Marker marker) {
Log.d(TAG,"开始拖动");
}
/**
*
* @param marker
*/
@Override
public void onMarkerDrag(Marker marker) {
Log.d(TAG,"拖动中");
}
/**
*
* @param marker
*/
@Override
public void onMarkerDragEnd(Marker marker) {
Log.d(TAG,"拖动完成");
}
/* * * * * *
*
* @param latLng
*/
private void latlonToAddress(LatLng latLng) {
//位置点 通过经纬度进行构建
LatLonPoint latLonPoint = new LatLonPoint(latLng.latitude, latLng.longitude);
//逆编码查询 第一个参数表示一个Latlng第二参数表示范围多少米第三个参数表示是火系坐标系还是GPS原生坐标系
RegeocodeQuery query = new RegeocodeQuery(latLonPoint, 20, GeocodeSearch.AMAP);
//异步获取地址信息
geocodeSearch.getFromLocationAsyn(query);
}
/*********************************************************
* @param regeocodeResult
* @param rCode
*/
@Override
public void onRegeocodeSearched(RegeocodeResult regeocodeResult, int rCode) {
if(rCode == PARSE_SUCCESS_CODE){
RegeocodeAddress regeocodeAddress = regeocodeResult.getRegeocodeAddress();
//显示解析后的地址
showMsg("地址:"+regeocodeAddress.getFormatAddress());
} else {
showMsg("获取地址失败");
}
}
@Override
public void onGeocodeSearched(GeocodeResult geocodeResult, int i) {
}
public class UdpReceiveThread extends Thread {
private static final String TAG = "UdpReceiveThread";
private static final int RECEIVE_PORT = 9999;
private boolean mRunning;
private String mReceiveIp = Recieve_IP;
private String mExpectedData = "Motion detected!";
private float mMonitorDistance = MonitorDistance;
private String mMonitorAngle = MonitorAngle;
@Override
public void run() {
try {
DatagramSocket socket = new DatagramSocket(RECEIVE_PORT);
byte[] buffer = new byte[1024];
DatagramPacket packet = new DatagramPacket(buffer, buffer.length);
while (mRunning) {
socket.receive(packet);
byte[] data = packet.getData();
String receivedString = new String(data, 0, packet.getLength());
Log.d(TAG, "Received data: " + receivedString);
if (receivedString.equals(mExpectedData)) {
Intent intent = new Intent(MainActivity.this, VideoActivity.class);
Bundle b = new Bundle();
b.putString("Angle", mMonitorAngle);
b.putFloat("Distance", mMonitorDistance);
intent.putExtras(b);
intent.addFlags(Intent.FLAG_ACTIVITY_NO_HISTORY);
startActivity(intent);
mRunning = false;
}
}
socket.close();
} catch (SocketException e) {
e.printStackTrace();
} catch (Exception e) {
e.printStackTrace();
}
}
public void startListening() {
mRunning = true;
start();
}
public void stopListening() {
mRunning = false;
}
}
//以北为0度
public static String calcAngle(Double centerLat, Double centerLon, Double anotherLat, Double anotherLon) {
//差值
double subLat = anotherLat - centerLat;
double subLon = anotherLon - centerLon;
double angle = 0;
if (subLat == 0) {
//纬度差值为0 表示两点在同一高度 此时点必然在x轴右侧 或者 x轴左侧
if (subLon > 0) {
//x轴右侧
angle = 90;
} else if (subLon < 0) {
//x轴左侧
angle = 270;
}
} else if (subLon == 0) {
//经度差值为0 说明点在y轴上方或者y轴下方
if (subLat > 0) {
//y轴上方
angle = 0;
} else if (subLat < 0) {
//y轴下方
angle = 180;
}
} else {
//根据tan的值求角度 subLon不能为0 纬度差值 除以 经度差值 = tan的值
double v = subLat / subLon;
angle = Math.atan(v) * 180 / PI;
//angle的值在-180到180之间
System.out.println("未处理的角度值:" + (angle));
//第二种求角度的方法
//angle = Math.atan2(subLat,subLon) * 180 / PI ;
//判断数据在第几象限
//1、正切小于0 在二四象限
if (angle < 0) {
if (subLon > 0) {
//此时的点在中心点的右下角
angle = Math.abs(angle)+ 90;
} else if (subLon < 0) {
//此时的点在中心点的左上角
angle = Math.abs(angle) + 270;
}
}
//2、正切大于0 在一三象限
else if (angle > 0) {
if (subLon > 0) {
//此时的点在中心点的右上角 360-angle
angle = 90-angle;
} else if (subLat < 0) {
// 此时的点在中心点的左下角
angle = 270-angle;
}
}
}
return String.valueOf(angle);
}
}

@ -0,0 +1,472 @@
package com.example.sixaunyi;
import static androidx.constraintlayout.motion.utils.Oscillator.TAG;
import androidx.annotation.NonNull;
import androidx.appcompat.app.AppCompatActivity;
import android.Manifest;
import android.annotation.SuppressLint;
import android.content.Intent;
import android.graphics.BitmapFactory;
import android.nfc.Tag;
import android.os.Build;
import android.os.Bundle;
import android.util.Log;
import android.view.View;
import android.widget.TextView;
import android.widget.Toast;
import com.amap.api.location.AMapLocation;
import com.amap.api.location.AMapLocationClient;
import com.amap.api.location.AMapLocationClientOption;
import com.amap.api.location.AMapLocationListener;
import com.amap.api.maps.AMap;
import com.amap.api.maps.AMapUtils;
import com.amap.api.maps.LocationSource;
import com.amap.api.maps.MapView;
import com.amap.api.maps.model.BitmapDescriptorFactory;
import com.amap.api.maps.model.LatLng;
import com.amap.api.maps.model.Marker;
import com.amap.api.maps.model.MarkerOptions;
import com.amap.api.services.core.AMapException;
import com.amap.api.services.core.LatLonPoint;
import com.amap.api.services.core.PoiItem;
import com.amap.api.services.geocoder.GeocodeResult;
import com.amap.api.services.geocoder.GeocodeSearch;
import com.amap.api.services.geocoder.RegeocodeAddress;
import com.amap.api.services.geocoder.RegeocodeQuery;
import com.amap.api.services.geocoder.RegeocodeResult;
import com.amap.api.services.poisearch.PoiResult;
import com.amap.api.services.poisearch.PoiSearch;
import com.google.android.material.floatingactionbutton.FloatingActionButton;
import java.util.ArrayList;
import java.util.List;
import pub.devrel.easypermissions.AfterPermissionGranted;
import pub.devrel.easypermissions.EasyPermissions;
public class MainActivity extends AppCompatActivity implements AMapLocationListener, LocationSource,
AMap.OnMapLongClickListener, GeocodeSearch.OnGeocodeSearchListener, AMap.OnMarkerDragListener,
AMap.OnMarkerClickListener{
//请求权限码
private static final int REQUEST_PERMISSIONS = 9527;
//声明AMapLocationClient类对象
public AMapLocationClient mLocationClient = null;
//声明AMapLocationClientOption对象
public AMapLocationClientOption mLocationOption = null;
private MapView mapView = null;
private String city;
private LatLng Current_latlng;
//地图控制器*********非常重要!!!!!!
private AMap aMap = null;
//位置更改监听
private LocationSource.OnLocationChangedListener mListener;
//地理编码搜索
private GeocodeSearch geocodeSearch;
//解析成功标识码
private static final int PARSE_SUCCESS_CODE = 1000;
//POI查询对象
private PoiSearch.Query query;
//POI搜索对象
private PoiSearch poiSearch;
//城市码
private String cityCode = null;
//浮动按钮
private FloatingActionButton fabPOI;
//浮动按钮 清空地图标点
private FloatingActionButton ClearMarker_btn;
//浮动按钮 更换活动
private FloatingActionButton ChangeAct_btn;
//标点列表
private List<Marker> markerList = new ArrayList<>();
//标识参数类
private MarkerOptions markerOption = new MarkerOptions();
@SuppressLint("MissingInflatedId")
@Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.activity_main);
fabPOI = findViewById(R.id.fab_poi);
ClearMarker_btn = findViewById(R.id.clearMarker_btn);
ChangeAct_btn = findViewById(R.id.change_btn);
ChangeAct_btn.show();
//tvContent = findViewById(R.id.tv_content);
/*,
*
*/
initLocation();
//初始化地图
initMap(savedInstanceState);
//检查安卓版本
checkingAndroidVersion();
}
/**
* Android
*/
private void checkingAndroidVersion() {
//Android6.0及以上先获取权限再定位
if(Build.VERSION.SDK_INT >= Build.VERSION_CODES.M){
requestPermission();
}
//Android6.0以下直接定位
else {
//直接定位
mLocationClient.startLocation();
}
}
/**
*
*/
@AfterPermissionGranted(REQUEST_PERMISSIONS)
private void requestPermission() {
String[] permissions = {
Manifest.permission.ACCESS_COARSE_LOCATION,
Manifest.permission.ACCESS_FINE_LOCATION,
Manifest.permission.READ_PHONE_STATE,
Manifest.permission.WRITE_EXTERNAL_STORAGE
};
if (EasyPermissions.hasPermissions(this, permissions)) {
//有权限
//******
Log.d(TAG, "已获得权限,可以定位啦!");
showMsg("已获得权限,可以定位啦!");
//开始定位
mLocationClient.startLocation();
} else {
//false 无权限
EasyPermissions.requestPermissions(this, "需要权限", REQUEST_PERMISSIONS, permissions);
}
}
//提示框显示文本
private void showMsg(String msg) {
Toast.makeText(this, msg, Toast.LENGTH_SHORT).show();
}
/**
*
* @param requestCode
* @param permissions
* @param grantResults
*/
@Override
public void onRequestPermissionsResult(int requestCode, @NonNull String[] permissions, @NonNull int[] grantResults) {
super.onRequestPermissionsResult(requestCode, permissions, grantResults);
//设置请求到的权限结果
EasyPermissions.onRequestPermissionsResult(requestCode, permissions, grantResults, this);
}
/******** 初始化定位 *******/
private void initLocation() {
//初始化定位
try {
mLocationClient = new AMapLocationClient(getApplicationContext());
} catch (Exception e) {
e.printStackTrace();
}
if (mLocationClient != null) {
//设置定位回调监听
mLocationClient.setLocationListener(this);
//初始化AMapLocationClientOption对象
mLocationOption = new AMapLocationClientOption();
//设置定位模式为AMapLocationMode.Hight_Accuracy高精度模式。
mLocationOption.setLocationMode(AMapLocationClientOption.AMapLocationMode.Hight_Accuracy);
//获取最近3s内精度最高的一次定位结果
//设置setOnceLocationLatest(boolean b)接口为true启动定位时SDK会返回最近3s内精度最高的一次定位结果。如果设置其为truesetOnceLocation(boolean b)接口也会被设置为true反之不会默认为false。
mLocationOption.setOnceLocationLatest(true);
//设置是否返回地址信息(默认返回地址信息)
mLocationOption.setNeedAddress(true);
//设置定位请求超时时间单位是毫秒默认30000毫秒建议超时时间不要低于8000毫秒。
mLocationOption.setHttpTimeOut(20000);
//关闭缓存机制,高精度定位会产生缓存。
mLocationOption.setLocationCacheEnable(false);
//给定位客户端对象设置定位参数
mLocationClient.setLocationOption(mLocationOption);
}
}
/**
*
* @param savedInstanceState
*/
private void initMap(Bundle savedInstanceState) {
//因为mapView为null所以要加上这个括号不可常规的mapView.findViewById
mapView = (MapView) findViewById(R.id.map_view);
//在activity执行onCreate时执行mMapView.onCreate(savedInstanceState),创建地图
mapView.onCreate(savedInstanceState);
//初始化地图控制器对象
aMap = mapView.getMap();
// 设置定位监听
aMap.setLocationSource(this);
// 设置为true表示显示定位层并可触发定位false表示隐藏定位层并不可触发定位默认是false
aMap.setMyLocationEnabled(true);
//设置地图标志点击事件
aMap.setOnMarkerClickListener(this);
//设置地图标志拖拽事件
aMap.setOnMarkerDragListener(this);
//开启室内地图
//aMap.showIndoorMap(true);
//设置地图长按事件
aMap.setOnMapLongClickListener(this);
//构造 GeocodeSearch 对象
try {
geocodeSearch = new GeocodeSearch(this);
} catch (AMapException e) {
e.printStackTrace();
}
//设置监听
geocodeSearch.setOnGeocodeSearchListener(this);
}
/**
*
*/
@Override
public void activate(OnLocationChangedListener onLocationChangedListener) {
mListener = onLocationChangedListener;
if (mLocationClient == null) {
mLocationClient.startLocation();//启动定位
}
}
/**
*
*/
@Override
public void deactivate() {
mListener = null;
if (mLocationClient != null) {
mLocationClient.stopLocation();
mLocationClient.onDestroy();
}
mLocationClient = null;
}
@Override
public void onLocationChanged(AMapLocation aMapLocation) {
if (aMapLocation != null) {
//定位成功
if (aMapLocation.getErrorCode() == 0) {
//地址
String address = aMapLocation.getAddress();
//城市赋值
city = aMapLocation.getCity();
//当前位置经纬度坐标
Current_latlng = new LatLng(aMapLocation.getLatitude(), aMapLocation.getLongitude());
//获取纬度
double latitude = aMapLocation.getLatitude();
//获取经度
double longitude = aMapLocation.getLongitude();
Log.d("MainActivity", aMapLocation.getCity());
showMsg(address);
//停止定位后,本地定位服务并不会被销毁
mLocationClient.stopLocation();
if (mListener != null) {
// 显示系统图标
mListener.onLocationChanged(aMapLocation);
}
//显示浮动按钮
fabPOI.show();
//赋值
cityCode = aMapLocation.getCityCode();
}
else {
//定位失败时可通过ErrCode错误码信息来确定失败的原因errInfo是错误信息详见错误码表。
Log.e("AmapError", "location Error, ErrCode:"
+ aMapLocation.getErrorCode() + ", errInfo:"
+ aMapLocation.getErrorInfo());
}
}
}
/***********************Activity相关函数其中添加了保证mapView与activity同步相关函数******************/
@Override
protected void onResume() {
super.onResume();
//在activity执行onResume时执行mMapView.onResume (),重新绘制加载地图
mapView.onResume();
}
@Override
protected void onPause() {
super.onPause();
//在activity执行onPause时执行mMapView.onPause (),暂停地图的绘制
mapView.onPause();
}
@Override
protected void onSaveInstanceState(Bundle outState) {
super.onSaveInstanceState(outState);
//在activity执行onSaveInstanceState时执行mMapView.onSaveInstanceState (outState),保存地图当前的状态
mapView.onSaveInstanceState(outState);
}
@Override
protected void onDestroy() {
super.onDestroy();
//销毁定位客户端,同时销毁本地定位服务。
if (mLocationClient != null) {
mLocationClient.onDestroy();
}
//在activity执行onDestroy时执行mMapView.onDestroy(),销毁地图
mapView.onDestroy();
}
/******************************************************************/
/* * * 长按地图响应函数 * * */
//LatLng 为高德地图包自带的存储坐标对象
@Override
public void onMapLongClick(LatLng latLng) {
float distance = AMapUtils.calculateLineDistance(Current_latlng,latLng);
//showMsg("长按了地图,经度:"+latLng.longitude+",纬度:"+latLng.latitude);
showMsg("直线距离:"+distance+"米");
//坐标转地址
latlonToAddress(latLng);
//添加标点
addMarker(latLng);
}
/**
*
* @param latLng
*/
private void addMarker(LatLng latLng) {
//显示浮动按钮
ClearMarker_btn.show();
//添加标点
Marker marker = aMap.addMarker(markerOption
.position(latLng)
.draggable(true)
//标点图标
.icon(BitmapDescriptorFactory.
fromBitmap(BitmapFactory.decodeResource(getResources(),R.drawable.img)))
//备注
.title("路径点")
.snippet("距离:")
);
marker.showInfoWindow();
markerList.add(marker);
}
/**
* Marker
* @param view
*/
public void clearAllMarker(View view) {
if (markerList != null && markerList.size()>0){
for (Marker markerItem : markerList) {
markerItem.remove();
}
}
ClearMarker_btn.hide();
}
public void changeAct(View view) {
Intent intent = new Intent(MainActivity.this, VideoActivity.class);
intent.addFlags(Intent.FLAG_ACTIVITY_NO_HISTORY);
startActivity(intent);
}
/**
* Marker
*
* @param marker
* @return
*/
@Override
public boolean onMarkerClick(Marker marker) {
Log.d(TAG,"点击了标点");
//显示InfoWindow
/*
if (!marker.isInfoWindowShown()) {
//显示
marker.showInfoWindow();
} else {
//隐藏
marker.hideInfoWindow();
}
*/
return true;
}
/**
*
* @param marker
*/
@Override
public void onMarkerDragStart(Marker marker) {
Log.d(TAG,"开始拖动");
}
/**
*
* @param marker
*/
@Override
public void onMarkerDrag(Marker marker) {
Log.d(TAG,"拖动中");
}
/**
*
* @param marker
*/
@Override
public void onMarkerDragEnd(Marker marker) {
Log.d(TAG,"拖动完成");
}
/* * * * * *
*
* @param latLng
*/
private void latlonToAddress(LatLng latLng) {
//位置点 通过经纬度进行构建
LatLonPoint latLonPoint = new LatLonPoint(latLng.latitude, latLng.longitude);
//逆编码查询 第一个参数表示一个Latlng第二参数表示范围多少米第三个参数表示是火系坐标系还是GPS原生坐标系
RegeocodeQuery query = new RegeocodeQuery(latLonPoint, 20, GeocodeSearch.AMAP);
//异步获取地址信息
geocodeSearch.getFromLocationAsyn(query);
}
/*********************************************************
* @param regeocodeResult
* @param rCode
*/
@Override
public void onRegeocodeSearched(RegeocodeResult regeocodeResult, int rCode) {
if(rCode == PARSE_SUCCESS_CODE){
RegeocodeAddress regeocodeAddress = regeocodeResult.getRegeocodeAddress();
//显示解析后的地址
showMsg("地址:"+regeocodeAddress.getFormatAddress());
}else {
showMsg("获取地址失败");
}
}
@Override
public void onGeocodeSearched(GeocodeResult geocodeResult, int i) {
}
/*
@Override
public void onPoiSearched(PoiResult poiResult, int i) {
//解析result获取POI信息
//获取POI组数列表
ArrayList<PoiItem> poiItems = poiResult.getPois();
for (PoiItem poiItem : poiItems) {
Log.d("MainActivity", " Title" + poiItem.getTitle() + " Snippet" + poiItem.getSnippet());
}
}*/
/*
@Override
public void (PoiItem poiItem, int i) {
}*/
}

@ -0,0 +1,654 @@
package com.example.sixaunyi;
import static androidx.constraintlayout.motion.utils.Oscillator.TAG;
import static java.lang.Math.PI;
import androidx.annotation.NonNull;
import androidx.appcompat.app.AppCompatActivity;
import android.Manifest;
import android.annotation.SuppressLint;
import android.content.Intent;
import android.graphics.BitmapFactory;
import android.location.Location;
import android.nfc.Tag;
import android.os.Build;
import android.os.Bundle;
import android.os.Handler;
import android.os.Message;
import android.util.Log;
import android.view.View;
import android.widget.TextView;
import android.widget.Toast;
import com.amap.api.location.AMapLocation;
import com.amap.api.location.AMapLocationClient;
import com.amap.api.location.AMapLocationClientOption;
import com.amap.api.location.AMapLocationListener;
import com.amap.api.maps.AMap;
import com.amap.api.maps.AMapUtils;
import com.amap.api.maps.LocationSource;
import com.amap.api.maps.MapView;
import com.amap.api.maps.model.BitmapDescriptorFactory;
import com.amap.api.maps.model.LatLng;
import com.amap.api.maps.model.Marker;
import com.amap.api.maps.model.MarkerOptions;
import com.amap.api.maps.model.animation.Animation;
import com.amap.api.maps.model.animation.TranslateAnimation;
import com.amap.api.services.core.AMapException;
import com.amap.api.services.core.LatLonPoint;
import com.amap.api.services.core.PoiItem;
import com.amap.api.services.geocoder.GeocodeResult;
import com.amap.api.services.geocoder.GeocodeSearch;
import com.amap.api.services.geocoder.RegeocodeAddress;
import com.amap.api.services.geocoder.RegeocodeQuery;
import com.amap.api.services.geocoder.RegeocodeResult;
import com.amap.api.services.poisearch.PoiResult;
import com.amap.api.services.poisearch.PoiSearch;
import com.google.android.material.floatingactionbutton.FloatingActionButton;
import java.io.ByteArrayInputStream;
import java.io.IOException;
import java.net.DatagramPacket;
import java.net.DatagramSocket;
import java.net.InetAddress;
import java.net.SocketException;
import java.util.ArrayList;
import java.util.List;
import pub.devrel.easypermissions.AfterPermissionGranted;
import pub.devrel.easypermissions.EasyPermissions;
public class MainActivity extends AppCompatActivity implements AMapLocationListener, LocationSource,
AMap.OnMapLongClickListener, GeocodeSearch.OnGeocodeSearchListener, AMap.OnMarkerDragListener,
AMap.OnMarkerClickListener{
//请求权限码
private static final int REQUEST_PERMISSIONS = 9527;
//声明AMapLocationClient类对象
public AMapLocationClient mLocationClient = null;
//声明AMapLocationClientOption对象
public AMapLocationClientOption mLocationOption = null;
private MapView mapView = null;
private String city;
private LatLng Current_latlng;
//地图控制器*********非常重要!!!!!!
private AMap aMap = null;
//位置更改监听
private LocationSource.OnLocationChangedListener mListener;
//地理编码搜索
private GeocodeSearch geocodeSearch;
//解析成功标识码
private static final int PARSE_SUCCESS_CODE = 1000;
//POI查询对象
private PoiSearch.Query query;
//POI搜索对象
private PoiSearch poiSearch;
//城市码
private String cityCode = null;
//浮动按钮
private FloatingActionButton fabPOI;
//浮动按钮 清空地图标点
private FloatingActionButton ClearMarker_btn;
//浮动按钮 更换活动
private FloatingActionButton ChangeAct_btn;
//标点列表
private List<Marker> markerList = new ArrayList<>();
//标识参数类
private MarkerOptions markerOption = new MarkerOptions();
//
private DatagramSocket reveSocket;
private final static String Recieve_IP = "192.168.240.46";
private final static int RECEIVE_PORT = 9999;
private boolean listenStatus = true;
private InetAddress serverAddr;
//private MainActivity.ReceiveHandler receiveHandler = new ReceiveHandler();
private String Angle;
private String MonitorAngle;
private float distance;
private float MonitorDistance;
private UdpReceiveThread udpReceiveThread;
@SuppressLint("MissingInflatedId")
@Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.activity_main);
fabPOI = findViewById(R.id.fab_poi);
ClearMarker_btn = findViewById(R.id.clearMarker_btn);
ChangeAct_btn = findViewById(R.id.change_btn);
ChangeAct_btn.show();
//tvContent = findViewById(R.id.tv_content);
/*,
*
*/
initLocation();
//初始化地图
initMap(savedInstanceState);
//检查安卓版本
checkingAndroidVersion();
udpReceiveThread = new UdpReceiveThread();
udpReceiveThread.startListening();
}
/**
* Android
*/
private void checkingAndroidVersion() {
//Android6.0及以上先获取权限再定位
if(Build.VERSION.SDK_INT >= Build.VERSION_CODES.M){
requestPermission();
}
//Android6.0以下直接定位
else {
//直接定位
mLocationClient.startLocation();
}
}
/**
*
*/
@AfterPermissionGranted(REQUEST_PERMISSIONS)
private void requestPermission() {
String[] permissions = {
Manifest.permission.ACCESS_COARSE_LOCATION,
Manifest.permission.ACCESS_FINE_LOCATION,
Manifest.permission.READ_PHONE_STATE,
Manifest.permission.WRITE_EXTERNAL_STORAGE
};
if (EasyPermissions.hasPermissions(this, permissions)) {
//有权限
//******
Log.d(TAG, "已获得权限,可以定位啦!");
showMsg("已获得权限,可以定位啦!");
//开始定位
mLocationClient.startLocation();
} else {
//false 无权限
EasyPermissions.requestPermissions(this, "需要权限", REQUEST_PERMISSIONS, permissions);
}
}
//提示框显示文本
private void showMsg(String msg) {
Toast.makeText(this, msg, Toast.LENGTH_SHORT).show();
}
/**
*
* @param requestCode
* @param permissions
* @param grantResults
*/
@Override
public void onRequestPermissionsResult(int requestCode, @NonNull String[] permissions, @NonNull int[] grantResults) {
super.onRequestPermissionsResult(requestCode, permissions, grantResults);
//设置请求到的权限结果
EasyPermissions.onRequestPermissionsResult(requestCode, permissions, grantResults, this);
}
/******** 初始化定位 *******/
private void initLocation() {
//初始化定位
try {
mLocationClient = new AMapLocationClient(getApplicationContext());
} catch (Exception e) {
e.printStackTrace();
}
if (mLocationClient != null) {
//设置定位回调监听
mLocationClient.setLocationListener(this);
//初始化AMapLocationClientOption对象
mLocationOption = new AMapLocationClientOption();
//设置定位模式为AMapLocationMode.Hight_Accuracy高精度模式。
mLocationOption.setLocationMode(AMapLocationClientOption.AMapLocationMode.Hight_Accuracy);
//获取最近3s内精度最高的一次定位结果
//设置setOnceLocationLatest(boolean b)接口为true启动定位时SDK会返回最近3s内精度最高的一次定位结果。如果设置其为truesetOnceLocation(boolean b)接口也会被设置为true反之不会默认为false。
mLocationOption.setOnceLocationLatest(true);
//设置是否返回地址信息(默认返回地址信息)
mLocationOption.setNeedAddress(true);
//设置定位请求超时时间单位是毫秒默认30000毫秒建议超时时间不要低于8000毫秒。
mLocationOption.setHttpTimeOut(20000);
//关闭缓存机制,高精度定位会产生缓存。
mLocationOption.setLocationCacheEnable(false);
//给定位客户端对象设置定位参数
mLocationClient.setLocationOption(mLocationOption);
}
}
/**
*
* @param savedInstanceState
*/
private void initMap(Bundle savedInstanceState) {
//因为mapView为null所以要加上这个括号不可常规的mapView.findViewById
mapView = (MapView) findViewById(R.id.map_view);
//在activity执行onCreate时执行mMapView.onCreate(savedInstanceState),创建地图
mapView.onCreate(savedInstanceState);
//初始化地图控制器对象
aMap = mapView.getMap();
// 设置定位监听
aMap.setLocationSource(this);
// 设置为true表示显示定位层并可触发定位false表示隐藏定位层并不可触发定位默认是false
aMap.setMyLocationEnabled(true);
//设置地图标志点击事件
aMap.setOnMarkerClickListener(this);
//设置地图标志拖拽事件
aMap.setOnMarkerDragListener(this);
//开启室内地图
//aMap.showIndoorMap(true);
//设置地图长按事件
aMap.setOnMapLongClickListener(this);
//构造 GeocodeSearch 对象
try {
geocodeSearch = new GeocodeSearch(this);
} catch (AMapException e) {
e.printStackTrace();
}
//设置监听
geocodeSearch.setOnGeocodeSearchListener(this);
}
/**
*
*/
@Override
public void activate(OnLocationChangedListener onLocationChangedListener) {
mListener = onLocationChangedListener;
if (mLocationClient == null) {
mLocationClient.startLocation();//启动定位
}
}
/**
*
*/
@Override
public void deactivate() {
mListener = null;
if (mLocationClient != null) {
mLocationClient.stopLocation();
mLocationClient.onDestroy();
}
mLocationClient = null;
}
@Override
public void onLocationChanged(AMapLocation aMapLocation) {
if (aMapLocation != null) {
//定位成功
if (aMapLocation.getErrorCode() == 0) {
//地址
String address = aMapLocation.getAddress();
//城市赋值
city = aMapLocation.getCity();
//当前位置经纬度坐标
Current_latlng = new LatLng(aMapLocation.getLatitude(), aMapLocation.getLongitude());
//获取纬度
double latitude = aMapLocation.getLatitude();
//获取经度
double longitude = aMapLocation.getLongitude();
Log.d("MainActivity", aMapLocation.getCity());
showMsg(address);
//停止定位后,本地定位服务并不会被销毁
mLocationClient.stopLocation();
if (mListener != null) {
// 显示系统图标
mListener.onLocationChanged(aMapLocation);
}
//显示浮动按钮
fabPOI.show();
//赋值
cityCode = aMapLocation.getCityCode();
}
else {
//定位失败时可通过ErrCode错误码信息来确定失败的原因errInfo是错误信息详见错误码表。
Log.e("AmapError", "location Error, ErrCode:"
+ aMapLocation.getErrorCode() + ", errInfo:"
+ aMapLocation.getErrorInfo());
}
}
}
/***********************Activity相关函数其中添加了保证mapView与activity同步相关函数******************/
@Override
protected void onResume() {
super.onResume();
//在activity执行onResume时执行mMapView.onResume (),重新绘制加载地图
mapView.onResume();
}
@Override
protected void onPause() {
super.onPause();
//在activity执行onPause时执行mMapView.onPause (),暂停地图的绘制
mapView.onPause();
}
@Override
protected void onSaveInstanceState(Bundle outState) {
super.onSaveInstanceState(outState);
//在activity执行onSaveInstanceState时执行mMapView.onSaveInstanceState (outState),保存地图当前的状态
mapView.onSaveInstanceState(outState);
}
@Override
protected void onDestroy() {
super.onDestroy();
//销毁定位客户端,同时销毁本地定位服务。
if (mLocationClient != null) {
mLocationClient.onDestroy();
}
//在activity执行onDestroy时执行mMapView.onDestroy(),销毁地图
mapView.onDestroy();
}
/******************************************************************/
/* * * 长按地图响应函数 * * */
//LatLng 为高德地图包自带的存储坐标对象
@Override
public void onMapLongClick(LatLng latLng) {
distance = AMapUtils.calculateLineDistance(Current_latlng,latLng);
LatLng Monitorlatlng = new LatLng(113.05370390725032,28.256794281117525);
MonitorDistance = AMapUtils.calculateLineDistance(Current_latlng,Monitorlatlng);
Angle = calcAngle(Current_latlng.latitude, Current_latlng.longitude, latLng.latitude,latLng.longitude);
MonitorAngle = calcAngle(Current_latlng.latitude, Current_latlng.longitude, 113.05370390725032,28.256794281117525);
//showMsg("长按了地图,经度:"+latLng.longitude+",纬度:"+latLng.latitude);
Log.i(TAG,String.valueOf(latLng.longitude));
Log.i(TAG,String.valueOf(latLng.latitude));
showMsg("直线距离:"+distance+"米"+"角度"+Angle);
//坐标转地址113.05370390725032 28.256794281117525
latlonToAddress(latLng);
//添加标点
addMarker(latLng);
addSensorMarker(latLng);
addDroneMarker(latLng);
moveDroneMarker(latLng);
}
/**
*
* @param latLng
*/
private void addMarker(LatLng latLng) {
//显示浮动按钮
ClearMarker_btn.show();
//添加标点
Marker marker = aMap.addMarker(markerOption
.position(latLng)
.draggable(true)
//标点图标
.icon(BitmapDescriptorFactory.
fromBitmap(BitmapFactory.decodeResource(getResources(),R.drawable.img)))
//备注
.title("路径点")
.snippet("距离:")
);
marker.showInfoWindow();
markerList.add(marker);
}
// 添加传感器标点
private Marker sensorMarker = null;
private void addSensorMarker(LatLng latLng) {
// 显示浮动按钮
ClearMarker_btn.show();
// 添加传感器标点
MarkerOptions sensorMarkerOption = new MarkerOptions();
sensorMarker = aMap.addMarker(sensorMarkerOption
.position(latLng)
.draggable(false)
// 标点图标
.icon(BitmapDescriptorFactory.
fromBitmap(BitmapFactory.decodeResource(getResources(), R.drawable.sensor)))
// 备注
.title("传感器")
.snippet("距离:")
);
sensorMarker.showInfoWindow();
}
// 添加无人机标点
private Marker droneMarker = null;
private void addDroneMarker(LatLng latLng) {
// 添加无人机标点
MarkerOptions droneMarkerOption = new MarkerOptions();
droneMarker = aMap.addMarker(droneMarkerOption
.position(latLng)
.draggable(false)
// 标点图标
.icon(BitmapDescriptorFactory.
fromBitmap(BitmapFactory.decodeResource(getResources(), R.drawable.drone)))
// 备注
.title("无人机")
.snippet("距离:")
);
droneMarker.showInfoWindow();
}
// 移动无人机标点到传感器标点并显示平移动画
private void moveDroneMarker(LatLng sensorLatLng) {
if (droneMarker != null) {
// 平移动画
Animation animation = new TranslateAnimation(droneMarker.getPosition(), sensorLatLng);
animation.setDuration(5000);
droneMarker.setAnimation(animation);
droneMarker.startAnimation();
}
}
/**
* Marker
* @param view
*/
public void clearAllMarker(View view) {
if (markerList != null && markerList.size()>0){
for (Marker markerItem : markerList) {
markerItem.remove();
}
}
ClearMarker_btn.hide();
}
public void changeAct(View view) {
udpReceiveThread.stopListening();
Intent intent = new Intent(MainActivity.this, VideoActivity.class);
intent.addFlags(Intent.FLAG_ACTIVITY_NO_HISTORY);
startActivity(intent);
}
/**
* Marker
*
* @param marker
* @return
*/
@Override
public boolean onMarkerClick(Marker marker) {
Log.d(TAG,"点击了标点");
//显示InfoWindow
/*
if (!marker.isInfoWindowShown()) {
//显示
marker.showInfoWindow();
} else {
//隐藏
marker.hideInfoWindow();
}
*/
return true;
}
/**
*
* @param marker
*/
@Override
public void onMarkerDragStart(Marker marker) {
Log.d(TAG,"开始拖动");
}
/**
*
* @param marker
*/
@Override
public void onMarkerDrag(Marker marker) {
Log.d(TAG,"拖动中");
}
/**
*
* @param marker
*/
@Override
public void onMarkerDragEnd(Marker marker) {
Log.d(TAG,"拖动完成");
}
/* * * * * *
*
* @param latLng
*/
private void latlonToAddress(LatLng latLng) {
//位置点 通过经纬度进行构建
LatLonPoint latLonPoint = new LatLonPoint(latLng.latitude, latLng.longitude);
//逆编码查询 第一个参数表示一个Latlng第二参数表示范围多少米第三个参数表示是火系坐标系还是GPS原生坐标系
RegeocodeQuery query = new RegeocodeQuery(latLonPoint, 20, GeocodeSearch.AMAP);
//异步获取地址信息
geocodeSearch.getFromLocationAsyn(query);
}
/*********************************************************
* @param regeocodeResult
* @param rCode
*/
@Override
public void onRegeocodeSearched(RegeocodeResult regeocodeResult, int rCode) {
if(rCode == PARSE_SUCCESS_CODE){
RegeocodeAddress regeocodeAddress = regeocodeResult.getRegeocodeAddress();
//显示解析后的地址
showMsg("地址:"+regeocodeAddress.getFormatAddress());
} else {
showMsg("获取地址失败");
}
}
@Override
public void onGeocodeSearched(GeocodeResult geocodeResult, int i) {
}
public class UdpReceiveThread extends Thread {
private static final String TAG = "UdpReceiveThread";
private static final int RECEIVE_PORT = 9999;
private boolean mRunning;
private String mReceiveIp = Recieve_IP;
private String mExpectedData = "Motion detected!";
private float mMonitorDistance = MonitorDistance;
private String mMonitorAngle = MonitorAngle;
@Override
public void run() {
try {
DatagramSocket socket = new DatagramSocket(RECEIVE_PORT);
byte[] buffer = new byte[1024];
DatagramPacket packet = new DatagramPacket(buffer, buffer.length);
while (mRunning) {
socket.receive(packet);
byte[] data = packet.getData();
String receivedString = new String(data, 0, packet.getLength());
Log.d(TAG, "Received data: " + receivedString);
if (receivedString.equals(mExpectedData)) {
Intent intent = new Intent(MainActivity.this, VideoActivity.class);
Bundle b = new Bundle();
b.putString("Angle", mMonitorAngle);
b.putFloat("Distance", mMonitorDistance);
intent.putExtras(b);
intent.addFlags(Intent.FLAG_ACTIVITY_NO_HISTORY);
startActivity(intent);
mRunning = false;
}
}
socket.close();
} catch (SocketException e) {
e.printStackTrace();
} catch (Exception e) {
e.printStackTrace();
}
}
public void startListening() {
mRunning = true;
start();
}
public void stopListening() {
mRunning = false;
}
}
//以北为0度
public static String calcAngle(Double centerLat, Double centerLon, Double anotherLat, Double anotherLon) {
//差值
double subLat = anotherLat - centerLat;
double subLon = anotherLon - centerLon;
double angle = 0;
if (subLat == 0) {
//纬度差值为0 表示两点在同一高度 此时点必然在x轴右侧 或者 x轴左侧
if (subLon > 0) {
//x轴右侧
angle = 90;
} else if (subLon < 0) {
//x轴左侧
angle = 270;
}
} else if (subLon == 0) {
//经度差值为0 说明点在y轴上方或者y轴下方
if (subLat > 0) {
//y轴上方
angle = 0;
} else if (subLat < 0) {
//y轴下方
angle = 180;
}
} else {
//根据tan的值求角度 subLon不能为0 纬度差值 除以 经度差值 = tan的值
double v = subLat / subLon;
angle = Math.atan(v) * 180 / PI;
//angle的值在-180到180之间
System.out.println("未处理的角度值:" + (angle));
//第二种求角度的方法
//angle = Math.atan2(subLat,subLon) * 180 / PI ;
//判断数据在第几象限
//1、正切小于0 在二四象限
if (angle < 0) {
if (subLon > 0) {
//此时的点在中心点的右下角
angle = Math.abs(angle)+ 90;
} else if (subLon < 0) {
//此时的点在中心点的左上角
angle = Math.abs(angle) + 270;
}
}
//2、正切大于0 在一三象限
else if (angle > 0) {
if (subLon > 0) {
//此时的点在中心点的右上角 360-angle
angle = 90-angle;
} else if (subLat < 0) {
// 此时的点在中心点的左下角
angle = 270-angle;
}
}
}
return String.valueOf(angle);
}
}

@ -0,0 +1,779 @@
package com.example.sixaunyi;
import static androidx.constraintlayout.motion.utils.Oscillator.TAG;
import static java.lang.Math.PI;
import androidx.annotation.NonNull;
import androidx.appcompat.app.AppCompatActivity;
import android.app.AlertDialog;
import android.content.Context;
import android.Manifest;
import android.annotation.SuppressLint;
import android.content.Intent;
import android.graphics.BitmapFactory;
import android.location.Location;
import android.nfc.Tag;
import android.os.Build;
import android.os.Bundle;
import android.os.Handler;
import android.os.Message;
import android.util.Log;
import android.view.View;
import android.widget.TextView;
import android.widget.Toast;
import android.animation.Animator;
import android.animation.ValueAnimator;
import com.amap.api.location.AMapLocation;
import com.amap.api.location.AMapLocationClient;
import com.amap.api.location.AMapLocationClientOption;
import com.amap.api.location.AMapLocationListener;
import com.amap.api.maps.AMap;
import com.amap.api.maps.AMapUtils;
import com.amap.api.maps.LocationSource;
import com.amap.api.maps.MapView;
import com.amap.api.maps.model.BitmapDescriptorFactory;
import com.amap.api.maps.model.LatLng;
import com.amap.api.maps.model.Marker;
import com.amap.api.maps.model.MarkerOptions;
import com.amap.api.maps.model.animation.Animation;
import com.amap.api.maps.model.animation.TranslateAnimation;
import com.amap.api.services.core.AMapException;
import com.amap.api.services.core.LatLonPoint;
import com.amap.api.services.core.PoiItem;
import com.amap.api.services.geocoder.GeocodeResult;
import com.amap.api.services.geocoder.GeocodeSearch;
import com.amap.api.services.geocoder.RegeocodeAddress;
import com.amap.api.services.geocoder.RegeocodeQuery;
import com.amap.api.services.geocoder.RegeocodeResult;
import com.amap.api.services.poisearch.PoiResult;
import com.amap.api.services.poisearch.PoiSearch;
import com.google.android.material.floatingactionbutton.FloatingActionButton;
import android.view.animation.LinearInterpolator;
import java.io.ByteArrayInputStream;
import java.io.IOException;
import java.net.DatagramPacket;
import java.net.DatagramSocket;
import java.net.InetAddress;
import java.net.SocketException;
import java.net.UnknownHostException;
import java.util.ArrayList;
import java.util.List;
import java.util.concurrent.ExecutorService;
import java.util.concurrent.Executors;
import pub.devrel.easypermissions.AfterPermissionGranted;
import pub.devrel.easypermissions.EasyPermissions;
public class MainActivity extends AppCompatActivity implements AMapLocationListener, LocationSource,
AMap.OnMapLongClickListener, GeocodeSearch.OnGeocodeSearchListener, AMap.OnMarkerDragListener,
AMap.OnMarkerClickListener{
//请求权限码
private static final int REQUEST_PERMISSIONS = 9527;
//声明AMapLocationClient类对象
public AMapLocationClient mLocationClient = null;
//声明AMapLocationClientOption对象
public AMapLocationClientOption mLocationOption = null;
private MapView mapView = null;
private String city;
private LatLng Current_latlng;
//地图控制器*********非常重要!!!!!!
private AMap aMap = null;
//位置更改监听
private LocationSource.OnLocationChangedListener mListener;
//地理编码搜索
private GeocodeSearch geocodeSearch;
//解析成功标识码
private static final int PARSE_SUCCESS_CODE = 1000;
//城市码
private String cityCode = null;
//浮动按钮
private FloatingActionButton fabPOI;
//浮动按钮 清空地图标点
private FloatingActionButton ClearMarker_btn;
//浮动按钮 更换活动
private FloatingActionButton ChangeAct_btn;
//标点列表
private List<Marker> markerList = new ArrayList<>();
//标识参数类
private MarkerOptions markerOption = new MarkerOptions();
//
private DatagramSocket reveSocket;
private ExecutorService mThreadPool = Executors.newCachedThreadPool();
////////////////////////////可修改部分/////////////////////////////
private final LatLng Monitorlatlng = new LatLng(28.258348849051746,113.04552182879037);
private final static String Recieve_IP = "192.168.39.46";
private final static int RECEIVE_PORT = 9987;
private final static String SEND_to_IP = "192.168.39.47";
private final static int SEND_PORT = 8888;
/////////////////////////////////////////////////////////////////
private InetAddress serverAddr;
private String Angle;
private String MonitorAngle;
private float distance;
private float MonitorDistance;
private UdpReceiveThread udpReceiveThread;
@SuppressLint("MissingInflatedId")
@Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.activity_main);
fabPOI = findViewById(R.id.fab_poi);
ClearMarker_btn = findViewById(R.id.clearMarker_btn);
ChangeAct_btn = findViewById(R.id.change_btn);
ChangeAct_btn.show();
//tvContent = findViewById(R.id.tv_content);
/*,
*
*/
initLocation();
//初始化地图
initMap(savedInstanceState);
//检查安卓版本
checkingAndroidVersion();
udpReceiveThread = new UdpReceiveThread();
udpReceiveThread.startListening();
addSensorMarker(Monitorlatlng);
}
/**
* Android
*/
private void checkingAndroidVersion() {
//Android6.0及以上先获取权限再定位
if(Build.VERSION.SDK_INT >= Build.VERSION_CODES.M){
requestPermission();
}
//Android6.0以下直接定位
else {
//直接定位
mLocationClient.startLocation();
}
}
/**
*
*/
@AfterPermissionGranted(REQUEST_PERMISSIONS)
private void requestPermission() {
String[] permissions = {
Manifest.permission.ACCESS_COARSE_LOCATION,
Manifest.permission.ACCESS_FINE_LOCATION,
Manifest.permission.READ_PHONE_STATE,
Manifest.permission.WRITE_EXTERNAL_STORAGE
};
if (EasyPermissions.hasPermissions(this, permissions)) {
//有权限
//******
Log.d(TAG, "已获得权限,可以定位啦!");
showMsg("已获得权限,可以定位啦!");
//开始定位
mLocationClient.startLocation();
} else {
//false 无权限
EasyPermissions.requestPermissions(this, "需要权限", REQUEST_PERMISSIONS, permissions);
}
}
//提示框显示文本
private void showMsg(String msg) {
Toast.makeText(this, msg, Toast.LENGTH_SHORT).show();
}
/**
*
* @param requestCode
* @param permissions
* @param grantResults
*/
@Override
public void onRequestPermissionsResult(int requestCode, @NonNull String[] permissions, @NonNull int[] grantResults) {
super.onRequestPermissionsResult(requestCode, permissions, grantResults);
//设置请求到的权限结果
EasyPermissions.onRequestPermissionsResult(requestCode, permissions, grantResults, this);
}
/******** 初始化定位 *******/
private void initLocation() {
//初始化定位
try {
mLocationClient = new AMapLocationClient(getApplicationContext());
} catch (Exception e) {
e.printStackTrace();
}
if (mLocationClient != null) {
//设置定位回调监听
mLocationClient.setLocationListener(this);
//初始化AMapLocationClientOption对象
mLocationOption = new AMapLocationClientOption();
//设置定位模式为AMapLocationMode.Hight_Accuracy高精度模式。
mLocationOption.setLocationMode(AMapLocationClientOption.AMapLocationMode.Hight_Accuracy);
//获取最近3s内精度最高的一次定位结果
//设置setOnceLocationLatest(boolean b)接口为true启动定位时SDK会返回最近3s内精度最高的一次定位结果。如果设置其为truesetOnceLocation(boolean b)接口也会被设置为true反之不会默认为false。
mLocationOption.setOnceLocationLatest(true);
//设置是否返回地址信息(默认返回地址信息)
mLocationOption.setNeedAddress(true);
//设置定位请求超时时间单位是毫秒默认30000毫秒建议超时时间不要低于8000毫秒。
mLocationOption.setHttpTimeOut(20000);
//关闭缓存机制,高精度定位会产生缓存。
mLocationOption.setLocationCacheEnable(false);
//给定位客户端对象设置定位参数
mLocationClient.setLocationOption(mLocationOption);
}
}
/**
*
* @param savedInstanceState
*/
private void initMap(Bundle savedInstanceState) {
//因为mapView为null所以要加上这个括号不可常规的mapView.findViewById
mapView = (MapView) findViewById(R.id.map_view);
//在activity执行onCreate时执行mMapView.onCreate(savedInstanceState),创建地图
mapView.onCreate(savedInstanceState);
//初始化地图控制器对象
aMap = mapView.getMap();
// 设置定位监听
aMap.setLocationSource(this);
// 设置为true表示显示定位层并可触发定位false表示隐藏定位层并不可触发定位默认是false
aMap.setMyLocationEnabled(true);
//设置地图标志点击事件
aMap.setOnMarkerClickListener(this);
//设置地图标志拖拽事件
aMap.setOnMarkerDragListener(this);
//开启室内地图
//aMap.showIndoorMap(true);
//设置地图长按事件
aMap.setOnMapLongClickListener(this);
//构造 GeocodeSearch 对象
try {
geocodeSearch = new GeocodeSearch(this);
} catch (AMapException e) {
e.printStackTrace();
}
//设置监听
geocodeSearch.setOnGeocodeSearchListener(this);
}
/**
*
*/
@Override
public void activate(OnLocationChangedListener onLocationChangedListener) {
mListener = onLocationChangedListener;
if (mLocationClient == null) {
mLocationClient.startLocation();//启动定位
}
}
/**
*
*/
@Override
public void deactivate() {
mListener = null;
if (mLocationClient != null) {
mLocationClient.stopLocation();
mLocationClient.onDestroy();
}
mLocationClient = null;
}
@Override
public void onLocationChanged(AMapLocation aMapLocation) {
if (aMapLocation != null) {
//定位成功
if (aMapLocation.getErrorCode() == 0) {
//地址
String address = aMapLocation.getAddress();
//城市赋值
city = aMapLocation.getCity();
//当前位置经纬度坐标
Current_latlng = new LatLng(aMapLocation.getLatitude(), aMapLocation.getLongitude());
MonitorDistance = AMapUtils.calculateLineDistance(Current_latlng,Monitorlatlng);
//获取纬度
double latitude = aMapLocation.getLatitude();
//获取经度
double longitude = aMapLocation.getLongitude();
Log.d("MainActivity", aMapLocation.getCity());
showMsg(address);
//停止定位后,本地定位服务并不会被销毁
mLocationClient.stopLocation();
if (mListener != null) {
// 显示系统图标
mListener.onLocationChanged(aMapLocation);
}
//显示浮动按钮
fabPOI.show();
//赋值
cityCode = aMapLocation.getCityCode();
}
else {
//定位失败时可通过ErrCode错误码信息来确定失败的原因errInfo是错误信息详见错误码表。
Log.e("AmapError", "location Error, ErrCode:"
+ aMapLocation.getErrorCode() + ", errInfo:"
+ aMapLocation.getErrorInfo());
}
}
}
/***********************Activity相关函数其中添加了保证mapView与activity同步相关函数******************/
@Override
protected void onResume() {
super.onResume();
//在activity执行onResume时执行mMapView.onResume (),重新绘制加载地图
mapView.onResume();
}
@Override
protected void onPause() {
super.onPause();
//在activity执行onPause时执行mMapView.onPause (),暂停地图的绘制
mapView.onPause();
}
@Override
protected void onSaveInstanceState(Bundle outState) {
super.onSaveInstanceState(outState);
//在activity执行onSaveInstanceState时执行mMapView.onSaveInstanceState (outState),保存地图当前的状态
mapView.onSaveInstanceState(outState);
}
@Override
protected void onDestroy() {
super.onDestroy();
//销毁定位客户端,同时销毁本地定位服务。
if (mLocationClient != null) {
mLocationClient.onDestroy();
}
//在activity执行onDestroy时执行mMapView.onDestroy(),销毁地图
mapView.onDestroy();
}
/******************************************************************/
/* * * 长按地图响应函数 * * */
//LatLng 为高德地图包自带的存储坐标对象
@Override
public void onMapLongClick(LatLng latLng) {
distance = AMapUtils.calculateLineDistance(Current_latlng,latLng);
Angle = calcAngle(Current_latlng.latitude, Current_latlng.longitude, latLng.latitude,latLng.longitude);
MonitorAngle = calcAngle(Current_latlng.latitude, Current_latlng.longitude, 113.05370390725032,28.256794281117525);
//showMsg("长按了地图,经度:"+latLng.longitude+",纬度:"+latLng.latitude);
Log.i(TAG, String.valueOf(latLng.longitude));
Log.i(TAG, String.valueOf(latLng.latitude));
showMsg("直线距离:"+distance+"米"+"角度"+Angle);
//坐标转地址113.05370390725032 28.256794281117525
latlonToAddress(latLng);
//添加标点
addMarker(latLng);
}
/**
*
* @param latLng
*/
private void addMarker(LatLng latLng) {
//显示浮动按钮
ClearMarker_btn.show();
//添加标点
Marker marker = aMap.addMarker(markerOption
.position(latLng)
.draggable(true)
//标点图标
.icon(BitmapDescriptorFactory.
fromBitmap(BitmapFactory.decodeResource(getResources(),R.drawable.img)))
//备注
.title("路径点")
.snippet("距离:")
);
marker.showInfoWindow();
markerList.add(marker);
}
// 添加传感器标点
private Marker sensorMarker = null;
private void addSensorMarker(LatLng latLng) {
// 显示浮动按钮
// 添加传感器标点
MarkerOptions sensorMarkerOption = new MarkerOptions();
sensorMarker = aMap.addMarker(sensorMarkerOption
.position(latLng)
.draggable(false)
// 标点图标
.icon(BitmapDescriptorFactory.
fromBitmap(BitmapFactory.decodeResource(getResources(), R.drawable.sensor)))
// 备注
.title("传感器")
.snippet("距离:")
);
sensorMarker.showInfoWindow();
}
// 添加无人机标点
private Marker droneMarker = null;
private void addDroneMarker() {
// 添加无人机标点
MarkerOptions droneMarkerOption = new MarkerOptions();
droneMarker = aMap.addMarker(droneMarkerOption
.position(Current_latlng)
.draggable(false)
// 标点图标
.icon(BitmapDescriptorFactory.
fromBitmap(BitmapFactory.decodeResource(getResources(), R.drawable.drone)))
// 备注
.title("无人机")
.snippet("距离:")
);
droneMarker.showInfoWindow();
}
// 移动无人机标点到传感器标点并显示平移动画
public static class SmoothMoveUtil {
private Marker droneMarker;
private LatLng startLatLng;
private LatLng endLatLng;
private long duration;
public SmoothMoveUtil(Marker marker) {
this.droneMarker = marker;
}
public void moveDroneMarker(LatLng sensorLatLng, long duration) {
if (droneMarker != null) {
startLatLng = droneMarker.getPosition();
endLatLng = sensorLatLng;
this.duration = duration;
// 开始动画
startSmoothMove();
}
}
private void startSmoothMove() {
LatLngInterpolator latLngInterpolator = new LatLngInterpolator.LinearFixed();
ValueAnimator valueAnimator = ValueAnimator.ofFloat(0, 1);
valueAnimator.setDuration(duration);
valueAnimator.setInterpolator(new LinearInterpolator());
valueAnimator.addUpdateListener(new ValueAnimator.AnimatorUpdateListener() {
@Override
public void onAnimationUpdate(ValueAnimator animation) {
float fraction = animation.getAnimatedFraction();
LatLng newPosition = latLngInterpolator.interpolate(fraction, startLatLng, endLatLng);
droneMarker.setPosition(newPosition);
}
});
valueAnimator.addListener(new Animator.AnimatorListener() {
@Override
public void onAnimationStart(Animator animation) {
}
@Override
public void onAnimationEnd(Animator animation) {
// 动画结束
droneMarker.setPosition(endLatLng);
}
@Override
public void onAnimationCancel(Animator animation) {
}
@Override
public void onAnimationRepeat(Animator animation) {
}
});
valueAnimator.start();
}
// LatLng 插值器接口——算经纬度过渡用的
public interface LatLngInterpolator {
LatLng interpolate(float fraction, LatLng a, LatLng b);
class LinearFixed implements LatLngInterpolator {
@Override
public LatLng interpolate(float fraction, LatLng a, LatLng b) {
double lat = (b.latitude - a.latitude) * fraction + a.latitude;
double lngDelta = b.longitude - a.longitude;
// 如果跨越了 180 度经度,则进行调整
if (Math.abs(lngDelta) > 180) {
lngDelta -= Math.signum(lngDelta) * 360;
}
double lng = lngDelta * fraction + a.longitude;
return new LatLng(lat, lng);
}
}
}
}
/**
* Marker
* @param view
*/
public void clearAllMarker(View view) {
if (markerList != null && markerList.size()>0){
for (Marker markerItem : markerList) {
markerItem.remove();
}
}
ClearMarker_btn.hide();
}
public void moveDrone(){
SmoothMoveUtil moveUtil = new SmoothMoveUtil(droneMarker);
long time = (long) MonitorDistance/2*1000;
moveUtil.moveDroneMarker(Monitorlatlng,time);
}
public void changeAct(View view) {
udpReceiveThread.stopListening();
Intent intent = new Intent(MainActivity.this, VideoActivity.class);
Bundle b = new Bundle();
b.putString("Angle", MonitorAngle);
b.putFloat("Distance", MonitorDistance);
intent.putExtras(b);
intent.addFlags(Intent.FLAG_ACTIVITY_NO_HISTORY);
startActivity(intent);
}
/**
* Marker
*
* @param marker
* @return
*/
@Override
public boolean onMarkerClick(Marker marker) {
Log.d(TAG,"点击了标点");
//显示InfoWindow
/*
if (!marker.isInfoWindowShown()) {
//显示
marker.showInfoWindow();
} else {
//隐藏
marker.hideInfoWindow();
}
*/
return true;
}
/**
*
* @param marker
*/
@Override
public void onMarkerDragStart(Marker marker) {
Log.d(TAG,"开始拖动");
}
/**
*
* @param marker
*/
@Override
public void onMarkerDrag(Marker marker) {
Log.d(TAG,"拖动中");
}
/**
*
* @param marker
*/
@Override
public void onMarkerDragEnd(Marker marker) {
Log.d(TAG,"拖动完成");
}
/* * * * * *
*
* @param latLng
*/
private void latlonToAddress(LatLng latLng) {
//位置点 通过经纬度进行构建
LatLonPoint latLonPoint = new LatLonPoint(latLng.latitude, latLng.longitude);
//逆编码查询 第一个参数表示一个Latlng第二参数表示范围多少米第三个参数表示是火系坐标系还是GPS原生坐标系
RegeocodeQuery query = new RegeocodeQuery(latLonPoint, 20, GeocodeSearch.AMAP);
//异步获取地址信息
geocodeSearch.getFromLocationAsyn(query);
}
/*********************************************************
* @param regeocodeResult
* @param rCode
*/
@Override
public void onRegeocodeSearched(RegeocodeResult regeocodeResult, int rCode) {
if(rCode == PARSE_SUCCESS_CODE){
RegeocodeAddress regeocodeAddress = regeocodeResult.getRegeocodeAddress();
//显示解析后的地址
showMsg("地址:"+regeocodeAddress.getFormatAddress());
} else {
showMsg("获取地址失败");
}
}
@Override
public void onGeocodeSearched(GeocodeResult geocodeResult, int i) {
}
public class UdpReceiveThread extends Thread {
private static final String TAG = "UdpReceiveThread";
private static final int mRECEIVE_PORT = RECEIVE_PORT;
private boolean mRunning;
private String mReceiveIp = Recieve_IP;
private String mExpectedData = "Motion detected!";
private float udpMonitorDistance = MonitorDistance;
private String udpMonitorAngle = MonitorAngle;
@Override
public void run() {
try {
DatagramSocket socket = new DatagramSocket(mRECEIVE_PORT);
byte[] buffer = new byte[1024];
DatagramPacket packet = new DatagramPacket(buffer, buffer.length);
while (mRunning) {
Log.i(TAG, "run: 111111111111111111");
socket.receive(packet);
byte[] data = packet.getData();
String receivedString = new String(data, 0, packet.getLength());
Log.d(TAG, "Received data: " + receivedString);
if (receivedString.equals(mExpectedData)) {
Log.i(TAG, "run: 222222222222222222222222222");
sendCommand("WARNING");
Context context = MainActivity.this;
showAlert(context,"传感器报警");
addDroneMarker();
moveDrone();
mRunning = false;
}
}
socket.close();
} catch (SocketException e) {
e.printStackTrace();
} catch (Exception e) {
e.printStackTrace();
}
}
public void showAlert(Context context, String message) {
AlertDialog.Builder builder = new AlertDialog.Builder(context);
builder.setTitle("警告");
builder.setMessage(message);
builder.setIcon(R.drawable.warnning);
builder.setPositiveButton("确定", null);
AlertDialog dialog = builder.create();
dialog.show();
}
public void startListening() {
mRunning = true;
start();
}
public void stopListening() {
mRunning = false;
}
}
//以北为0度
public static String calcAngle(Double centerLat, Double centerLon, Double anotherLat, Double anotherLon) {
//差值
double subLat = anotherLat - centerLat;
double subLon = anotherLon - centerLon;
double angle = 0;
if (subLat == 0) {
//纬度差值为0 表示两点在同一高度 此时点必然在x轴右侧 或者 x轴左侧
if (subLon > 0) {
//x轴右侧
angle = 90;
} else if (subLon < 0) {
//x轴左侧
angle = 270;
}
} else if (subLon == 0) {
//经度差值为0 说明点在y轴上方或者y轴下方
if (subLat > 0) {
//y轴上方
angle = 0;
} else if (subLat < 0) {
//y轴下方
angle = 180;
}
} else {
//根据tan的值求角度 subLon不能为0 纬度差值 除以 经度差值 = tan的值
double v = subLat / subLon;
angle = Math.atan(v) * 180 / PI;
//angle的值在-180到180之间
System.out.println("未处理的角度值:" + (angle));
//第二种求角度的方法
//angle = Math.atan2(subLat,subLon) * 180 / PI ;
//判断数据在第几象限
//1、正切小于0 在二四象限
if (angle < 0) {
if (subLon > 0) {
//此时的点在中心点的右下角
angle = Math.abs(angle)+ 90;
} else if (subLon < 0) {
//此时的点在中心点的左上角
angle = Math.abs(angle) + 270;
}
}
//2、正切大于0 在一三象限
else if (angle > 0) {
if (subLon > 0) {
//此时的点在中心点的右上角 360-angle
angle = 90-angle;
} else if (subLat < 0) {
// 此时的点在中心点的左下角
angle = 270-angle;
}
}
}
return String.valueOf(angle);
}
/*
*UDP线
*/
class SendRunnable implements Runnable {
byte[] mData;
InetAddress mAddress;
int mPort;
public SendRunnable(byte[] data, InetAddress address, int port) {
mData = data;
mAddress = address;
mPort = port;
}
@Override
public void run() {
try {
// 创建发送数据报文
DatagramPacket packet = new DatagramPacket(mData, mData.length, mAddress, mPort);
// 创建 DatagramSocket 对象并发送数据报文
DatagramSocket socket = new DatagramSocket();
socket.send(packet);
// 关闭 DatagramSocket 对象
socket.close();
} catch (IOException e) {
e.printStackTrace();
}
}
}
//封装好的接口函数
private void sendCommand(String str) throws UnknownHostException {
byte[] sendData = str.getBytes();
InetAddress address = InetAddress.getByName(SEND_to_IP);
SendRunnable sendRunnable1 = new SendRunnable(sendData, address, SEND_PORT);
mThreadPool.execute(sendRunnable1);
}
}

@ -1,64 +0,0 @@
#include <ESP8266WiFi.h>
#include <WiFiUdp.h>
const char* ssid = "xiu"; // 请替换成您的WiFi热点名称SSID
const char* password = "12345678"; // 请替换成您的WiFi热点密码
const char* host = "192.168.39.219"; // 请替换成您的服务端IP地址
const uint16_t port = 9975; // 请替换成您的服务端监听端口号
int pirPin = 13; //out引脚接到GPIO_13
bool motionDetected = false; // 初始状态设定为没有检测到人
unsigned long motionDetectedTimestamp = 0; // 记录最近一次检测到人的时间戳
unsigned long motionThreshold = 3000; // 设置人体运动持续时间阈值为3秒
WiFiUDP udp;
void setup() {
pinMode(pirPin, INPUT);
Serial.begin(115200);
WiFi.mode(WIFI_STA);
//连接wifi
WiFi.begin(ssid, password);
while (WiFi.status() != WL_CONNECTED) {
delay(1000);
Serial.println("Connecting to WiFi...");
}
Serial.println("Connected to WiFi");
Serial.println(WiFi.localIP());
udp.begin(8888);
}
void loop() {
bool currentMotionState = digitalRead(pirPin); // 读取HCSR-501输出引脚的状态
if (currentMotionState == HIGH) { // 如果检测到人
//motionDetected = true;
//motionDetectedTimestamp = millis(); // 记录最近一次检测到人的时间戳
// 发送消息到服务端
udp.beginPacket(host, port);
udp.write("Motion detected!");
udp.endPacket();
Serial.println("Motion detected!"); // 在串口打印检测到信息
} else if (motionDetected && (millis() - motionDetectedTimestamp > motionThreshold)) {
// 如果当前没有检测到人,并且已经超过了阈值时间,重置状态
motionDetected = false;
motionDetectedTimestamp = 0;
Serial.println("Motion disapper");
}
// 接收服务端的回复
/*
int packetSize = udp.parsePacket();
if (packetSize) {
String response = "";
while (udp.available()) {
response += (char) udp.read();
}
Serial.println("Response received: " + response);
}*/
// 每隔1秒钟执行一次循环
delay(1000);
}

@ -1,674 +0,0 @@
GNU GENERAL PUBLIC LICENSE
Version 3, 29 June 2007
Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
Everyone is permitted to copy and distribute verbatim copies
of this license document, but changing it is not allowed.
Preamble
The GNU General Public License is a free, copyleft license for
software and other kinds of works.
The licenses for most software and other practical works are designed
to take away your freedom to share and change the works. By contrast,
the GNU General Public License is intended to guarantee your freedom to
share and change all versions of a program--to make sure it remains free
software for all its users. We, the Free Software Foundation, use the
GNU General Public License for most of our software; it applies also to
any other work released this way by its authors. You can apply it to
your programs, too.
When we speak of free software, we are referring to freedom, not
price. Our General Public Licenses are designed to make sure that you
have the freedom to distribute copies of free software (and charge for
them if you wish), that you receive source code or can get it if you
want it, that you can change the software or use pieces of it in new
free programs, and that you know you can do these things.
To protect your rights, we need to prevent others from denying you
these rights or asking you to surrender the rights. Therefore, you have
certain responsibilities if you distribute copies of the software, or if
you modify it: responsibilities to respect the freedom of others.
For example, if you distribute copies of such a program, whether
gratis or for a fee, you must pass on to the recipients the same
freedoms that you received. You must make sure that they, too, receive
or can get the source code. And you must show them these terms so they
know their rights.
Developers that use the GNU GPL protect your rights with two steps:
(1) assert copyright on the software, and (2) offer you this License
giving you legal permission to copy, distribute and/or modify it.
For the developers' and authors' protection, the GPL clearly explains
that there is no warranty for this free software. For both users' and
authors' sake, the GPL requires that modified versions be marked as
changed, so that their problems will not be attributed erroneously to
authors of previous versions.
Some devices are designed to deny users access to install or run
modified versions of the software inside them, although the manufacturer
can do so. This is fundamentally incompatible with the aim of
protecting users' freedom to change the software. The systematic
pattern of such abuse occurs in the area of products for individuals to
use, which is precisely where it is most unacceptable. Therefore, we
have designed this version of the GPL to prohibit the practice for those
products. If such problems arise substantially in other domains, we
stand ready to extend this provision to those domains in future versions
of the GPL, as needed to protect the freedom of users.
Finally, every program is threatened constantly by software patents.
States should not allow patents to restrict development and use of
software on general-purpose computers, but in those that do, we wish to
avoid the special danger that patents applied to a free program could
make it effectively proprietary. To prevent this, the GPL assures that
patents cannot be used to render the program non-free.
The precise terms and conditions for copying, distribution and
modification follow.
TERMS AND CONDITIONS
0. Definitions.
"This License" refers to version 3 of the GNU General Public License.
"Copyright" also means copyright-like laws that apply to other kinds of
works, such as semiconductor masks.
"The Program" refers to any copyrightable work licensed under this
License. Each licensee is addressed as "you". "Licensees" and
"recipients" may be individuals or organizations.
To "modify" a work means to copy from or adapt all or part of the work
in a fashion requiring copyright permission, other than the making of an
exact copy. The resulting work is called a "modified version" of the
earlier work or a work "based on" the earlier work.
A "covered work" means either the unmodified Program or a work based
on the Program.
To "propagate" a work means to do anything with it that, without
permission, would make you directly or secondarily liable for
infringement under applicable copyright law, except executing it on a
computer or modifying a private copy. Propagation includes copying,
distribution (with or without modification), making available to the
public, and in some countries other activities as well.
To "convey" a work means any kind of propagation that enables other
parties to make or receive copies. Mere interaction with a user through
a computer network, with no transfer of a copy, is not conveying.
An interactive user interface displays "Appropriate Legal Notices"
to the extent that it includes a convenient and prominently visible
feature that (1) displays an appropriate copyright notice, and (2)
tells the user that there is no warranty for the work (except to the
extent that warranties are provided), that licensees may convey the
work under this License, and how to view a copy of this License. If
the interface presents a list of user commands or options, such as a
menu, a prominent item in the list meets this criterion.
1. Source Code.
The "source code" for a work means the preferred form of the work
for making modifications to it. "Object code" means any non-source
form of a work.
A "Standard Interface" means an interface that either is an official
standard defined by a recognized standards body, or, in the case of
interfaces specified for a particular programming language, one that
is widely used among developers working in that language.
The "System Libraries" of an executable work include anything, other
than the work as a whole, that (a) is included in the normal form of
packaging a Major Component, but which is not part of that Major
Component, and (b) serves only to enable use of the work with that
Major Component, or to implement a Standard Interface for which an
implementation is available to the public in source code form. A
"Major Component", in this context, means a major essential component
(kernel, window system, and so on) of the specific operating system
(if any) on which the executable work runs, or a compiler used to
produce the work, or an object code interpreter used to run it.
The "Corresponding Source" for a work in object code form means all
the source code needed to generate, install, and (for an executable
work) run the object code and to modify the work, including scripts to
control those activities. However, it does not include the work's
System Libraries, or general-purpose tools or generally available free
programs which are used unmodified in performing those activities but
which are not part of the work. For example, Corresponding Source
includes interface definition files associated with source files for
the work, and the source code for shared libraries and dynamically
linked subprograms that the work is specifically designed to require,
such as by intimate data communication or control flow between those
subprograms and other parts of the work.
The Corresponding Source need not include anything that users
can regenerate automatically from other parts of the Corresponding
Source.
The Corresponding Source for a work in source code form is that
same work.
2. Basic Permissions.
All rights granted under this License are granted for the term of
copyright on the Program, and are irrevocable provided the stated
conditions are met. This License explicitly affirms your unlimited
permission to run the unmodified Program. The output from running a
covered work is covered by this License only if the output, given its
content, constitutes a covered work. This License acknowledges your
rights of fair use or other equivalent, as provided by copyright law.
You may make, run and propagate covered works that you do not
convey, without conditions so long as your license otherwise remains
in force. You may convey covered works to others for the sole purpose
of having them make modifications exclusively for you, or provide you
with facilities for running those works, provided that you comply with
the terms of this License in conveying all material for which you do
not control copyright. Those thus making or running the covered works
for you must do so exclusively on your behalf, under your direction
and control, on terms that prohibit them from making any copies of
your copyrighted material outside their relationship with you.
Conveying under any other circumstances is permitted solely under
the conditions stated below. Sublicensing is not allowed; section 10
makes it unnecessary.
3. Protecting Users' Legal Rights From Anti-Circumvention Law.
No covered work shall be deemed part of an effective technological
measure under any applicable law fulfilling obligations under article
11 of the WIPO copyright treaty adopted on 20 December 1996, or
similar laws prohibiting or restricting circumvention of such
measures.
When you convey a covered work, you waive any legal power to forbid
circumvention of technological measures to the extent such circumvention
is effected by exercising rights under this License with respect to
the covered work, and you disclaim any intention to limit operation or
modification of the work as a means of enforcing, against the work's
users, your or third parties' legal rights to forbid circumvention of
technological measures.
4. Conveying Verbatim Copies.
You may convey verbatim copies of the Program's source code as you
receive it, in any medium, provided that you conspicuously and
appropriately publish on each copy an appropriate copyright notice;
keep intact all notices stating that this License and any
non-permissive terms added in accord with section 7 apply to the code;
keep intact all notices of the absence of any warranty; and give all
recipients a copy of this License along with the Program.
You may charge any price or no price for each copy that you convey,
and you may offer support or warranty protection for a fee.
5. Conveying Modified Source Versions.
You may convey a work based on the Program, or the modifications to
produce it from the Program, in the form of source code under the
terms of section 4, provided that you also meet all of these conditions:
a) The work must carry prominent notices stating that you modified
it, and giving a relevant date.
b) The work must carry prominent notices stating that it is
released under this License and any conditions added under section
7. This requirement modifies the requirement in section 4 to
"keep intact all notices".
c) You must license the entire work, as a whole, under this
License to anyone who comes into possession of a copy. This
License will therefore apply, along with any applicable section 7
additional terms, to the whole of the work, and all its parts,
regardless of how they are packaged. This License gives no
permission to license the work in any other way, but it does not
invalidate such permission if you have separately received it.
d) If the work has interactive user interfaces, each must display
Appropriate Legal Notices; however, if the Program has interactive
interfaces that do not display Appropriate Legal Notices, your
work need not make them do so.
A compilation of a covered work with other separate and independent
works, which are not by their nature extensions of the covered work,
and which are not combined with it such as to form a larger program,
in or on a volume of a storage or distribution medium, is called an
"aggregate" if the compilation and its resulting copyright are not
used to limit the access or legal rights of the compilation's users
beyond what the individual works permit. Inclusion of a covered work
in an aggregate does not cause this License to apply to the other
parts of the aggregate.
6. Conveying Non-Source Forms.
You may convey a covered work in object code form under the terms
of sections 4 and 5, provided that you also convey the
machine-readable Corresponding Source under the terms of this License,
in one of these ways:
a) Convey the object code in, or embodied in, a physical product
(including a physical distribution medium), accompanied by the
Corresponding Source fixed on a durable physical medium
customarily used for software interchange.
b) Convey the object code in, or embodied in, a physical product
(including a physical distribution medium), accompanied by a
written offer, valid for at least three years and valid for as
long as you offer spare parts or customer support for that product
model, to give anyone who possesses the object code either (1) a
copy of the Corresponding Source for all the software in the
product that is covered by this License, on a durable physical
medium customarily used for software interchange, for a price no
more than your reasonable cost of physically performing this
conveying of source, or (2) access to copy the
Corresponding Source from a network server at no charge.
c) Convey individual copies of the object code with a copy of the
written offer to provide the Corresponding Source. This
alternative is allowed only occasionally and noncommercially, and
only if you received the object code with such an offer, in accord
with subsection 6b.
d) Convey the object code by offering access from a designated
place (gratis or for a charge), and offer equivalent access to the
Corresponding Source in the same way through the same place at no
further charge. You need not require recipients to copy the
Corresponding Source along with the object code. If the place to
copy the object code is a network server, the Corresponding Source
may be on a different server (operated by you or a third party)
that supports equivalent copying facilities, provided you maintain
clear directions next to the object code saying where to find the
Corresponding Source. Regardless of what server hosts the
Corresponding Source, you remain obligated to ensure that it is
available for as long as needed to satisfy these requirements.
e) Convey the object code using peer-to-peer transmission, provided
you inform other peers where the object code and Corresponding
Source of the work are being offered to the general public at no
charge under subsection 6d.
A separable portion of the object code, whose source code is excluded
from the Corresponding Source as a System Library, need not be
included in conveying the object code work.
A "User Product" is either (1) a "consumer product", which means any
tangible personal property which is normally used for personal, family,
or household purposes, or (2) anything designed or sold for incorporation
into a dwelling. In determining whether a product is a consumer product,
doubtful cases shall be resolved in favor of coverage. For a particular
product received by a particular user, "normally used" refers to a
typical or common use of that class of product, regardless of the status
of the particular user or of the way in which the particular user
actually uses, or expects or is expected to use, the product. A product
is a consumer product regardless of whether the product has substantial
commercial, industrial or non-consumer uses, unless such uses represent
the only significant mode of use of the product.
"Installation Information" for a User Product means any methods,
procedures, authorization keys, or other information required to install
and execute modified versions of a covered work in that User Product from
a modified version of its Corresponding Source. The information must
suffice to ensure that the continued functioning of the modified object
code is in no case prevented or interfered with solely because
modification has been made.
If you convey an object code work under this section in, or with, or
specifically for use in, a User Product, and the conveying occurs as
part of a transaction in which the right of possession and use of the
User Product is transferred to the recipient in perpetuity or for a
fixed term (regardless of how the transaction is characterized), the
Corresponding Source conveyed under this section must be accompanied
by the Installation Information. But this requirement does not apply
if neither you nor any third party retains the ability to install
modified object code on the User Product (for example, the work has
been installed in ROM).
The requirement to provide Installation Information does not include a
requirement to continue to provide support service, warranty, or updates
for a work that has been modified or installed by the recipient, or for
the User Product in which it has been modified or installed. Access to a
network may be denied when the modification itself materially and
adversely affects the operation of the network or violates the rules and
protocols for communication across the network.
Corresponding Source conveyed, and Installation Information provided,
in accord with this section must be in a format that is publicly
documented (and with an implementation available to the public in
source code form), and must require no special password or key for
unpacking, reading or copying.
7. Additional Terms.
"Additional permissions" are terms that supplement the terms of this
License by making exceptions from one or more of its conditions.
Additional permissions that are applicable to the entire Program shall
be treated as though they were included in this License, to the extent
that they are valid under applicable law. If additional permissions
apply only to part of the Program, that part may be used separately
under those permissions, but the entire Program remains governed by
this License without regard to the additional permissions.
When you convey a copy of a covered work, you may at your option
remove any additional permissions from that copy, or from any part of
it. (Additional permissions may be written to require their own
removal in certain cases when you modify the work.) You may place
additional permissions on material, added by you to a covered work,
for which you have or can give appropriate copyright permission.
Notwithstanding any other provision of this License, for material you
add to a covered work, you may (if authorized by the copyright holders of
that material) supplement the terms of this License with terms:
a) Disclaiming warranty or limiting liability differently from the
terms of sections 15 and 16 of this License; or
b) Requiring preservation of specified reasonable legal notices or
author attributions in that material or in the Appropriate Legal
Notices displayed by works containing it; or
c) Prohibiting misrepresentation of the origin of that material, or
requiring that modified versions of such material be marked in
reasonable ways as different from the original version; or
d) Limiting the use for publicity purposes of names of licensors or
authors of the material; or
e) Declining to grant rights under trademark law for use of some
trade names, trademarks, or service marks; or
f) Requiring indemnification of licensors and authors of that
material by anyone who conveys the material (or modified versions of
it) with contractual assumptions of liability to the recipient, for
any liability that these contractual assumptions directly impose on
those licensors and authors.
All other non-permissive additional terms are considered "further
restrictions" within the meaning of section 10. If the Program as you
received it, or any part of it, contains a notice stating that it is
governed by this License along with a term that is a further
restriction, you may remove that term. If a license document contains
a further restriction but permits relicensing or conveying under this
License, you may add to a covered work material governed by the terms
of that license document, provided that the further restriction does
not survive such relicensing or conveying.
If you add terms to a covered work in accord with this section, you
must place, in the relevant source files, a statement of the
additional terms that apply to those files, or a notice indicating
where to find the applicable terms.
Additional terms, permissive or non-permissive, may be stated in the
form of a separately written license, or stated as exceptions;
the above requirements apply either way.
8. Termination.
You may not propagate or modify a covered work except as expressly
provided under this License. Any attempt otherwise to propagate or
modify it is void, and will automatically terminate your rights under
this License (including any patent licenses granted under the third
paragraph of section 11).
However, if you cease all violation of this License, then your
license from a particular copyright holder is reinstated (a)
provisionally, unless and until the copyright holder explicitly and
finally terminates your license, and (b) permanently, if the copyright
holder fails to notify you of the violation by some reasonable means
prior to 60 days after the cessation.
Moreover, your license from a particular copyright holder is
reinstated permanently if the copyright holder notifies you of the
violation by some reasonable means, this is the first time you have
received notice of violation of this License (for any work) from that
copyright holder, and you cure the violation prior to 30 days after
your receipt of the notice.
Termination of your rights under this section does not terminate the
licenses of parties who have received copies or rights from you under
this License. If your rights have been terminated and not permanently
reinstated, you do not qualify to receive new licenses for the same
material under section 10.
9. Acceptance Not Required for Having Copies.
You are not required to accept this License in order to receive or
run a copy of the Program. Ancillary propagation of a covered work
occurring solely as a consequence of using peer-to-peer transmission
to receive a copy likewise does not require acceptance. However,
nothing other than this License grants you permission to propagate or
modify any covered work. These actions infringe copyright if you do
not accept this License. Therefore, by modifying or propagating a
covered work, you indicate your acceptance of this License to do so.
10. Automatic Licensing of Downstream Recipients.
Each time you convey a covered work, the recipient automatically
receives a license from the original licensors, to run, modify and
propagate that work, subject to this License. You are not responsible
for enforcing compliance by third parties with this License.
An "entity transaction" is a transaction transferring control of an
organization, or substantially all assets of one, or subdividing an
organization, or merging organizations. If propagation of a covered
work results from an entity transaction, each party to that
transaction who receives a copy of the work also receives whatever
licenses to the work the party's predecessor in interest had or could
give under the previous paragraph, plus a right to possession of the
Corresponding Source of the work from the predecessor in interest, if
the predecessor has it or can get it with reasonable efforts.
You may not impose any further restrictions on the exercise of the
rights granted or affirmed under this License. For example, you may
not impose a license fee, royalty, or other charge for exercise of
rights granted under this License, and you may not initiate litigation
(including a cross-claim or counterclaim in a lawsuit) alleging that
any patent claim is infringed by making, using, selling, offering for
sale, or importing the Program or any portion of it.
11. Patents.
A "contributor" is a copyright holder who authorizes use under this
License of the Program or a work on which the Program is based. The
work thus licensed is called the contributor's "contributor version".
A contributor's "essential patent claims" are all patent claims
owned or controlled by the contributor, whether already acquired or
hereafter acquired, that would be infringed by some manner, permitted
by this License, of making, using, or selling its contributor version,
but do not include claims that would be infringed only as a
consequence of further modification of the contributor version. For
purposes of this definition, "control" includes the right to grant
patent sublicenses in a manner consistent with the requirements of
this License.
Each contributor grants you a non-exclusive, worldwide, royalty-free
patent license under the contributor's essential patent claims, to
make, use, sell, offer for sale, import and otherwise run, modify and
propagate the contents of its contributor version.
In the following three paragraphs, a "patent license" is any express
agreement or commitment, however denominated, not to enforce a patent
(such as an express permission to practice a patent or covenant not to
sue for patent infringement). To "grant" such a patent license to a
party means to make such an agreement or commitment not to enforce a
patent against the party.
If you convey a covered work, knowingly relying on a patent license,
and the Corresponding Source of the work is not available for anyone
to copy, free of charge and under the terms of this License, through a
publicly available network server or other readily accessible means,
then you must either (1) cause the Corresponding Source to be so
available, or (2) arrange to deprive yourself of the benefit of the
patent license for this particular work, or (3) arrange, in a manner
consistent with the requirements of this License, to extend the patent
license to downstream recipients. "Knowingly relying" means you have
actual knowledge that, but for the patent license, your conveying the
covered work in a country, or your recipient's use of the covered work
in a country, would infringe one or more identifiable patents in that
country that you have reason to believe are valid.
If, pursuant to or in connection with a single transaction or
arrangement, you convey, or propagate by procuring conveyance of, a
covered work, and grant a patent license to some of the parties
receiving the covered work authorizing them to use, propagate, modify
or convey a specific copy of the covered work, then the patent license
you grant is automatically extended to all recipients of the covered
work and works based on it.
A patent license is "discriminatory" if it does not include within
the scope of its coverage, prohibits the exercise of, or is
conditioned on the non-exercise of one or more of the rights that are
specifically granted under this License. You may not convey a covered
work if you are a party to an arrangement with a third party that is
in the business of distributing software, under which you make payment
to the third party based on the extent of your activity of conveying
the work, and under which the third party grants, to any of the
parties who would receive the covered work from you, a discriminatory
patent license (a) in connection with copies of the covered work
conveyed by you (or copies made from those copies), or (b) primarily
for and in connection with specific products or compilations that
contain the covered work, unless you entered into that arrangement,
or that patent license was granted, prior to 28 March 2007.
Nothing in this License shall be construed as excluding or limiting
any implied license or other defenses to infringement that may
otherwise be available to you under applicable patent law.
12. No Surrender of Others' Freedom.
If conditions are imposed on you (whether by court order, agreement or
otherwise) that contradict the conditions of this License, they do not
excuse you from the conditions of this License. If you cannot convey a
covered work so as to satisfy simultaneously your obligations under this
License and any other pertinent obligations, then as a consequence you may
not convey it at all. For example, if you agree to terms that obligate you
to collect a royalty for further conveying from those to whom you convey
the Program, the only way you could satisfy both those terms and this
License would be to refrain entirely from conveying the Program.
13. Use with the GNU Affero General Public License.
Notwithstanding any other provision of this License, you have
permission to link or combine any covered work with a work licensed
under version 3 of the GNU Affero General Public License into a single
combined work, and to convey the resulting work. The terms of this
License will continue to apply to the part which is the covered work,
but the special requirements of the GNU Affero General Public License,
section 13, concerning interaction through a network will apply to the
combination as such.
14. Revised Versions of this License.
The Free Software Foundation may publish revised and/or new versions of
the GNU General Public License from time to time. Such new versions will
be similar in spirit to the present version, but may differ in detail to
address new problems or concerns.
Each version is given a distinguishing version number. If the
Program specifies that a certain numbered version of the GNU General
Public License "or any later version" applies to it, you have the
option of following the terms and conditions either of that numbered
version or of any later version published by the Free Software
Foundation. If the Program does not specify a version number of the
GNU General Public License, you may choose any version ever published
by the Free Software Foundation.
If the Program specifies that a proxy can decide which future
versions of the GNU General Public License can be used, that proxy's
public statement of acceptance of a version permanently authorizes you
to choose that version for the Program.
Later license versions may give you additional or different
permissions. However, no additional obligations are imposed on any
author or copyright holder as a result of your choosing to follow a
later version.
15. Disclaimer of Warranty.
THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
16. Limitation of Liability.
IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
SUCH DAMAGES.
17. Interpretation of Sections 15 and 16.
If the disclaimer of warranty and limitation of liability provided
above cannot be given local legal effect according to their terms,
reviewing courts shall apply local law that most closely approximates
an absolute waiver of all civil liability in connection with the
Program, unless a warranty or assumption of liability accompanies a
copy of the Program in return for a fee.
END OF TERMS AND CONDITIONS
How to Apply These Terms to Your New Programs
If you develop a new program, and you want it to be of the greatest
possible use to the public, the best way to achieve this is to make it
free software which everyone can redistribute and change under these terms.
To do so, attach the following notices to the program. It is safest
to attach them to the start of each source file to most effectively
state the exclusion of warranty; and each file should have at least
the "copyright" line and a pointer to where the full notice is found.
<one line to give the program's name and a brief idea of what it does.>
Copyright (C) <year> <name of author>
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
Also add information on how to contact you by electronic and paper mail.
If the program does terminal interaction, make it output a short
notice like this when it starts in an interactive mode:
<program> Copyright (C) <year> <name of author>
This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
This is free software, and you are welcome to redistribute it
under certain conditions; type `show c' for details.
The hypothetical commands `show w' and `show c' should show the appropriate
parts of the General Public License. Of course, your program's commands
might be different; for a GUI interface, you would use an "about box".
You should also get your employer (if you work as a programmer) or school,
if any, to sign a "copyright disclaimer" for the program, if necessary.
For more information on this, and how to apply and follow the GNU GPL, see
<http://www.gnu.org/licenses/>.
The GNU General Public License does not permit incorporating your program
into proprietary programs. If your program is a subroutine library, you
may consider it more useful to permit linking proprietary applications with
the library. If this is what you want to do, use the GNU Lesser General
Public License instead of this License. But first, please read
<http://www.gnu.org/philosophy/why-not-lgpl.html>.

@ -1,25 +0,0 @@
from PyQt5.QtWidgets import QLabel
from PyQt5.QtCore import pyqtSignal
class LabelMouse(QLabel):
double_clicked = pyqtSignal()
# 鼠标双击事件
def mouseDoubleClickEvent(self, event):
self.double_clicked.emit()
def mouseMoveEvent(self):
"""
当鼠标划过标签label2时触发事件
:return:
"""
print('当鼠标划过标签label2时触发事件')
class Label_click_Mouse(QLabel):
clicked = pyqtSignal()
# 鼠标点击事件
def mousePressEvent(self, event):
self.clicked.emit()

@ -1,31 +0,0 @@
<RCC>
<qresource prefix="img">
<file>icon/button-off.png</file>
<file>icon/button-on.png</file>
<file>icon/暂停.png</file>
<file>icon/笑脸.png</file>
<file>icon/终止.png</file>
<file>icon/下拉_白色.png</file>
<file>icon/正方形.png</file>
<file>icon/实时视频流解析.png</file>
<file>icon/运行.png</file>
<file>icon/conan.png</file>
<file>icon/还原.png</file>
<file>icon/doctor.png</file>
<file>icon/圆.png</file>
<file>icon/evil.png</file>
<file>icon/关闭.png</file>
<file>icon/箭头_列表收起.png</file>
<file>icon/箭头_列表展开.png</file>
<file>icon/最小化.png</file>
<file>icon/background.jpg</file>
<file>icon/背景.png</file>
<file>icon/打开.png</file>
<file>icon/摄像头关.png</file>
<file>icon/摄像头开.png</file>
<file>icon/数据探索.png</file>
<file>icon/停止.png</file>
<file>icon/图片1.png</file>
<file>icon/赞停.png</file>
</qresource>
</RCC>

@ -1,3 +0,0 @@
{
"open_fold": "E:/Program Files/JiJiDown/Download"
}

@ -1,8 +0,0 @@
{
<<<<<<< HEAD
"ip": "rtsp://admin:admin888@192.168.1.67:555"
}
=======
"ip": "udp://@192.168.39.58:11111"
}
>>>>>>> develop

@ -1,12 +0,0 @@
{
<<<<<<< HEAD
"iou": 0.42,
"conf": 0.43,
=======
"iou": 0.3,
"conf": 0.45,
>>>>>>> develop
"rate": 20,
"check": 0,
"savecheck": 0
}

@ -1,67 +0,0 @@
# YOLOv5 🚀 by Ultralytics, GPL-3.0 license
# Argoverse-HD dataset (ring-front-center camera) http://www.cs.cmu.edu/~mengtial/proj/streaming/ by Argo AI
# Example usage: python train.py --data Argoverse.yaml
# parent
# ├── yolov5
# └── datasets
# └── Argoverse ← downloads here
# Train/val/test sets as 1) dir: path/to/imgs, 2) file: path/to/imgs.txt, or 3) list: [path/to/imgs1, path/to/imgs2, ..]
path: ../datasets/Argoverse # dataset root dir
train: Argoverse-1.1/images/train/ # train images (relative to 'path') 39384 images
val: Argoverse-1.1/images/val/ # val images (relative to 'path') 15062 images
test: Argoverse-1.1/images/test/ # test images (optional) https://eval.ai/web/challenges/challenge-page/800/overview
# Classes
nc: 8 # number of classes
names: ['person', 'bicycle', 'car', 'motorcycle', 'bus', 'truck', 'traffic_light', 'stop_sign'] # class names
# Download script/URL (optional) ---------------------------------------------------------------------------------------
download: |
import json
from tqdm import tqdm
from utils.general import download, Path
def argoverse2yolo(set):
labels = {}
a = json.load(open(set, "rb"))
for annot in tqdm(a['annotations'], desc=f"Converting {set} to YOLOv5 format..."):
img_id = annot['image_id']
img_name = a['images'][img_id]['name']
img_label_name = img_name[:-3] + "txt"
cls = annot['category_id'] # instance class id
x_center, y_center, width, height = annot['bbox']
x_center = (x_center + width / 2) / 1920.0 # offset and scale
y_center = (y_center + height / 2) / 1200.0 # offset and scale
width /= 1920.0 # scale
height /= 1200.0 # scale
img_dir = set.parents[2] / 'Argoverse-1.1' / 'labels' / a['seq_dirs'][a['images'][annot['image_id']]['sid']]
if not img_dir.exists():
img_dir.mkdir(parents=True, exist_ok=True)
k = str(img_dir / img_label_name)
if k not in labels:
labels[k] = []
labels[k].append(f"{cls} {x_center} {y_center} {width} {height}\n")
for k in labels:
with open(k, "w") as f:
f.writelines(labels[k])
# Download
dir = Path('../datasets/Argoverse') # dataset root dir
urls = ['https://argoverse-hd.s3.us-east-2.amazonaws.com/Argoverse-HD-Full.zip']
download(urls, dir=dir, delete=False)
# Convert
annotations_dir = 'Argoverse-HD/annotations/'
(dir / 'Argoverse-1.1' / 'tracking').rename(dir / 'Argoverse-1.1' / 'images') # rename 'tracking' to 'images'
for d in "train.json", "val.json":
argoverse2yolo(dir / annotations_dir / d) # convert VisDrone annotations to YOLO labels

@ -1,66 +0,0 @@
# Argoverse-HD dataset (ring-front-center camera) http://www.cs.cmu.edu/~mengtial/proj/streaming/
# Train command: python train.py --data Argoverse_HD.yaml
# Default dataset location is next to YOLOv5:
# /parent
# /datasets/Argoverse
# /yolov5
# Train/val/test sets as 1) dir: path/to/imgs, 2) file: path/to/imgs.txt, or 3) list: [path/to/imgs1, path/to/imgs2, ..]
path: ../datasets/Argoverse # dataset root dir
train: Argoverse-1.1/images/train/ # train images (relative to 'path') 39384 images
val: Argoverse-1.1/images/val/ # val images (relative to 'path') 15062 images
test: Argoverse-1.1/images/test/ # test images (optional) https://eval.ai/web/challenges/challenge-page/800/overview
# Classes
nc: 8 # number of classes
names: [ 'person', 'bicycle', 'car', 'motorcycle', 'bus', 'truck', 'traffic_light', 'stop_sign' ] # class names
# Download script/URL (optional) ---------------------------------------------------------------------------------------
download: |
import json
from tqdm import tqdm
from utils.general import download, Path
def argoverse2yolo(set):
labels = {}
a = json.load(open(set, "rb"))
for annot in tqdm(a['annotations'], desc=f"Converting {set} to YOLOv5 format..."):
img_id = annot['image_id']
img_name = a['images'][img_id]['name']
img_label_name = img_name[:-3] + "txt"
cls = annot['category_id'] # instance class id
x_center, y_center, width, height = annot['bbox']
x_center = (x_center + width / 2) / 1920.0 # offset and scale
y_center = (y_center + height / 2) / 1200.0 # offset and scale
width /= 1920.0 # scale
height /= 1200.0 # scale
img_dir = set.parents[2] / 'Argoverse-1.1' / 'labels' / a['seq_dirs'][a['images'][annot['image_id']]['sid']]
if not img_dir.exists():
img_dir.mkdir(parents=True, exist_ok=True)
k = str(img_dir / img_label_name)
if k not in labels:
labels[k] = []
labels[k].append(f"{cls} {x_center} {y_center} {width} {height}\n")
for k in labels:
with open(k, "w") as f:
f.writelines(labels[k])
# Download
dir = Path('../datasets/Argoverse') # dataset root dir
urls = ['https://argoverse-hd.s3.us-east-2.amazonaws.com/Argoverse-HD-Full.zip']
download(urls, dir=dir, delete=False)
# Convert
annotations_dir = 'Argoverse-HD/annotations/'
(dir / 'Argoverse-1.1' / 'tracking').rename(dir / 'Argoverse-1.1' / 'images') # rename 'tracking' to 'images'
for d in "train.json", "val.json":
argoverse2yolo(dir / annotations_dir / d) # convert VisDrone annotations to YOLO labels

@ -1,53 +0,0 @@
# YOLOv5 🚀 by Ultralytics, GPL-3.0 license
# Global Wheat 2020 dataset http://www.global-wheat.com/ by University of Saskatchewan
# Example usage: python train.py --data GlobalWheat2020.yaml
# parent
# ├── yolov5
# └── datasets
# └── GlobalWheat2020 ← downloads here
# Train/val/test sets as 1) dir: path/to/imgs, 2) file: path/to/imgs.txt, or 3) list: [path/to/imgs1, path/to/imgs2, ..]
path: ../datasets/GlobalWheat2020 # dataset root dir
train: # train images (relative to 'path') 3422 images
- images/arvalis_1
- images/arvalis_2
- images/arvalis_3
- images/ethz_1
- images/rres_1
- images/inrae_1
- images/usask_1
val: # val images (relative to 'path') 748 images (WARNING: train set contains ethz_1)
- images/ethz_1
test: # test images (optional) 1276 images
- images/utokyo_1
- images/utokyo_2
- images/nau_1
- images/uq_1
# Classes
nc: 1 # number of classes
names: ['wheat_head'] # class names
# Download script/URL (optional) ---------------------------------------------------------------------------------------
download: |
from utils.general import download, Path
# Download
dir = Path(yaml['path']) # dataset root dir
urls = ['https://zenodo.org/record/4298502/files/global-wheat-codalab-official.zip',
'https://github.com/ultralytics/yolov5/releases/download/v1.0/GlobalWheat2020_labels.zip']
download(urls, dir=dir)
# Make Directories
for p in 'annotations', 'images', 'labels':
(dir / p).mkdir(parents=True, exist_ok=True)
# Move
for p in 'arvalis_1', 'arvalis_2', 'arvalis_3', 'ethz_1', 'rres_1', 'inrae_1', 'usask_1', \
'utokyo_1', 'utokyo_2', 'nau_1', 'uq_1':
(dir / p).rename(dir / 'images' / p) # move to /images
f = (dir / p).with_suffix('.json') # json file
if f.exists():
f.rename((dir / 'annotations' / p).with_suffix('.json')) # move to /annotations

@ -1,112 +0,0 @@
# YOLOv5 🚀 by Ultralytics, GPL-3.0 license
# Objects365 dataset https://www.objects365.org/ by Megvii
# Example usage: python train.py --data Objects365.yaml
# parent
# ├── yolov5
# └── datasets
# └── Objects365 ← downloads here
# Train/val/test sets as 1) dir: path/to/imgs, 2) file: path/to/imgs.txt, or 3) list: [path/to/imgs1, path/to/imgs2, ..]
path: ../datasets/Objects365 # dataset root dir
train: images/train # train images (relative to 'path') 1742289 images
val: images/val # val images (relative to 'path') 80000 images
test: # test images (optional)
# Classes
nc: 365 # number of classes
names: ['Person', 'Sneakers', 'Chair', 'Other Shoes', 'Hat', 'Car', 'Lamp', 'Glasses', 'Bottle', 'Desk', 'Cup',
'Street Lights', 'Cabinet/shelf', 'Handbag/Satchel', 'Bracelet', 'Plate', 'Picture/Frame', 'Helmet', 'Book',
'Gloves', 'Storage box', 'Boat', 'Leather Shoes', 'Flower', 'Bench', 'Potted Plant', 'Bowl/Basin', 'Flag',
'Pillow', 'Boots', 'Vase', 'Microphone', 'Necklace', 'Ring', 'SUV', 'Wine Glass', 'Belt', 'Monitor/TV',
'Backpack', 'Umbrella', 'Traffic Light', 'Speaker', 'Watch', 'Tie', 'Trash bin Can', 'Slippers', 'Bicycle',
'Stool', 'Barrel/bucket', 'Van', 'Couch', 'Sandals', 'Basket', 'Drum', 'Pen/Pencil', 'Bus', 'Wild Bird',
'High Heels', 'Motorcycle', 'Guitar', 'Carpet', 'Cell Phone', 'Bread', 'Camera', 'Canned', 'Truck',
'Traffic cone', 'Cymbal', 'Lifesaver', 'Towel', 'Stuffed Toy', 'Candle', 'Sailboat', 'Laptop', 'Awning',
'Bed', 'Faucet', 'Tent', 'Horse', 'Mirror', 'Power outlet', 'Sink', 'Apple', 'Air Conditioner', 'Knife',
'Hockey Stick', 'Paddle', 'Pickup Truck', 'Fork', 'Traffic Sign', 'Balloon', 'Tripod', 'Dog', 'Spoon', 'Clock',
'Pot', 'Cow', 'Cake', 'Dinning Table', 'Sheep', 'Hanger', 'Blackboard/Whiteboard', 'Napkin', 'Other Fish',
'Orange/Tangerine', 'Toiletry', 'Keyboard', 'Tomato', 'Lantern', 'Machinery Vehicle', 'Fan',
'Green Vegetables', 'Banana', 'Baseball Glove', 'Airplane', 'Mouse', 'Train', 'Pumpkin', 'Soccer', 'Skiboard',
'Luggage', 'Nightstand', 'Tea pot', 'Telephone', 'Trolley', 'Head Phone', 'Sports Car', 'Stop Sign',
'Dessert', 'Scooter', 'Stroller', 'Crane', 'Remote', 'Refrigerator', 'Oven', 'Lemon', 'Duck', 'Baseball Bat',
'Surveillance Camera', 'Cat', 'Jug', 'Broccoli', 'Piano', 'Pizza', 'Elephant', 'Skateboard', 'Surfboard',
'Gun', 'Skating and Skiing shoes', 'Gas stove', 'Donut', 'Bow Tie', 'Carrot', 'Toilet', 'Kite', 'Strawberry',
'Other Balls', 'Shovel', 'Pepper', 'Computer Box', 'Toilet Paper', 'Cleaning Products', 'Chopsticks',
'Microwave', 'Pigeon', 'Baseball', 'Cutting/chopping Board', 'Coffee Table', 'Side Table', 'Scissors',
'Marker', 'Pie', 'Ladder', 'Snowboard', 'Cookies', 'Radiator', 'Fire Hydrant', 'Basketball', 'Zebra', 'Grape',
'Giraffe', 'Potato', 'Sausage', 'Tricycle', 'Violin', 'Egg', 'Fire Extinguisher', 'Candy', 'Fire Truck',
'Billiards', 'Converter', 'Bathtub', 'Wheelchair', 'Golf Club', 'Briefcase', 'Cucumber', 'Cigar/Cigarette',
'Paint Brush', 'Pear', 'Heavy Truck', 'Hamburger', 'Extractor', 'Extension Cord', 'Tong', 'Tennis Racket',
'Folder', 'American Football', 'earphone', 'Mask', 'Kettle', 'Tennis', 'Ship', 'Swing', 'Coffee Machine',
'Slide', 'Carriage', 'Onion', 'Green beans', 'Projector', 'Frisbee', 'Washing Machine/Drying Machine',
'Chicken', 'Printer', 'Watermelon', 'Saxophone', 'Tissue', 'Toothbrush', 'Ice cream', 'Hot-air balloon',
'Cello', 'French Fries', 'Scale', 'Trophy', 'Cabbage', 'Hot dog', 'Blender', 'Peach', 'Rice', 'Wallet/Purse',
'Volleyball', 'Deer', 'Goose', 'Tape', 'Tablet', 'Cosmetics', 'Trumpet', 'Pineapple', 'Golf Ball',
'Ambulance', 'Parking meter', 'Mango', 'Key', 'Hurdle', 'Fishing Rod', 'Medal', 'Flute', 'Brush', 'Penguin',
'Megaphone', 'Corn', 'Lettuce', 'Garlic', 'Swan', 'Helicopter', 'Green Onion', 'Sandwich', 'Nuts',
'Speed Limit Sign', 'Induction Cooker', 'Broom', 'Trombone', 'Plum', 'Rickshaw', 'Goldfish', 'Kiwi fruit',
'Router/modem', 'Poker Card', 'Toaster', 'Shrimp', 'Sushi', 'Cheese', 'Notepaper', 'Cherry', 'Pliers', 'CD',
'Pasta', 'Hammer', 'Cue', 'Avocado', 'Hamimelon', 'Flask', 'Mushroom', 'Screwdriver', 'Soap', 'Recorder',
'Bear', 'Eggplant', 'Board Eraser', 'Coconut', 'Tape Measure/Ruler', 'Pig', 'Showerhead', 'Globe', 'Chips',
'Steak', 'Crosswalk Sign', 'Stapler', 'Camel', 'Formula 1', 'Pomegranate', 'Dishwasher', 'Crab',
'Hoverboard', 'Meat ball', 'Rice Cooker', 'Tuba', 'Calculator', 'Papaya', 'Antelope', 'Parrot', 'Seal',
'Butterfly', 'Dumbbell', 'Donkey', 'Lion', 'Urinal', 'Dolphin', 'Electric Drill', 'Hair Dryer', 'Egg tart',
'Jellyfish', 'Treadmill', 'Lighter', 'Grapefruit', 'Game board', 'Mop', 'Radish', 'Baozi', 'Target', 'French',
'Spring Rolls', 'Monkey', 'Rabbit', 'Pencil Case', 'Yak', 'Red Cabbage', 'Binoculars', 'Asparagus', 'Barbell',
'Scallop', 'Noddles', 'Comb', 'Dumpling', 'Oyster', 'Table Tennis paddle', 'Cosmetics Brush/Eyeliner Pencil',
'Chainsaw', 'Eraser', 'Lobster', 'Durian', 'Okra', 'Lipstick', 'Cosmetics Mirror', 'Curling', 'Table Tennis']
# Download script/URL (optional) ---------------------------------------------------------------------------------------
download: |
from pycocotools.coco import COCO
from tqdm import tqdm
from utils.general import Path, download, np, xyxy2xywhn
# Make Directories
dir = Path(yaml['path']) # dataset root dir
for p in 'images', 'labels':
(dir / p).mkdir(parents=True, exist_ok=True)
for q in 'train', 'val':
(dir / p / q).mkdir(parents=True, exist_ok=True)
# Train, Val Splits
for split, patches in [('train', 50 + 1), ('val', 43 + 1)]:
print(f"Processing {split} in {patches} patches ...")
images, labels = dir / 'images' / split, dir / 'labels' / split
# Download
url = f"https://dorc.ks3-cn-beijing.ksyun.com/data-set/2020Objects365%E6%95%B0%E6%8D%AE%E9%9B%86/{split}/"
if split == 'train':
download([f'{url}zhiyuan_objv2_{split}.tar.gz'], dir=dir, delete=False) # annotations json
download([f'{url}patch{i}.tar.gz' for i in range(patches)], dir=images, curl=True, delete=False, threads=8)
elif split == 'val':
download([f'{url}zhiyuan_objv2_{split}.json'], dir=dir, delete=False) # annotations json
download([f'{url}images/v1/patch{i}.tar.gz' for i in range(15 + 1)], dir=images, curl=True, delete=False, threads=8)
download([f'{url}images/v2/patch{i}.tar.gz' for i in range(16, patches)], dir=images, curl=True, delete=False, threads=8)
# Move
for f in tqdm(images.rglob('*.jpg'), desc=f'Moving {split} images'):
f.rename(images / f.name) # move to /images/{split}
# Labels
coco = COCO(dir / f'zhiyuan_objv2_{split}.json')
names = [x["name"] for x in coco.loadCats(coco.getCatIds())]
for cid, cat in enumerate(names):
catIds = coco.getCatIds(catNms=[cat])
imgIds = coco.getImgIds(catIds=catIds)
for im in tqdm(coco.loadImgs(imgIds), desc=f'Class {cid + 1}/{len(names)} {cat}'):
width, height = im["width"], im["height"]
path = Path(im["file_name"]) # image filename
try:
with open(labels / path.with_suffix('.txt').name, 'a') as file:
annIds = coco.getAnnIds(imgIds=im["id"], catIds=catIds, iscrowd=None)
for a in coco.loadAnns(annIds):
x, y, w, h = a['bbox'] # bounding box in xywh (xy top-left corner)
xyxy = np.array([x, y, x + w, y + h])[None] # pixels(1,4)
x, y, w, h = xyxy2xywhn(xyxy, w=width, h=height, clip=True)[0] # normalized and clipped
file.write(f"{cid} {x:.5f} {y:.5f} {w:.5f} {h:.5f}\n")
except Exception as e:
print(e)

@ -1,52 +0,0 @@
# YOLOv5 🚀 by Ultralytics, GPL-3.0 license
# SKU-110K retail items dataset https://github.com/eg4000/SKU110K_CVPR19 by Trax Retail
# Example usage: python train.py --data SKU-110K.yaml
# parent
# ├── yolov5
# └── datasets
# └── SKU-110K ← downloads here
# Train/val/test sets as 1) dir: path/to/imgs, 2) file: path/to/imgs.txt, or 3) list: [path/to/imgs1, path/to/imgs2, ..]
path: ../datasets/SKU-110K # dataset root dir
train: train.txt # train images (relative to 'path') 8219 images
val: val.txt # val images (relative to 'path') 588 images
test: test.txt # test images (optional) 2936 images
# Classes
nc: 1 # number of classes
names: ['object'] # class names
# Download script/URL (optional) ---------------------------------------------------------------------------------------
download: |
import shutil
from tqdm import tqdm
from utils.general import np, pd, Path, download, xyxy2xywh
# Download
dir = Path(yaml['path']) # dataset root dir
parent = Path(dir.parent) # download dir
urls = ['http://trax-geometry.s3.amazonaws.com/cvpr_challenge/SKU110K_fixed.tar.gz']
download(urls, dir=parent, delete=False)
# Rename directories
if dir.exists():
shutil.rmtree(dir)
(parent / 'SKU110K_fixed').rename(dir) # rename dir
(dir / 'labels').mkdir(parents=True, exist_ok=True) # create labels dir
# Convert labels
names = 'image', 'x1', 'y1', 'x2', 'y2', 'class', 'image_width', 'image_height' # column names
for d in 'annotations_train.csv', 'annotations_val.csv', 'annotations_test.csv':
x = pd.read_csv(dir / 'annotations' / d, names=names).values # annotations
images, unique_images = x[:, 0], np.unique(x[:, 0])
with open((dir / d).with_suffix('.txt').__str__().replace('annotations_', ''), 'w') as f:
f.writelines(f'./images/{s}\n' for s in unique_images)
for im in tqdm(unique_images, desc=f'Converting {dir / d}'):
cls = 0 # single-class dataset
with open((dir / 'labels' / im).with_suffix('.txt'), 'a') as f:
for r in x[images == im]:
w, h = r[6], r[7] # image width, height
xywh = xyxy2xywh(np.array([[r[1] / w, r[2] / h, r[3] / w, r[4] / h]]))[0] # instance
f.write(f"{cls} {xywh[0]:.5f} {xywh[1]:.5f} {xywh[2]:.5f} {xywh[3]:.5f}\n") # write label

@ -1,80 +0,0 @@
# YOLOv5 🚀 by Ultralytics, GPL-3.0 license
# PASCAL VOC dataset http://host.robots.ox.ac.uk/pascal/VOC by University of Oxford
# Example usage: python train.py --data VOC.yaml
# parent
# ├── yolov5
# └── datasets
# └── VOC ← downloads here
# Train/val/test sets as 1) dir: path/to/imgs, 2) file: path/to/imgs.txt, or 3) list: [path/to/imgs1, path/to/imgs2, ..]
path: ../datasets/VOC
train: # train images (relative to 'path') 16551 images
- images/train2012
- images/train2007
- images/val2012
- images/val2007
val: # val images (relative to 'path') 4952 images
- images/test2007
test: # test images (optional)
- images/test2007
# Classes
nc: 20 # number of classes
names: ['aeroplane', 'bicycle', 'bird', 'boat', 'bottle', 'bus', 'car', 'cat', 'chair', 'cow', 'diningtable', 'dog',
'horse', 'motorbike', 'person', 'pottedplant', 'sheep', 'sofa', 'train', 'tvmonitor'] # class names
# Download script/URL (optional) ---------------------------------------------------------------------------------------
download: |
import xml.etree.ElementTree as ET
from tqdm import tqdm
from utils.general import download, Path
def convert_label(path, lb_path, year, image_id):
def convert_box(size, box):
dw, dh = 1. / size[0], 1. / size[1]
x, y, w, h = (box[0] + box[1]) / 2.0 - 1, (box[2] + box[3]) / 2.0 - 1, box[1] - box[0], box[3] - box[2]
return x * dw, y * dh, w * dw, h * dh
in_file = open(path / f'VOC{year}/Annotations/{image_id}.xml')
out_file = open(lb_path, 'w')
tree = ET.parse(in_file)
root = tree.getroot()
size = root.find('size')
w = int(size.find('width').text)
h = int(size.find('height').text)
for obj in root.iter('object'):
cls = obj.find('name').text
if cls in yaml['names'] and not int(obj.find('difficult').text) == 1:
xmlbox = obj.find('bndbox')
bb = convert_box((w, h), [float(xmlbox.find(x).text) for x in ('xmin', 'xmax', 'ymin', 'ymax')])
cls_id = yaml['names'].index(cls) # class id
out_file.write(" ".join([str(a) for a in (cls_id, *bb)]) + '\n')
# Download
dir = Path(yaml['path']) # dataset root dir
url = 'https://github.com/ultralytics/yolov5/releases/download/v1.0/'
urls = [url + 'VOCtrainval_06-Nov-2007.zip', # 446MB, 5012 images
url + 'VOCtest_06-Nov-2007.zip', # 438MB, 4953 images
url + 'VOCtrainval_11-May-2012.zip'] # 1.95GB, 17126 images
download(urls, dir=dir / 'images', delete=False)
# Convert
path = dir / f'images/VOCdevkit'
for year, image_set in ('2012', 'train'), ('2012', 'val'), ('2007', 'train'), ('2007', 'val'), ('2007', 'test'):
imgs_path = dir / 'images' / f'{image_set}{year}'
lbs_path = dir / 'labels' / f'{image_set}{year}'
imgs_path.mkdir(exist_ok=True, parents=True)
lbs_path.mkdir(exist_ok=True, parents=True)
image_ids = open(path / f'VOC{year}/ImageSets/Main/{image_set}.txt').read().strip().split()
for id in tqdm(image_ids, desc=f'{image_set}{year}'):
f = path / f'VOC{year}/JPEGImages/{id}.jpg' # old img path
lb_path = (lbs_path / f.name).with_suffix('.txt') # new label path
f.rename(imgs_path / f.name) # move image
convert_label(path, lb_path, year, id) # convert labels to YOLO format

@ -1,61 +0,0 @@
# YOLOv5 🚀 by Ultralytics, GPL-3.0 license
# VisDrone2019-DET dataset https://github.com/VisDrone/VisDrone-Dataset by Tianjin University
# Example usage: python train.py --data VisDrone.yaml
# parent
# ├── yolov5
# └── datasets
# └── VisDrone ← downloads here
# Train/val/test sets as 1) dir: path/to/imgs, 2) file: path/to/imgs.txt, or 3) list: [path/to/imgs1, path/to/imgs2, ..]
path: ../datasets/VisDrone # dataset root dir
train: VisDrone2019-DET-train/images # train images (relative to 'path') 6471 images
val: VisDrone2019-DET-val/images # val images (relative to 'path') 548 images
test: VisDrone2019-DET-test-dev/images # test images (optional) 1610 images
# Classes
nc: 10 # number of classes
names: ['pedestrian', 'people', 'bicycle', 'car', 'van', 'truck', 'tricycle', 'awning-tricycle', 'bus', 'motor']
# Download script/URL (optional) ---------------------------------------------------------------------------------------
download: |
from utils.general import download, os, Path
def visdrone2yolo(dir):
from PIL import Image
from tqdm import tqdm
def convert_box(size, box):
# Convert VisDrone box to YOLO xywh box
dw = 1. / size[0]
dh = 1. / size[1]
return (box[0] + box[2] / 2) * dw, (box[1] + box[3] / 2) * dh, box[2] * dw, box[3] * dh
(dir / 'labels').mkdir(parents=True, exist_ok=True) # make labels directory
pbar = tqdm((dir / 'annotations').glob('*.txt'), desc=f'Converting {dir}')
for f in pbar:
img_size = Image.open((dir / 'images' / f.name).with_suffix('.jpg')).size
lines = []
with open(f, 'r') as file: # read annotation.txt
for row in [x.split(',') for x in file.read().strip().splitlines()]:
if row[4] == '0': # VisDrone 'ignored regions' class 0
continue
cls = int(row[5]) - 1
box = convert_box(img_size, tuple(map(int, row[:4])))
lines.append(f"{cls} {' '.join(f'{x:.6f}' for x in box)}\n")
with open(str(f).replace(os.sep + 'annotations' + os.sep, os.sep + 'labels' + os.sep), 'w') as fl:
fl.writelines(lines) # write label.txt
# Download
dir = Path(yaml['path']) # dataset root dir
urls = ['https://github.com/ultralytics/yolov5/releases/download/v1.0/VisDrone2019-DET-train.zip',
'https://github.com/ultralytics/yolov5/releases/download/v1.0/VisDrone2019-DET-val.zip',
'https://github.com/ultralytics/yolov5/releases/download/v1.0/VisDrone2019-DET-test-dev.zip',
'https://github.com/ultralytics/yolov5/releases/download/v1.0/VisDrone2019-DET-test-challenge.zip']
download(urls, dir=dir)
# Convert
for d in 'VisDrone2019-DET-train', 'VisDrone2019-DET-val', 'VisDrone2019-DET-test-dev':
visdrone2yolo(dir / d) # convert VisDrone annotations to YOLO labels

@ -1,44 +0,0 @@
# YOLOv5 🚀 by Ultralytics, GPL-3.0 license
# COCO 2017 dataset http://cocodataset.org by Microsoft
# Example usage: python train.py --data coco.yaml
# parent
# ├── yolov5
# └── datasets
# └── coco ← downloads here
# Train/val/test sets as 1) dir: path/to/imgs, 2) file: path/to/imgs.txt, or 3) list: [path/to/imgs1, path/to/imgs2, ..]
path: ../datasets/coco # dataset root dir
train: train2017.txt # train images (relative to 'path') 118287 images
val: val2017.txt # val images (relative to 'path') 5000 images
test: test-dev2017.txt # 20288 of 40670 images, submit to https://competitions.codalab.org/competitions/20794
# Classes
nc: 80 # number of classes
names: ['person', 'bicycle', 'car', 'motorcycle', 'airplane', 'bus', 'train', 'truck', 'boat', 'traffic light',
'fire hydrant', 'stop sign', 'parking meter', 'bench', 'bird', 'cat', 'dog', 'horse', 'sheep', 'cow',
'elephant', 'bear', 'zebra', 'giraffe', 'backpack', 'umbrella', 'handbag', 'tie', 'suitcase', 'frisbee',
'skis', 'snowboard', 'sports ball', 'kite', 'baseball bat', 'baseball glove', 'skateboard', 'surfboard',
'tennis racket', 'bottle', 'wine glass', 'cup', 'fork', 'knife', 'spoon', 'bowl', 'banana', 'apple',
'sandwich', 'orange', 'broccoli', 'carrot', 'hot dog', 'pizza', 'donut', 'cake', 'chair', 'couch',
'potted plant', 'bed', 'dining table', 'toilet', 'tv', 'laptop', 'mouse', 'remote', 'keyboard', 'cell phone',
'microwave', 'oven', 'toaster', 'sink', 'refrigerator', 'book', 'clock', 'vase', 'scissors', 'teddy bear',
'hair drier', 'toothbrush'] # class names
# Download script/URL (optional)
download: |
from utils.general import download, Path
# Download labels
segments = False # segment or box labels
dir = Path(yaml['path']) # dataset root dir
url = 'https://github.com/ultralytics/yolov5/releases/download/v1.0/'
urls = [url + ('coco2017labels-segments.zip' if segments else 'coco2017labels.zip')] # labels
download(urls, dir=dir.parent)
# Download data
urls = ['http://images.cocodataset.org/zips/train2017.zip', # 19G, 118k images
'http://images.cocodataset.org/zips/val2017.zip', # 1G, 5k images
'http://images.cocodataset.org/zips/test2017.zip'] # 7G, 41k images (optional)
download(urls, dir=dir / 'images', threads=3)

@ -1,30 +0,0 @@
# YOLOv5 🚀 by Ultralytics, GPL-3.0 license
# COCO128 dataset https://www.kaggle.com/ultralytics/coco128 (first 128 images from COCO train2017) by Ultralytics
# Example usage: python train.py --data coco128.yaml
# parent
# ├── yolov5
# └── datasets
# └── coco128 ← downloads here
# Train/val/test sets as 1) dir: path/to/imgs, 2) file: path/to/imgs.txt, or 3) list: [path/to/imgs1, path/to/imgs2, ..]
path: ../datasets/coco128 # dataset root dir
train: images/train2017 # train images (relative to 'path') 128 images
val: images/train2017 # val images (relative to 'path') 128 images
test: # test images (optional)
# Classes
nc: 80 # number of classes
names: ['person', 'bicycle', 'car', 'motorcycle', 'airplane', 'bus', 'train', 'truck', 'boat', 'traffic light',
'fire hydrant', 'stop sign', 'parking meter', 'bench', 'bird', 'cat', 'dog', 'horse', 'sheep', 'cow',
'elephant', 'bear', 'zebra', 'giraffe', 'backpack', 'umbrella', 'handbag', 'tie', 'suitcase', 'frisbee',
'skis', 'snowboard', 'sports ball', 'kite', 'baseball bat', 'baseball glove', 'skateboard', 'surfboard',
'tennis racket', 'bottle', 'wine glass', 'cup', 'fork', 'knife', 'spoon', 'bowl', 'banana', 'apple',
'sandwich', 'orange', 'broccoli', 'carrot', 'hot dog', 'pizza', 'donut', 'cake', 'chair', 'couch',
'potted plant', 'bed', 'dining table', 'toilet', 'tv', 'laptop', 'mouse', 'remote', 'keyboard', 'cell phone',
'microwave', 'oven', 'toaster', 'sink', 'refrigerator', 'book', 'clock', 'vase', 'scissors', 'teddy bear',
'hair drier', 'toothbrush'] # class names
# Download script/URL (optional)
download: https://ultralytics.com/assets/coco128.zip

@ -1,34 +0,0 @@
# YOLOv5 🚀 by Ultralytics, GPL-3.0 license
# Hyperparameters for Objects365 training
# python train.py --weights yolov5m.pt --data Objects365.yaml --evolve
# See Hyperparameter Evolution tutorial for details https://github.com/ultralytics/yolov5#tutorials
lr0: 0.00258
lrf: 0.17
momentum: 0.779
weight_decay: 0.00058
warmup_epochs: 1.33
warmup_momentum: 0.86
warmup_bias_lr: 0.0711
box: 0.0539
cls: 0.299
cls_pw: 0.825
obj: 0.632
obj_pw: 1.0
iou_t: 0.2
anchor_t: 3.44
anchors: 3.2
fl_gamma: 0.0
hsv_h: 0.0188
hsv_s: 0.704
hsv_v: 0.36
degrees: 0.0
translate: 0.0902
scale: 0.491
shear: 0.0
perspective: 0.0
flipud: 0.0
fliplr: 0.5
mosaic: 1.0
mixup: 0.0
copy_paste: 0.0

@ -1,40 +0,0 @@
# YOLOv5 🚀 by Ultralytics, GPL-3.0 license
# Hyperparameters for VOC training
# python train.py --batch 128 --weights yolov5m6.pt --data VOC.yaml --epochs 50 --img 512 --hyp hyp.scratch-med.yaml --evolve
# See Hyperparameter Evolution tutorial for details https://github.com/ultralytics/yolov5#tutorials
# YOLOv5 Hyperparameter Evolution Results
# Best generation: 319
# Last generation: 434
# metrics/precision, metrics/recall, metrics/mAP_0.5, metrics/mAP_0.5:0.95, val/box_loss, val/obj_loss, val/cls_loss
# 0.86236, 0.86184, 0.91274, 0.72647, 0.0077056, 0.0042449, 0.0013846
lr0: 0.0033
lrf: 0.15184
momentum: 0.74747
weight_decay: 0.00025
warmup_epochs: 3.4278
warmup_momentum: 0.59032
warmup_bias_lr: 0.18742
box: 0.02
cls: 0.21563
cls_pw: 0.5
obj: 0.50843
obj_pw: 0.6729
iou_t: 0.2
anchor_t: 3.4172
fl_gamma: 0.0
hsv_h: 0.01032
hsv_s: 0.5562
hsv_v: 0.28255
degrees: 0.0
translate: 0.04575
scale: 0.73711
shear: 0.0
perspective: 0.0
flipud: 0.0
fliplr: 0.5
mosaic: 0.87158
mixup: 0.04294
copy_paste: 0.0
anchors: 3.3556

@ -1,39 +0,0 @@
# Hyperparameters for VOC finetuning
# python train.py --batch 64 --weights yolov5m.pt --data VOC.yaml --img 512 --epochs 50
# See tutorials for hyperparameter evolution https://github.com/ultralytics/yolov5#tutorials
# Hyperparameter Evolution Results
# Generations: 306
# P R mAP.5 mAP.5:.95 box obj cls
# Metrics: 0.6 0.936 0.896 0.684 0.0115 0.00805 0.00146
lr0: 0.0032
lrf: 0.12
momentum: 0.843
weight_decay: 0.00036
warmup_epochs: 2.0
warmup_momentum: 0.5
warmup_bias_lr: 0.05
box: 0.0296
cls: 0.243
cls_pw: 0.631
obj: 0.301
obj_pw: 0.911
iou_t: 0.2
anchor_t: 2.91
# anchors: 3.63
fl_gamma: 0.0
hsv_h: 0.0138
hsv_s: 0.664
hsv_v: 0.464
degrees: 0.373
translate: 0.245
scale: 0.898
shear: 0.602
perspective: 0.0
flipud: 0.00856
fliplr: 0.5
mosaic: 1.0
mixup: 0.243
copy_paste: 0.0

@ -1,29 +0,0 @@
lr0: 0.00258
lrf: 0.17
momentum: 0.779
weight_decay: 0.00058
warmup_epochs: 1.33
warmup_momentum: 0.86
warmup_bias_lr: 0.0711
box: 0.0539
cls: 0.299
cls_pw: 0.825
obj: 0.632
obj_pw: 1.0
iou_t: 0.2
anchor_t: 3.44
anchors: 3.2
fl_gamma: 0.0
hsv_h: 0.0188
hsv_s: 0.704
hsv_v: 0.36
degrees: 0.0
translate: 0.0902
scale: 0.491
shear: 0.0
perspective: 0.0
flipud: 0.0
fliplr: 0.5
mosaic: 1.0
mixup: 0.0
copy_paste: 0.0

@ -1,34 +0,0 @@
# YOLOv5 🚀 by Ultralytics, GPL-3.0 license
# Hyperparameters for high-augmentation COCO training from scratch
# python train.py --batch 32 --cfg yolov5m6.yaml --weights '' --data coco.yaml --img 1280 --epochs 300
# See tutorials for hyperparameter evolution https://github.com/ultralytics/yolov5#tutorials
lr0: 0.01 # initial learning rate (SGD=1E-2, Adam=1E-3)
lrf: 0.1 # final OneCycleLR learning rate (lr0 * lrf)
momentum: 0.937 # SGD momentum/Adam beta1
weight_decay: 0.0005 # optimizer weight decay 5e-4
warmup_epochs: 3.0 # warmup epochs (fractions ok)
warmup_momentum: 0.8 # warmup initial momentum
warmup_bias_lr: 0.1 # warmup initial bias lr
box: 0.05 # box loss gain
cls: 0.3 # cls loss gain
cls_pw: 1.0 # cls BCELoss positive_weight
obj: 0.7 # obj loss gain (scale with pixels)
obj_pw: 1.0 # obj BCELoss positive_weight
iou_t: 0.20 # IoU training threshold
anchor_t: 4.0 # anchor-multiple threshold
# anchors: 3 # anchors per output layer (0 to ignore)
fl_gamma: 0.0 # focal loss gamma (efficientDet default gamma=1.5)
hsv_h: 0.015 # image HSV-Hue augmentation (fraction)
hsv_s: 0.7 # image HSV-Saturation augmentation (fraction)
hsv_v: 0.4 # image HSV-Value augmentation (fraction)
degrees: 0.0 # image rotation (+/- deg)
translate: 0.1 # image translation (+/- fraction)
scale: 0.9 # image scale (+/- gain)
shear: 0.0 # image shear (+/- deg)
perspective: 0.0 # image perspective (+/- fraction), range 0-0.001
flipud: 0.0 # image flip up-down (probability)
fliplr: 0.5 # image flip left-right (probability)
mosaic: 1.0 # image mosaic (probability)
mixup: 0.1 # image mixup (probability)
copy_paste: 0.1 # segment copy-paste (probability)

@ -1,34 +0,0 @@
# YOLOv5 🚀 by Ultralytics, GPL-3.0 license
# Hyperparameters for low-augmentation COCO training from scratch
# python train.py --batch 64 --cfg yolov5n6.yaml --weights '' --data coco.yaml --img 640 --epochs 300 --linear
# See tutorials for hyperparameter evolution https://github.com/ultralytics/yolov5#tutorials
lr0: 0.01 # initial learning rate (SGD=1E-2, Adam=1E-3)
lrf: 0.01 # final OneCycleLR learning rate (lr0 * lrf)
momentum: 0.937 # SGD momentum/Adam beta1
weight_decay: 0.0005 # optimizer weight decay 5e-4
warmup_epochs: 3.0 # warmup epochs (fractions ok)
warmup_momentum: 0.8 # warmup initial momentum
warmup_bias_lr: 0.1 # warmup initial bias lr
box: 0.05 # box loss gain
cls: 0.5 # cls loss gain
cls_pw: 1.0 # cls BCELoss positive_weight
obj: 1.0 # obj loss gain (scale with pixels)
obj_pw: 1.0 # obj BCELoss positive_weight
iou_t: 0.20 # IoU training threshold
anchor_t: 4.0 # anchor-multiple threshold
# anchors: 3 # anchors per output layer (0 to ignore)
fl_gamma: 0.0 # focal loss gamma (efficientDet default gamma=1.5)
hsv_h: 0.015 # image HSV-Hue augmentation (fraction)
hsv_s: 0.7 # image HSV-Saturation augmentation (fraction)
hsv_v: 0.4 # image HSV-Value augmentation (fraction)
degrees: 0.0 # image rotation (+/- deg)
translate: 0.1 # image translation (+/- fraction)
scale: 0.5 # image scale (+/- gain)
shear: 0.0 # image shear (+/- deg)
perspective: 0.0 # image perspective (+/- fraction), range 0-0.001
flipud: 0.0 # image flip up-down (probability)
fliplr: 0.5 # image flip left-right (probability)
mosaic: 1.0 # image mosaic (probability)
mixup: 0.0 # image mixup (probability)
copy_paste: 0.0 # segment copy-paste (probability)

@ -1,34 +0,0 @@
# YOLOv5 🚀 by Ultralytics, GPL-3.0 license
# Hyperparameters for medium-augmentation COCO training from scratch
# python train.py --batch 32 --cfg yolov5m6.yaml --weights '' --data coco.yaml --img 1280 --epochs 300
# See tutorials for hyperparameter evolution https://github.com/ultralytics/yolov5#tutorials
lr0: 0.01 # initial learning rate (SGD=1E-2, Adam=1E-3)
lrf: 0.1 # final OneCycleLR learning rate (lr0 * lrf)
momentum: 0.937 # SGD momentum/Adam beta1
weight_decay: 0.0005 # optimizer weight decay 5e-4
warmup_epochs: 3.0 # warmup epochs (fractions ok)
warmup_momentum: 0.8 # warmup initial momentum
warmup_bias_lr: 0.1 # warmup initial bias lr
box: 0.05 # box loss gain
cls: 0.3 # cls loss gain
cls_pw: 1.0 # cls BCELoss positive_weight
obj: 0.7 # obj loss gain (scale with pixels)
obj_pw: 1.0 # obj BCELoss positive_weight
iou_t: 0.20 # IoU training threshold
anchor_t: 4.0 # anchor-multiple threshold
# anchors: 3 # anchors per output layer (0 to ignore)
fl_gamma: 0.0 # focal loss gamma (efficientDet default gamma=1.5)
hsv_h: 0.015 # image HSV-Hue augmentation (fraction)
hsv_s: 0.7 # image HSV-Saturation augmentation (fraction)
hsv_v: 0.4 # image HSV-Value augmentation (fraction)
degrees: 0.0 # image rotation (+/- deg)
translate: 0.1 # image translation (+/- fraction)
scale: 0.9 # image scale (+/- gain)
shear: 0.0 # image shear (+/- deg)
perspective: 0.0 # image perspective (+/- fraction), range 0-0.001
flipud: 0.0 # image flip up-down (probability)
fliplr: 0.5 # image flip left-right (probability)
mosaic: 1.0 # image mosaic (probability)
mixup: 0.1 # image mixup (probability)
copy_paste: 0.0 # segment copy-paste (probability)

@ -1,34 +0,0 @@
# Hyperparameters for COCO training from scratch
# python train.py --batch 32 --cfg yolov5m6.yaml --weights '' --data coco.yaml --img 1280 --epochs 300
# See tutorials for hyperparameter evolution https://github.com/ultralytics/yolov5#tutorials
lr0: 0.01 # initial learning rate (SGD=1E-2, Adam=1E-3)
lrf: 0.2 # final OneCycleLR learning rate (lr0 * lrf)
momentum: 0.937 # SGD momentum/Adam beta1
weight_decay: 0.0005 # optimizer weight decay 5e-4
warmup_epochs: 3.0 # warmup epochs (fractions ok)
warmup_momentum: 0.8 # warmup initial momentum
warmup_bias_lr: 0.1 # warmup initial bias lr
box: 0.05 # box loss gain
cls: 0.3 # cls loss gain
cls_pw: 1.0 # cls BCELoss positive_weight
obj: 0.7 # obj loss gain (scale with pixels)
obj_pw: 1.0 # obj BCELoss positive_weight
iou_t: 0.20 # IoU training threshold
anchor_t: 4.0 # anchor-multiple threshold
# anchors: 3 # anchors per output layer (0 to ignore)
fl_gamma: 0.0 # focal loss gamma (efficientDet default gamma=1.5)
hsv_h: 0.015 # image HSV-Hue augmentation (fraction)
hsv_s: 0.7 # image HSV-Saturation augmentation (fraction)
hsv_v: 0.4 # image HSV-Value augmentation (fraction)
degrees: 0.0 # image rotation (+/- deg)
translate: 0.1 # image translation (+/- fraction)
scale: 0.9 # image scale (+/- gain)
shear: 0.0 # image shear (+/- deg)
perspective: 0.0 # image perspective (+/- fraction), range 0-0.001
flipud: 0.0 # image flip up-down (probability)
fliplr: 0.5 # image flip left-right (probability)
mosaic: 1.0 # image mosaic (probability)
mixup: 0.0 # image mixup (probability)
copy_paste: 0.0 # segment copy-paste (probability)

@ -1,34 +0,0 @@
# Hyperparameters for COCO training from scratch
# python train.py --batch 40 --cfg yolov5m.yaml --weights '' --data coco.yaml --img 640 --epochs 300
# See tutorials for hyperparameter evolution https://github.com/ultralytics/yolov5#tutorials
lr0: 0.01 # initial learning rate (SGD=1E-2, Adam=1E-3)
lrf: 0.2 # final OneCycleLR learning rate (lr0 * lrf)
momentum: 0.937 # SGD momentum/Adam beta1
weight_decay: 0.0005 # optimizer weight decay 5e-4
warmup_epochs: 3.0 # warmup epochs (fractions ok)
warmup_momentum: 0.8 # warmup initial momentum
warmup_bias_lr: 0.1 # warmup initial bias lr
box: 0.05 # box loss gain
cls: 0.5 # cls loss gain
cls_pw: 1.0 # cls BCELoss positive_weight
obj: 1.0 # obj loss gain (scale with pixels)
obj_pw: 1.0 # obj BCELoss positive_weight
iou_t: 0.20 # IoU training threshold
anchor_t: 4.0 # anchor-multiple threshold
# anchors: 3 # anchors per output layer (0 to ignore)
fl_gamma: 0.0 # focal loss gamma (efficientDet default gamma=1.5)
hsv_h: 0.015 # image HSV-Hue augmentation (fraction)
hsv_s: 0.7 # image HSV-Saturation augmentation (fraction)
hsv_v: 0.4 # image HSV-Value augmentation (fraction)
degrees: 0.0 # image rotation (+/- deg)
translate: 0.1 # image translation (+/- fraction)
scale: 0.5 # image scale (+/- gain)
shear: 0.0 # image shear (+/- deg)
perspective: 0.0 # image perspective (+/- fraction), range 0-0.001
flipud: 0.0 # image flip up-down (probability)
fliplr: 0.5 # image flip left-right (probability)
mosaic: 1.0 # image mosaic (probability)
mixup: 0.0 # image mixup (probability)
copy_paste: 0.0 # segment copy-paste (probability)

Binary file not shown.

Before

Width:  |  Height:  |  Size: 3.3 KiB

Binary file not shown.

Before

Width:  |  Height:  |  Size: 108 KiB

Binary file not shown.

Before

Width:  |  Height:  |  Size: 101 KiB

Binary file not shown.

Before

Width:  |  Height:  |  Size: 4.8 KiB

Binary file not shown.

Before

Width:  |  Height:  |  Size: 4.5 KiB

Binary file not shown.

Before

Width:  |  Height:  |  Size: 3.3 KiB

Binary file not shown.

Before

Width:  |  Height:  |  Size: 4.4 KiB

Binary file not shown.

Before

Width:  |  Height:  |  Size: 4.2 KiB

Binary file not shown.

Before

Width:  |  Height:  |  Size: 8.7 KiB

Binary file not shown.

Before

Width:  |  Height:  |  Size: 4.3 KiB

Binary file not shown.

Before

Width:  |  Height:  |  Size: 6.0 KiB

Binary file not shown.

Before

Width:  |  Height:  |  Size: 476 KiB

Some files were not shown because too many files have changed in this diff Show More

Loading…
Cancel
Save