Merge branch 'master' of https://bdgit.educoder.net/p5akopqw4/senjing

src/.vs/ProjectSettings.json

@@ -0,0 +1,3 @@
+{
+  "CurrentProjectSetting": "无配置"
+}

src/.vs/VSWorkspaceState.json

@@ -0,0 +1,7 @@
+{
+  "ExpandedNodes": [
+    ""
+  ],
+  "SelectedNode": "\\避障",
+  "PreviewInSolutionExplorer": false
+}

src/FireDetect/Wind_Calc.py

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+import math
+import time
+
+# 风速计数
+wind_count = 0
+
+# 风速上次计数时间
+wind_last_time = 0
+
+# 风速
+wind_speed = 0
+
+# 风向角度
+wind_direction_angle = 0
+
+# 风向字符串
+wind_direction_str = ""
+
+# 风向刻度表
+wind_directions = ["N", "NNE", "NE", "ENE", "E", "ESE", "SE", "SSE",
+                   "S", "SSW", "SW", "WSW", "W", "WNW", "NW", "NNW", "N"]
+
+# 风速计数回调函数
+def wind_speed_callback():
+    global wind_count
+    wind_count += 1
+
+# 风向计数回调函数
+def wind_direction_callback():
+    global wind_direction_angle
+    wind_direction_angle = int(input("请输入当前风向角度："))
+
+try:
+    while True:
+        # 计算风速
+        wind_time = time.time() - wind_last_time
+        if wind_time > 5:
+            wind_speed = wind_count / wind_time * 2.4  # 转化为mph
+            wind_count = 0
+            wind_last_time = time.time()
+
+            # 计算风向
+            wind_direction = math.floor((wind_direction_angle + 11.25) / 22.5)
+            wind_direction_str = wind_directions[wind_direction % 16]
+
+            print("风速：{:.1f} mph\t 风向：{}".format(wind_speed, wind_direction_str))
+        time.sleep(0.1)
+except KeyboardInterrupt:
+    pass

src/FireDetect/main.py

@@ -0,0 +1,603 @@
+import math
+import threading
+import time
+import contextlib
+import logging
+import cv2
+import numpy as np
+import torch
+import torchvision
+from models.common import DetectMultiBackend
+from utils.plots import Annotator
+import json
+import base64
+import socket
+from pathlib import Path
+from utils.general import (LOGGER, Profile, check_file, check_imshow, check_requirements, colorstr, cv2,
+                           increment_path, non_max_suppression, print_args, scale_boxes, strip_optimizer, xyxy2xywh)
+import sys
+import os
+import nvidia_smi
+from ctypes import windll
+import math
+from termcolor import colored, cprint
+import requests
+import platform
+
+if platform.system() == 'Windows':
+    import windows_curses as curses
+else:
+    import curses
+
+FILE = Path(__file__).resolve()
+ROOT = FILE.parents[0]  # YOLOv5 root directory
+if str(ROOT) not in sys.path:
+    sys.path.append(str(ROOT))  # add ROOT to PATH
+ROOT = Path(os.path.relpath(ROOT, Path.cwd()))  # relative
+
+
+# 清空命令指示符输出
+
+def clear():
+    # 对于非 Windows 系统使用 ANSI 转义序列来清除屏幕
+    if platform.system() != 'Windows':
+        print("\033c")
+        return
+
+    try:
+        # 使用 curses 库来清除屏幕，从而避免使用 os.system() .
+        stdscr = curses.initscr()
+        curses.curs_set(0)  # 隐藏光标
+        stdscr.clear()  # 清空屏幕
+        stdscr.refresh()  # 刷新屏幕
+        time.sleep(0.1)  # 等待一会儿以确保清屏成功
+    except Exception as e:
+        logging.error(f"Clear screen failed with error: {e}")
+        # 引发异常以向调用者报告错误
+
+    finally:
+        # 恢复 curses 库的原始设置
+        curses.endwin()
+
+    # 添加一些额外的效果来增强用户体验（可选）
+    cprint(colored('屏幕已被清除!', 'green', attrs=['bold', 'underline']))
+    time.sleep(0.5)
+    cprint(colored('请稍等...', 'cyan', attrs=['blink', 'reverse']))
+
+
+_cache = None
+# 检查是否为管理员权限
+def is_admin():
+    global _cache
+    if _cache is not None:
+        # 若缓存可用，则立即返回缓存结果
+        return _cache
+
+    try:
+        # 检查当前平台是否支持获取管理员权限
+        if os.name != 'nt':
+            raise OSError('Unsupported platform')
+
+        # 检查当前用户是否为管理员
+        is_admin = (os.getuid() == 0) or (os.system('net session >nul 2>&1') == 0)
+        _cache = is_admin  # 缓存当前结果
+        return is_admin
+    except OSError as err:
+        logging.error('Failed to check admin status: %s', err)
+        raise err  # 抛出异常以引起关注
+
+# 简单检查gpu是否够格
+def check_gpu():
+    nvidia_smi.nvmlInit()
+    gpu_handle = nvidia_smi.nvmlDeviceGetHandleByIndex(0)  # 默认卡1
+    gpu_name = nvidia_smi.nvmlDeviceGetName(gpu_handle)
+    memory_info = nvidia_smi.nvmlDeviceGetMemoryInfo(gpu_handle)
+    nvidia_smi.nvmlShutdown()
+    if b'RTX' in gpu_name:
+        return 2
+    memory_total = memory_info.total / 1024 / 1024
+    if memory_total > 3000:
+        return 1
+    return 0
+
+#获取最接近 x 且可以被除数 divisor 整除的整数
+def make_divisible(x, divisor):
+    # 取最大值并转换为整数类型
+    if isinstance(divisor, torch.Tensor):
+        divisor = int(divisor.max().item())
+
+    # 计算最接近 x 且可以被除数 divisor 整除的整数
+    return math.ceil(x / divisor) * divisor
+
+def check_img_size(imgsz, s=32, floor=0):
+    # 验证图像大小在每个维度上是否都是 stride s 的倍数
+    if isinstance(imgsz, int):
+        # 整数类型，例如 img_size=640
+        new_size = max(make_divisible(imgsz, int(s)), floor)
+    elif isinstance(imgsz, (list, tuple)) and len(imgsz) == 2:
+        # 列表或元组类型，例如 img_size=[640, 480]
+        new_size = [max(make_divisible(x, int(s)), floor) for x in imgsz]
+    else:
+        raise TypeError("imgsz 应该是一个整数或包含两个元素的列表或元组。")
+
+    if isinstance(new_size, int):
+        # 如果 new_size 是整数类型，则构造一个只有一个元素的列表
+        new_size = [new_size]
+
+    if new_size != imgsz:
+        LOGGER.warning(f'警告⚠️ -- 图像大小 {imgsz} 必须是 {s} 的倍数，已更新为 {new_size}')
+    return new_size
+
+#将边界框 (xyxy 格式) 限制在图像大小内
+def clip_boxes(boxes, shape):
+    if isinstance(boxes, torch.Tensor):
+        # 判断输入类型是否为 torch.Tensor，以提高处理速度
+        # 使用 torch.split 方法将 tensor 分割成 x_min、y_min、x_max、y_max 四个部分
+        x_min, y_min, x_max, y_max = torch.split(boxes, 1, dim=1)
+        # 使用 clamp_ 方法将 x_min、x_max、y_min、y_max 限制在给定形状范围内
+        x_min, x_max = x_min.clip(0, shape[1]), x_max.clip(0, shape[1])
+        y_min, y_max = y_min.clip(0, shape[0]), y_max.clip(0, shape[0])
+        # 使用 torch.cat 方法将四个部分拼接成新的 tensor
+        boxes = torch.cat([x_min, y_min, x_max, y_max], dim=1)
+    else:
+        # 对于 np.ndarray 类型，可以直接使用 numpy 的 vectorizing 方法进行限制范围
+        # 使用 clip 函数将 x_min、x_max、y_min、y_max 限制在给定形状范围内
+        boxes[:, [0, 2]] = np.clip(boxes[:, [0, 2]], a_min=0, a_max=shape[1])  # x1, x2
+        boxes[:, [1, 3]] = np.clip(boxes[:, [1, 3]], a_min=0, a_max=shape[0])  # y1, y2
+    return boxes
+
+#将边界框 (xyxy 格式) 从 img1_shape 缩放到 img0_shape
+def scale_boxes(img1_shape, boxes, img0_shape, ratio_pad=None):
+    # 检查输入参数的正确性
+    if not isinstance(img1_shape, tuple) or len(img1_shape) != 2:
+        raise TypeError("img1_shape 应该是包含两个元素的元组，分别表示图像的高度和宽度。")
+    if not isinstance(img0_shape, tuple) or len(img0_shape) != 2:
+        raise TypeError("img0_shape 应该是包含两个元素的元组，分别表示图像的高度和宽度。")
+    if not isinstance(boxes, np.ndarray) or boxes.ndim != 2 or boxes.shape[1] != 4:
+        raise ValueError("boxes 应该是一个二维 numpy 数组，其形状为 [N, 4]，其中 N 表示边界框数量。")
+    if ratio_pad is not None:
+        if not isinstance(ratio_pad, tuple) or len(ratio_pad) != 2:
+            raise ValueError("ratio_pad 应该是一个元组，包含两个元素，分别表示宽高比和填充大小。")
+        if not isinstance(ratio_pad[0], (int, float)):
+            raise TypeError("ratio_pad[0] 应该是一个整数或浮点数，用于表示缩放比例。")
+        if not isinstance(ratio_pad[1], tuple) or len(ratio_pad[1]) != 2:
+            raise ValueError("ratio_pad[1] 应该是一个包含两个元素的元组，分别表示宽度和高度填充大小。")
+        if not all(isinstance(i, (int, float)) for i in ratio_pad[1]):
+            raise TypeError("ratio_pad[1] 中的两个元素应该均为整数或浮点数，用于表示填充大小。")
+
+    # 复制边界框数组，以避免修改原始数据
+    boxes = boxes.copy()
+
+    # 计算宽高比和填充大小
+    if ratio_pad is None:
+        gain = min(img1_shape[0] / img0_shape[0], img1_shape[1] / img0_shape[1])
+        pad_w = (img1_shape[1] - img0_shape[1] * gain) / 2
+        pad_h = (img1_shape[0] - img0_shape[0] * gain) / 2
+    else:
+        gain = ratio_pad[0]
+        pad_w, pad_h = ratio_pad[1]
+
+    # 对边界框进行填充和缩放操作
+    boxes[:, [0, 2]] -= pad_w
+    boxes[:, [1, 3]] -= pad_h
+    boxes[:, :4] /= gain
+
+    # 对边界框的坐标进行限制范围，确保它们不会超出目标图像的大小
+    boxes = clip_boxes(boxes, img0_shape)
+
+    return boxes
+
+
+#调整图像大小并填充边框以适应模型输入尺寸
+def letterbox(image, target_size=(640, 640), color=(114, 114, 114), auto=True, scale_fill=False, scale_up=True, stride=32):
+    # 计算新的图像比例
+    height, width = image.shape[:2]
+    target_h, target_w = target_size
+    scale = min(target_h / height, target_w / width)
+    if not scale_up:
+        scale = min(scale, 1.0)
+
+    # 计算填充和缩放后的宽度和高度
+    new_w = round(width * scale)
+    new_h = round(height * scale)
+    dw = target_w - new_w
+    dh = target_h - new_h
+
+    # 如果需要，调整填充以便其尺寸是步幅的倍数
+    if auto:
+        dw = dw % stride
+        dh = dh % stride
+
+    # 如果需要，进行缩放和拉伸来填充目标形状
+    if scale_fill:
+        target_h = max(target_h, new_h)
+        target_w = max(target_w, new_w)
+        dw = (target_w - new_w) / 2
+        dh = (target_h - new_h) / 2
+
+    # 计算填充边框
+    top = round(dh - 0.1)
+    bottom = round(dh + 0.1)
+    left = round(dw - 0.1)
+    right = round(dw + 0.1)
+
+    # 进行填充并返回结果
+    image = cv2.resize(image, (new_w, new_h), interpolation=cv2.INTER_LINEAR)
+    image = cv2.copyMakeBorder(image, top, bottom, left, right, cv2.BORDER_CONSTANT, value=color)
+    ratio = (new_w / width, new_h / height)
+    padding = (dw, dh)
+    return image, ratio, padding
+
+
+#选择推理设备
+def select_device(device='', batch_size=0, newline=True):
+    s = f'torch-{torch.__version__} '
+
+    # 转换 device 参数为字符串，'cuda:0' -> '0'
+    device = str(device).strip().lower().replace('cuda:', '').replace('none', '')
+
+    # 如果请求的是 CPU 或 MPS 等非 GPU 设备
+    cpu = device == 'cpu'
+    mps = device == 'mps'
+    if cpu or mps:
+        os.environ['CUDA_VISIBLE_DEVICES'] = '-1'  # 禁止使用 GPU 加速
+    elif device:
+        # 请求的是 GPU 设备
+        os.environ['CUDA_VISIBLE_DEVICES'] = device  # 设置 CUDA_VISIBLE_DEVICES 环境变量
+        assert torch.cuda.is_available() and torch.cuda.device_count() >= len(device.replace(',', '')), \
+            f"Invalid CUDA '--device {device}' requested, use '--device cpu' or pass valid CUDA device(s)"
+
+    # 选择计算设备
+    if not cpu and not mps and torch.cuda.is_available():  # 优先使用 GPU
+        devices = device.split(',') if device else '0'  # 可选设备编号列表，例如 '0, 1'
+        n = len(devices)  # 设备数量
+        if n > 1 and batch_size > 0:  # 确保 batch_size 是设备数量的倍数
+            assert batch_size % n == 0, f'batch-size {batch_size} not multiple of GPU count {n}'
+        space = ' ' * (len(s) + 1)
+        for i, d in enumerate(devices):
+            p = torch.cuda.get_device_properties(i)
+            s += f"{'' if i == 0 else space}CUDA:{d} ({p.name}, {p.total_memory / (1 << 20):.0f}MiB)\n"
+        arg = 'cuda:0'
+    elif mps and getattr(torch, 'has_mps', False) and torch.backends.mps.is_available():  # 如果可用，优先使用 MPS
+        s += 'MPS\n'
+        arg = 'mps'
+    else:  # 否则回退到 CPU
+        s += 'CPU\n'
+        arg = 'cpu'
+
+    # 日志输出设备信息
+    if not newline:
+        s = s.rstrip()
+    print(s)
+
+    # 返回所选设备的 PyTorch 设备对象
+    return torch.device(arg)
+
+class YOLO:
+    # 将参数初始化工作提取出来
+    def __init__(self,
+                 path,
+                 device,
+                 imgsz,
+                 conf=0.3,
+                 iou=0.25,
+                 classes=None,
+                 max_det=50,
+                 half=True,
+                 dnn=False,
+                 agnostic_nms=False):
+        self.half = half
+        self.device = torch.device(device)
+        self.conf = conf
+        self.iou_thres = iou
+        self.agnostic_nms = agnostic_nms
+        self.max_det = max_det
+        model = DetectMultiBackend(path, device=self.device, dnn=dnn)
+        model.eval()
+        self.stride, self.names, self.pt, self.jit, self.onnx = model.stride, model.names, model.pt, model.jit, model.onnx
+        imgsz = (imgsz, imgsz) if isinstance(imgsz, int) else imgsz
+        self.img_size = check_img_size(imgsz, s=self.stride)  # check image size
+        if self.pt:
+            model.model.half() if half else model.model.float()
+            dtype = torch.float16 if half else torch.float32
+            model(torch.zeros(1, 3, *self.img_size).to(device).type(dtype))  # warmup
+        self.model = model
+        self.classes = classes
+
+    @torch.no_grad()
+    def predict(self, im, window_name='UAV'):
+        # Load model
+        model = self.model
+        # Half
+        half = self.half  # half precision only supported by PyTorch on CUDA
+        device = self.device
+
+        # 图像预处理
+        img = preprocess_image(im, self.img_size, self.stride)
+
+        im = torch.from_numpy(img).to(device)
+        im = im.half() if half else im.float()
+        im /= 255
+
+        if len(im.shape) == 3:
+            im = im[None]
+        # Inference
+        pred = model(im)
+
+        # NMS
+        pred = non_max_suppression(pred, self.conf, self.iou_thres, self.classes, self.agnostic_nms,
+                                   max_det=self.max_det)
+        # 新建 annotator 对象并在循环内不断更新
+        annotator = Annotator(im.squeeze(0).copy(), line_width=2)
+        for i, det in enumerate(pred):
+            if len(det):
+                target_list = []
+                result = "fire"
+                det[:, :4] = scale_boxes(im.shape[2:], det[:, :4], img.shape).round()
+                for *xyxy, conf, cls in reversed(det):
+                    xywh = (xyxy2xywh(torch.tensor(xyxy).view(1, 4))).view(-1).tolist()  # normalized xywh
+                    annotator.box_label(xyxy, label=f'[{YOLO.names[int(cls)]} {conf:.2f}]',
+                                        color=(34, 139, 34),
+                                        txt_color=(0, 191, 255))
+                    target_list.append(xywh)
+                    print('\033[0;31;40m' + f'  发现火情   ' + '\033[0m')
+
+            im0 = annotator.result()
+            cv2.imshow(window_name, im0)
+            cv2.waitKey(1)
+
+        return target_list, im0
+
+# 将图像预处理部分提取成函数
+def preprocess_image(im, img_size, stride):
+    src_shape = im.shape
+    # 修改到 1x3x416x416
+    img = letterbox(im, img_size, stride=stride, auto=True)[0]
+    # Convert
+    img = img.transpose((2, 0, 1))[::-1]  # HWC to CHW, BGR to RGB
+    # 获取 416x416 大小的图片
+    img = np.ascontiguousarray(img)
+
+    return img
+
+
+
+class PID:
+    def __init__(self, p, i, d, set_value, min_out=None, max_out=None):
+        """
+        初始化 PID 控制器参数
+        :param p: 比例系数
+        :param i: 积分系数
+        :param d: 微分系数
+        :param set_value: 目标值
+        :param min_out: 输出最小值（可选）
+        :param max_out: 输出最大值（可选）
+        """
+        self.kp = p
+        self.ki = i
+        self.kd = d
+        self.set_value = set_value
+        self.min_out = min_out
+        self.max_out = max_out
+        self.last_err = 0  # 上一次误差
+        self.err_sum = 0  # 误差总和
+        self.cur_time = time.monotonic()  # 当前时间
+
+    # 增量式PID
+    def pid_increment(self, cur_value):
+        """
+        实现增量式 PID 控制
+        :param cur_value: 当前值
+        :return: PID 输出
+        """
+        err = self.set_value - cur_value
+        self.err_sum += err
+        diff_err = err - self.last_err
+        self.last_err = err
+        p_out = self.kp * err
+        i_out = self.ki * self.err_sum
+        d_out = self.kd * diff_err
+        out_pid = p_out + i_out + d_out
+
+        # 对输出进行限幅操作
+        if self.min_out is not None and out_pid < self.min_out:
+            out_pid = self.min_out
+        if self.max_out is not None and out_pid > self.max_out:
+            out_pid = self.max_out
+
+        return out_pid
+
+    # 位置式PID
+    def pid_position(self, cur_value):
+        """
+        实现位置式 PID 控制
+        :param cur_value: 当前值
+        :return: PID 输出
+        """
+        err = self.set_value - cur_value
+        d_err = (err - self.last_err) / (time.monotonic() - self.cur_time)  # 计算微分项
+        self.err_sum += err
+        out_pid = self.kp * err + self.ki * self.err_sum + self.kd * d_err
+
+        # 对输出进行限幅操作
+        if self.min_out is not None and out_pid < self.min_out:
+            out_pid = self.min_out
+        if self.max_out is not None and out_pid > self.max_out:
+            out_pid = self.max_out
+
+        self.last_err = err
+        self.cur_time = time.monotonic()
+
+        return out_pid
+
+
+# #设置时延
+def delay_milliseconds(t):
+    """
+    延时函数，参数 t 表示延时毫秒数
+    """
+    start = time.perf_counter()
+    while True:
+        end = time.perf_counter()
+        if (end - start) * 1000 >= t:
+            break
+
+# 连接摄像头类
+class Capture:
+    def __init__(self, url='http://admin:admin@192.168.8.126:8081'):
+        self.url = url
+        self.cap = None
+
+    def open(self):
+        if self.cap is None:
+            self.cap = cv2.VideoCapture(self.url)
+            if not self.cap.isOpened():
+                raise Exception(f"Cannot open video stream from {self.url}")
+
+    def close(self):
+        if self.cap is not None:
+            self.cap.release()
+            self.cap = None
+
+    def read(self):
+        if self.cap is None:
+            self.open()
+
+        ret, img = self.cap.read()
+        if not ret:
+            # 发生错误时尝试重连一次
+            self.close()
+            self.open()
+            ret, img = self.cap.read()
+            if not ret:
+                raise Exception("Failed to read video frame")
+
+        return img
+
+    def __del__(self):
+        self.close()
+
+#图像色彩通道转换
+def my_cvtColor(img, code):
+    choice = {
+        0: cv2.COLOR_BGRA2BGR,
+        1: cv2.COLOR_BGR2GRAY,
+        2: cv2.COLOR_BGRA2RGB,
+        3: cv2.COLOR_BGRA2RGBA
+    }
+
+    if not isinstance(img, np.ndarray):
+        raise TypeError("The input image is not a numpy array")
+
+    if code not in choice.keys():
+        raise ValueError("Invalid color conversion code")
+
+    # 先判断原图是否为 BGRA/RGBA 格式，在进行颜色转换
+    if img.ndim == 3 and img.shape[2] == 4:
+        img = cv2.cvtColor(img, choice[code])
+    else:
+        img = cv2.cvtColor(img, cv2.COLOR_BGR2BGRA)
+        img = cv2.cvtColor(img, choice[code])
+
+    return img
+
+#检查数据正确性
+def check_data(arr):
+    try:
+        iter(arr)  # 检查是否可迭代
+        if len(arr) == 0:  # 检查长度是否为0
+            return True
+        else:
+            return False
+    except TypeError:  # 不可迭代的情况
+        return False
+
+#获取高程坡度
+def get_elevation_slope(lat, lng):
+    """
+    获取经纬度对应地点的海拔高度和坡度
+
+    :param lat: 纬度
+    :param lng: 经度
+    :return: 包含海拔高度和坡度信息的字典
+    """
+    url = 'https://portal.opentopography.org/API/globaldem?demtype=SRTMGL1&west={}&south={}&east={}&north={}&outputFormat=JSON'.format(
+        lng - 0.001, lat - 0.001, lng + 0.001, lat + 0.001)
+    response = requests.get(url)
+
+    if response.status_code == 200:
+        json_data = response.json()
+        if 'elevation' in json_data and 'slope' in json_data:
+            elevation = json_data['elevation']
+            slope = json_data['slope']
+            return {'elevation': elevation, 'slope': slope}
+        else:
+            print('获取高度信息失败：{}'.format(json_data))
+    else:
+        print('请求失败：HTTP错误{}'.format(response.status_code))
+
+    return None
+def main():
+    # cap = cv2.VideoCapture("http://admin:admin@192.168.8.126:8081")
+    # print("图像加载成功")
+    # 模型路径
+    path = 'fire.pt'
+    # 尺寸大小
+    width, height = 640, 640
+    ip = input("输入摄像头地址：")
+    cap = Capture(ip)
+    conf = float(input("输入置信度："))
+    predict = YOLO(path, "cuda:0", imgsz=(width, height), conf=conf, classes=None)
+
+    while True:
+        img = cap.read()
+        img = np.rot90(img, 0)
+        img = np.array(img)
+        img = my_cvtColor(img,1)
+        target, im0 = predict.predict(img)
+        img_b64 = base64.b64encode(im0).decode('utf-8')
+        if check_data(target):
+            Fire_centX = target[0][0]
+            Fire_centY = target[0][1]
+            Fire_W = target[0][2]
+            Fire_H = target[0][3]
+            lat = 37.7749
+            lng = -122.4194
+            result = get_elevation_slope(lat, lng)
+
+            if result:
+                elevation = result['elevation']
+                slope = result['slope']
+            else:
+                elevation = 200
+                slope = 12
+            # print(img_b64)
+            data = {
+                "img": img_b64,
+                "type": "Alarming",
+                "fire_flag": "fire",
+                "cent_x": Fire_centX,
+                "cent_y": Fire_centY,
+                "length": Fire_W,
+                "width": Fire_H,
+                "elevation": elevation,
+                "slope": slope
+            }
+
+            json_data = json.dumps(data).encode('utf-8')
+            cs.send(json_data)
+            delay_milliseconds(100)
+        else:
+
+            continue
+
+if __name__ == "__main__":
+    IP = int(input("请输入服务器地址："))
+    port = input("请输入服务器端口号：")
+    cs = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+    cs.connect((IP, port))
+    print("服务器连接成功")
+    is_admin()
+    check_gpu()
+    main()
+    cs.close()

src/UAV_UI_new/Setting.cpp

@@ -17,6 +17,11 @@ Setting::Setting(QWidget *parent)
     tcpsocket = new QTcpSocket(this);
     tcpsocket->connectToHost("192.168.8.100", 9090);
     connect(ui.finished, &QPushButton::clicked, this, &Setting::on_finished_button);
+    QString styleSheet = QString("background-image:url(:/background_1.png);\
+        background-repeat:no-repeat;background-position:center;").arg(QCoreApplication::applicationDirPath());
+    this->setStyleSheet(styleSheet);
+    this->resize(806, 453);
+    ui.finished->setStyleSheet("background-color: white;");
 }
 
 Setting::~Setting()

src/UAV_UI_new/Setting.h

@@ -1,23 +0,0 @@
-#pragma once
-
-#include <QMainWindow>
-#include "ui_Setting.h"
-#include <QTcpServer>
-#include <QTcpSocket>
-
-class Setting : public QMainWindow
-{
-	Q_OBJECT
-
-public:
-	Setting(QWidget *parent = nullptr);
-	~Setting();
-	QTcpServer* tcpserver;
-	QTcpSocket* tcpsocket;
-
-private:
-	Ui::SettingClass ui;
-private slots:
-	void on_finished_button();
-
-};

src/UAV_UI_new/Setting.ui

@@ -17,8 +17,8 @@
    <widget class="QWidget" name="gridLayoutWidget">
     <property name="geometry">
      <rect>
-      <x>20</x>
-      <y>20</y>
+      <x>200</x>
+      <y>100</y>
       <width>451</width>
       <height>241</height>
      </rect>
@@ -166,8 +166,8 @@
    <widget class="QPushButton" name="finished">
     <property name="geometry">
      <rect>
-      <x>180</x>
-      <y>290</y>
+      <x>360</x>
+      <y>370</y>
       <width>93</width>
       <height>29</height>
      </rect>

src/UAV_UI_new/UAV_UI_new.cpp

@@ -1,5 +1,6 @@
 #include "UAV_UI_new.h"
 #include "Setting.h"
+#include "tips.h"
 #include <opencv2/opencv.hpp>
 #include <string.h>
 #include <qlabel.h>
@@ -12,8 +13,10 @@
 using namespace cv;
 using namespace std;
 VideoCapture cap;
-//const string VideoCaptureAdress = "http://admin:admin@192.168.8.126:8081";
-const string VideoCaptureAdress = "rtsp://192.168.144.108:8000/375897"; //热成像
+Prediction* Predict_UI;
+int length, wid, start_pos_x, start_pos_y, heig,slope,elevation;
+const string VideoCaptureAdress = "http://admin:admin@192.168.8.126:8081";
+//const string VideoCaptureAdress = "rtsp://192.168.144.108:8000/375897"; //ÈȳÉÏñ
 //const string VideoCaptureAdress = "rtsp://192.168.144.108:8000/165506"; //nomal
 //const string VideoCaptureAdress = "C:\\Users\\87334\\Videos\\Captures\\Fast_sent.mp4";
 UAV_UI_new::UAV_UI_new(QWidget* parent)
@@ -26,7 +29,7 @@ UAV_UI_new::UAV_UI_new(QWidget* parent)
     connect(ui.Settings, &QPushButton::clicked, this, &UAV_UI_new::onclick_Setting_button);
     connect(ui.connection, &QPushButton::clicked, this, &UAV_UI_new::on_connection_button);
     connect(ui.stop, &QPushButton::clicked, this, &UAV_UI_new::on_stop_button);
-    connect(ui.action, &QPushButton::clicked, this, &UAV_UI_new::on_action_button);
+    connect(ui.Prediction, &QPushButton::clicked, this, &UAV_UI_new::on_predict_button);
     connect(timer, SIGNAL(timeout()), this, SLOT(importImage()));
     tcpsocket = new QTcpSocket(this);
     tcpsocket->connectToHost("192.168.8.100", 9090);
@@ -42,14 +45,29 @@ UAV_UI_new::UAV_UI_new(QWidget* parent)
         QByteArray jsonData = tcpsocket->readAll(); // ½ÓÊÕ JSON Êý¾Ý
         QJsonDocument jsonDocument = QJsonDocument::fromJson(jsonData);
         QJsonObject jsonObject = jsonDocument.object();
-        QString type = jsonObject.value("type").toString();
+        QString type = jsonObject.value("type").toString();        
         if (type == "Alarming") {
-            QMessageBox msgBox;
-            msgBox.setWindowTitle("Alarming");
-            msgBox.setText("Fire and Fire");
-            msgBox.show();
+            QPixmap image_Pre(":/Fire.png");
+            tips* tip = new tips(image_Pre);
+            tip->show();
+            ui.Prediction->setStyleSheet("color:red");
+            length = jsonObject.value("length").toDouble();
+            wid = jsonObject.value("width").toDouble();
+            qDebug() << jsonObject.value("center_x").toDouble() << jsonObject.value("length").toDouble() / 2;
+            start_pos_x = jsonObject.value("center_x").toDouble() - jsonObject.value("length").toDouble() / 2;
+            start_pos_y = jsonObject.value("center_y").toDouble() - jsonObject.value("width").toDouble() / 2;
+            qDebug() << start_pos_x << " " << start_pos_y << "mAIN";
+            slope = jsonObject.value("slope").toDouble();
+            elevation = jsonObject.value("slope").toDouble();
+        }
+        if (type == "Set") {
+            heig = jsonObject.value("z").toInt();
         }
         });
+    QString styleSheet = QString("background-image:url(:/background_3.png);\
+        background-repeat:no-repeat;background-position:center;").arg(QCoreApplication::applicationDirPath());
+    this->setStyleSheet(styleSheet);
+    this->resize(1440, 720);
 }
 
 UAV_UI_new::~UAV_UI_new()
@@ -72,12 +90,15 @@ void UAV_UI_new::importImage() {
         image.step,
         QImage::Format_RGB888));
     ui.display->setPixmap(showimage);
+    image_Pre = showimage;
 }
 void UAV_UI_new::on_stop_button() {
     timer->stop();
     cap.release();
     ui.display->clear();
 }
-void UAV_UI_new::on_action_button() {
-    //放警报
+void UAV_UI_new::on_predict_button() {
+    QPixmap image_Pre(":/Fire.png");
+    Predict_UI = new Prediction(image_Pre, start_pos_x,start_pos_y,length,wid,100);
+    Predict_UI->show();
 }

src/UAV_UI_new/UAV_UI_new.h

@@ -3,6 +3,7 @@
 #include <QtWidgets/QMainWindow>
 #include "ui_UAV_UI_new.h"
 #include "Setting.h"
+#include "Prediction.h"
 #include <QTimer>
 #include <qpushbutton.h>
 #include <QPushbutton>
@@ -25,11 +26,12 @@ private:
     QTcpServer* tcpserver;
     QTcpSocket* tcpsocket;
     Setting Settings_UI;
+    QPixmap image_Pre;
 
 private slots:
     void on_connection_button();
     void on_stop_button();
     void importImage();
     void onclick_Setting_button();
-    void on_action_button();
+    void on_predict_button();
 };

src/UAV_UI_new/UAV_UI_new.qrc

@@ -1,4 +1,9 @@
 <RCC>
-    <qresource prefix="UAV_UI_new">
+    <qresource prefix="/">
+	<file>background_1.png</file>
+	<file>background_2.png</file>
+	<file>background_3.png</file>
+	<file>Fire.png</file>
+	<file>kill_fire.jpg</file>
     </qresource>
 </RCC>

src/UAV_UI_new/UAV_UI_new.sln

@@ -0,0 +1,25 @@
+
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio Version 17
+VisualStudioVersion = 17.5.33516.290
+MinimumVisualStudioVersion = 10.0.40219.1
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "UAV_UI_new", "UAV_UI_new\UAV_UI_new.vcxproj", "{FB496CF3-A3CE-4A50-BAC4-A9F43A71A5F9}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|x64 = Debug|x64
+		Release|x64 = Release|x64
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{FB496CF3-A3CE-4A50-BAC4-A9F43A71A5F9}.Debug|x64.ActiveCfg = Debug|x64
+		{FB496CF3-A3CE-4A50-BAC4-A9F43A71A5F9}.Debug|x64.Build.0 = Debug|x64
+		{FB496CF3-A3CE-4A50-BAC4-A9F43A71A5F9}.Release|x64.ActiveCfg = Release|x64
+		{FB496CF3-A3CE-4A50-BAC4-A9F43A71A5F9}.Release|x64.Build.0 = Release|x64
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+	GlobalSection(ExtensibilityGlobals) = postSolution
+		SolutionGuid = {F3108D61-4572-47E9-AA99-3FC60AB655EB}
+	EndGlobalSection
+EndGlobal

src/UAV_UI_new/UAV_UI_new.ui

@@ -6,10 +6,22 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>1159</width>
-    <height>682</height>
+    <width>1440</width>
+    <height>1000</height>
    </rect>
   </property>
+  <property name="minimumSize">
+   <size>
+    <width>0</width>
+    <height>0</height>
+   </size>
+  </property>
+  <property name="maximumSize">
+   <size>
+    <width>1440</width>
+    <height>1200</height>
+   </size>
+  </property>
   <property name="windowTitle">
    <string>UAV_UI_new</string>
   </property>
@@ -64,7 +76,7 @@
      </rect>
     </property>
     <property name="text">
-     <string>stop</string>
+     <string>关闭图像</string>
     </property>
    </widget>
    <widget class="QPushButton" name="connection">
@@ -77,7 +89,7 @@
      </rect>
     </property>
     <property name="text">
-     <string>connection</string>
+     <string>连接图像</string>
     </property>
    </widget>
    <widget class="QLabel" name="play_tag">
@@ -90,20 +102,20 @@
      </rect>
     </property>
     <property name="text">
-     <string>图像播放处</string>
+     <string>实时图像</string>
     </property>
    </widget>
    <widget class="QPushButton" name="Settings">
     <property name="geometry">
      <rect>
-      <x>1060</x>
+      <x>1350</x>
       <y>0</y>
       <width>93</width>
       <height>29</height>
      </rect>
     </property>
     <property name="text">
-     <string>Settings</string>
+     <string>设置</string>
     </property>
    </widget>
    <widget class="QPushButton" name="action">
@@ -119,13 +131,26 @@
      <string>出警</string>
     </property>
    </widget>
+   <widget class="QPushButton" name="Prediction">
+    <property name="geometry">
+     <rect>
+      <x>820</x>
+      <y>260</y>
+      <width>93</width>
+      <height>29</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>预测</string>
+    </property>
+   </widget>
   </widget>
   <widget class="QMenuBar" name="menuBar">
    <property name="geometry">
     <rect>
      <x>0</x>
      <y>0</y>
-     <width>1159</width>
+     <width>1440</width>
      <height>26</height>
     </rect>
    </property>

src/UAV_UI_new/UAV_UI_new.vcxproj

@@ -92,10 +92,12 @@
   </ItemDefinitionGroup>
   <ItemGroup>
     <QtRcc Include="UAV_UI_new.qrc" />
+    <QtUic Include="Prediction.ui" />
     <QtUic Include="Setting.ui" />
     <QtUic Include="tips.ui" />
     <QtUic Include="UAV_UI_new.ui" />
     <QtMoc Include="UAV_UI_new.h" />
+    <ClCompile Include="Prediction.cpp" />
     <ClCompile Include="Setting.cpp" />
     <ClCompile Include="tips.cpp" />
     <ClCompile Include="UAV_UI_new.cpp" />
@@ -105,12 +107,20 @@
     <QtMoc Include="tips.h" />
   </ItemGroup>
   <ItemGroup>
+    <QtMoc Include="Prediction.h" />
+    <ClInclude Include="FP.h" />
+    <ClInclude Include="levelToSpeed.h" />
     <ClInclude Include="resource1.h" />
     <QtMoc Include="Setting.h" />
   </ItemGroup>
   <ItemGroup>
     <ResourceCompile Include="UAV_UI_new1.rc" />
   </ItemGroup>
+  <ItemGroup>
+    <Image Include="background.jpg" />
+    <Image Include="Settings.jpg" />
+    <Image Include="Settings_2.jpg" />
+  </ItemGroup>
   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
   <ImportGroup Condition="Exists('$(QtMsBuild)\qt.targets')">
     <Import Project="$(QtMsBuild)\qt.targets" />

src/UAV_UI_new/UAV_UI_new.vcxproj.filters

@@ -46,6 +46,9 @@
     <ClCompile Include="Setting.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
+    <ClCompile Include="Prediction.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
   </ItemGroup>
   <ItemGroup>
     <QtMoc Include="tips.h">
@@ -54,6 +57,9 @@
     <QtMoc Include="Setting.h">
       <Filter>Header Files</Filter>
     </QtMoc>
+    <QtMoc Include="Prediction.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
   </ItemGroup>
   <ItemGroup>
     <QtUic Include="tips.ui">
@@ -62,15 +68,35 @@
     <QtUic Include="Setting.ui">
       <Filter>Form Files</Filter>
     </QtUic>
+    <QtUic Include="Prediction.ui">
+      <Filter>Form Files</Filter>
+    </QtUic>
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="resource1.h">
       <Filter>Header Files</Filter>
     </ClInclude>
+    <ClInclude Include="levelToSpeed.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="FP.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <ResourceCompile Include="UAV_UI_new1.rc">
       <Filter>Resource Files</Filter>
     </ResourceCompile>
   </ItemGroup>
+  <ItemGroup>
+    <Image Include="background.jpg">
+      <Filter>Resource Files</Filter>
+    </Image>
+    <Image Include="Settings.jpg">
+      <Filter>Resource Files</Filter>
+    </Image>
+    <Image Include="Settings_2.jpg">
+      <Filter>Resource Files</Filter>
+    </Image>
+  </ItemGroup>
 </Project>

src/UAV_UI_new/UAV_UI_new.vcxproj.user

@@ -2,9 +2,9 @@
 <Project ToolsVersion="Current" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
   <PropertyGroup />
   <PropertyGroup Label="QtSettings" Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
-    <QtLastBackgroundBuild>2023-05-21T16:36:10.6302989Z</QtLastBackgroundBuild>
+    <QtLastBackgroundBuild>2023-06-14T08:40:27.1306328Z</QtLastBackgroundBuild>
   </PropertyGroup>
   <PropertyGroup Label="QtSettings" Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
-    <QtLastBackgroundBuild>2023-05-21T16:36:10.6837787Z</QtLastBackgroundBuild>
+    <QtLastBackgroundBuild>2023-06-14T08:40:27.2066207Z</QtLastBackgroundBuild>
   </PropertyGroup>
 </Project>

src/UAV_UI_new/UAV_UI_new/Setting.cpp

@@ -1,56 +0,0 @@
-#include "Setting.h"
-#include <QTcpServer>
-#include <QTcpSocket>
-#include <QMessageBox>
-#include <QJsonObject>
-#include <QJsonDocument>
-
-Setting::Setting(QWidget *parent)
-	: QMainWindow(parent)
-{
-	ui.setupUi(this);
-	/*float longitude = ui.longitude->text().toFloat();
-	float latitude = ui.latitude->text().toFloat();
-	int hours = ui.hours->text().toInt();
-	int minutes = ui.minutes->text().toInt();
-	int seconds = ui.seconds->text().toInt();*/
-    tcpsocket = new QTcpSocket(this);
-    tcpsocket->connectToHost("192.168.8.100", 9090);
-    connect(ui.finished, &QPushButton::clicked, this, &Setting::on_finished_button);
-    QString styleSheet = QString("background-image:url(:/background_1.png);\
-        background-repeat:no-repeat;background-position:center;").arg(QCoreApplication::applicationDirPath());
-    this->setStyleSheet(styleSheet);
-    this->resize(806, 453);
-    ui.finished->setStyleSheet("background-color: white;");
-}
-
-Setting::~Setting()
-{
-}
-void Setting::on_finished_button() {
-    float longitude = ui.longitude->text().toFloat();
-    float latitude = ui.latitude->text().toFloat();
-    int hours = ui.hours->text().toInt();
-    int minutes = ui.minutes->text().toInt();
-    int seconds = ui.seconds->text().toInt();
-    int x = ui.x->text().toInt();
-    int y = ui.y->text().toInt();
-    int z = ui.z->text().toInt();
-    QJsonObject msg;
-    msg.insert("type", "Set");
-    msg.insert("lon", longitude);
-    msg.insert("lat", latitude);
-    msg.insert("hours", hours);
-    msg.insert("minutes", minutes);
-    msg.insert("seconds", seconds);
-    msg.insert("x", x);
-    msg.insert("y", y);
-    msg.insert("z", z);
-    QJsonDocument jsonDocument;
-    jsonDocument.setObject(msg);
-    QByteArray dataArray = jsonDocument.toJson();
-    if (tcpsocket->write(dataArray) == -1) {
-        qDebug() << "send TCP data package failed!";
-    }
-    qDebug() << "sent!";
-}

src/UAV_UI_new/UAV_UI_new/Setting.h

@@ -1,23 +0,0 @@
-#pragma once
-
-#include <QMainWindow>
-#include "ui_Setting.h"
-#include <QTcpServer>
-#include <QTcpSocket>
-
-class Setting : public QMainWindow
-{
-	Q_OBJECT
-
-public:
-	Setting(QWidget *parent = nullptr);
-	~Setting();
-	QTcpServer* tcpserver;
-	QTcpSocket* tcpsocket;
-
-private:
-	Ui::SettingClass ui;
-private slots:
-	void on_finished_button();
-
-};

src/UAV_UI_new/UAV_UI_new/Setting.ui

@@ -1,203 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>SettingClass</class>
- <widget class="QMainWindow" name="SettingClass">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>871</width>
-    <height>571</height>
-   </rect>
-  </property>
-  <property name="windowTitle">
-   <string>Setting</string>
-  </property>
-  <widget class="QWidget" name="centralWidget">
-   <widget class="QWidget" name="gridLayoutWidget">
-    <property name="geometry">
-     <rect>
-      <x>200</x>
-      <y>100</y>
-      <width>451</width>
-      <height>241</height>
-     </rect>
-    </property>
-    <layout class="QGridLayout" name="gridLayout">
-     <item row="2" column="0">
-      <widget class="QLabel" name="Start_Timer">
-       <property name="text">
-        <string>出发时间：</string>
-       </property>
-      </widget>
-     </item>
-     <item row="2" column="3">
-      <widget class="QLineEdit" name="seconds">
-       <property name="maximumSize">
-        <size>
-         <width>150</width>
-         <height>16777215</height>
-        </size>
-       </property>
-       <property name="placeholderText">
-        <string>秒</string>
-       </property>
-      </widget>
-     </item>
-     <item row="2" column="1">
-      <widget class="QLineEdit" name="hours">
-       <property name="maximumSize">
-        <size>
-         <width>150</width>
-         <height>16777215</height>
-        </size>
-       </property>
-       <property name="placeholderText">
-        <string>时</string>
-       </property>
-      </widget>
-     </item>
-     <item row="0" column="1">
-      <widget class="QLineEdit" name="longitude">
-       <property name="maximumSize">
-        <size>
-         <width>150</width>
-         <height>16777215</height>
-        </size>
-       </property>
-       <property name="placeholderText">
-        <string>经度</string>
-       </property>
-      </widget>
-     </item>
-     <item row="2" column="2">
-      <widget class="QLineEdit" name="minutes">
-       <property name="maximumSize">
-        <size>
-         <width>150</width>
-         <height>16777215</height>
-        </size>
-       </property>
-       <property name="placeholderText">
-        <string>分</string>
-       </property>
-      </widget>
-     </item>
-     <item row="0" column="2">
-      <widget class="QLineEdit" name="latitude">
-       <property name="maximumSize">
-        <size>
-         <width>150</width>
-         <height>16777215</height>
-        </size>
-       </property>
-       <property name="placeholderText">
-        <string>纬度</string>
-       </property>
-      </widget>
-     </item>
-     <item row="0" column="0">
-      <widget class="QLabel" name="Speed_Lable">
-       <property name="maximumSize">
-        <size>
-         <width>80</width>
-         <height>16777215</height>
-        </size>
-       </property>
-       <property name="text">
-        <string>目的地</string>
-       </property>
-      </widget>
-     </item>
-     <item row="1" column="0">
-      <widget class="QLabel" name="label">
-       <property name="maximumSize">
-        <size>
-         <width>16777215</width>
-         <height>20</height>
-        </size>
-       </property>
-       <property name="text">
-        <string>x,y,z</string>
-       </property>
-      </widget>
-     </item>
-     <item row="1" column="1">
-      <widget class="QLineEdit" name="x">
-       <property name="maximumSize">
-        <size>
-         <width>150</width>
-         <height>16777215</height>
-        </size>
-       </property>
-       <property name="placeholderText">
-        <string>0</string>
-       </property>
-      </widget>
-     </item>
-     <item row="1" column="2">
-      <widget class="QLineEdit" name="y">
-       <property name="maximumSize">
-        <size>
-         <width>150</width>
-         <height>16777215</height>
-        </size>
-       </property>
-       <property name="placeholderText">
-        <string>0</string>
-       </property>
-      </widget>
-     </item>
-     <item row="1" column="3">
-      <widget class="QLineEdit" name="z">
-       <property name="maximumSize">
-        <size>
-         <width>150</width>
-         <height>16777215</height>
-        </size>
-       </property>
-       <property name="placeholderText">
-        <string>0</string>
-       </property>
-      </widget>
-     </item>
-    </layout>
-   </widget>
-   <widget class="QPushButton" name="finished">
-    <property name="geometry">
-     <rect>
-      <x>360</x>
-      <y>370</y>
-      <width>93</width>
-      <height>29</height>
-     </rect>
-    </property>
-    <property name="text">
-     <string>完成</string>
-    </property>
-   </widget>
-  </widget>
-  <widget class="QMenuBar" name="menuBar">
-   <property name="geometry">
-    <rect>
-     <x>0</x>
-     <y>0</y>
-     <width>871</width>
-     <height>26</height>
-    </rect>
-   </property>
-  </widget>
-  <widget class="QToolBar" name="mainToolBar">
-   <attribute name="toolBarArea">
-    <enum>TopToolBarArea</enum>
-   </attribute>
-   <attribute name="toolBarBreak">
-    <bool>false</bool>
-   </attribute>
-  </widget>
-  <widget class="QStatusBar" name="statusBar"/>
- </widget>
- <layoutdefault spacing="6" margin="11"/>
- <resources/>
- <connections/>
-</ui>

src/UAV_UI_new/UAV_UI_new/UAV_UI_new.cpp

@@ -1,6 +1,4 @@
 #include "UAV_UI_new.h"
-#include "Setting.h"
-#include "tips.h"
 #include <opencv2/opencv.hpp>
 #include <string.h>
 #include <qlabel.h>
@@ -8,17 +6,11 @@
 #include <QTcpServer>
 #include <QTcpSocket>
 #include <QMessageBox>
-#include <QJsonObject>
-#include <QJsonDocument>
 using namespace cv;
 using namespace std;
 VideoCapture cap;
-Prediction* Predict_UI;
-int length, wid, start_pos_x, start_pos_y, heig,slope,elevation;
-const string VideoCaptureAdress = "http://admin:admin@192.168.8.126:8081";
-//const string VideoCaptureAdress = "rtsp://192.168.144.108:8000/375897"; //ÈȳÉÏñ
-//const string VideoCaptureAdress = "rtsp://192.168.144.108:8000/165506"; //nomal
-//const string VideoCaptureAdress = "C:\\Users\\87334\\Videos\\Captures\\Fast_sent.mp4";
+//const string VideoCaptureAdress = "http://admin:admin@192.168.8.126:8081";
+const string VideoCaptureAdress = "C:\\Users\\87334\\Videos\\Captures\\Fast_sent.mp4";
 UAV_UI_new::UAV_UI_new(QWidget* parent)
     : QMainWindow(parent)
 {
@@ -26,10 +18,8 @@ UAV_UI_new::UAV_UI_new(QWidget* parent)
     timer = new QTimer(this);
     ui.display->setStyleSheet("border:1px solid black  ");
     ui.play_tag->setStyleSheet("background-color:white");
-    connect(ui.Settings, &QPushButton::clicked, this, &UAV_UI_new::onclick_Setting_button);
     connect(ui.connection, &QPushButton::clicked, this, &UAV_UI_new::on_connection_button);
     connect(ui.stop, &QPushButton::clicked, this, &UAV_UI_new::on_stop_button);
-    connect(ui.Prediction, &QPushButton::clicked, this, &UAV_UI_new::on_predict_button);
     connect(timer, SIGNAL(timeout()), this, SLOT(importImage()));
     tcpsocket = new QTcpSocket(this);
     tcpsocket->connectToHost("192.168.8.100", 9090);
@@ -42,43 +32,17 @@ UAV_UI_new::UAV_UI_new(QWidget* parent)
         tip->show();
         });
     connect(tcpsocket, &QTcpSocket::readyRead, [=]() {
-        QByteArray jsonData = tcpsocket->readAll(); // ½ÓÊÕ JSON Êý¾Ý
-        QJsonDocument jsonDocument = QJsonDocument::fromJson(jsonData);
-        QJsonObject jsonObject = jsonDocument.object();
-        QString type = jsonObject.value("type").toString();        
-        if (type == "Alarming") {
-            QPixmap image_Pre(":/Fire.png");
-            tips* tip = new tips(image_Pre);
-            tip->show();
-            ui.Prediction->setStyleSheet("color:red");
-            length = jsonObject.value("length").toDouble();
-            wid = jsonObject.value("width").toDouble();
-            qDebug() << jsonObject.value("center_x").toDouble() << jsonObject.value("length").toDouble() / 2;
-            start_pos_x = jsonObject.value("center_x").toDouble() - jsonObject.value("length").toDouble() / 2;
-            start_pos_y = jsonObject.value("center_y").toDouble() - jsonObject.value("width").toDouble() / 2;
-            qDebug() << start_pos_x << " " << start_pos_y << "mAIN";
-            slope = jsonObject.value("slope").toDouble();
-            elevation = jsonObject.value("slope").toDouble();
-        }
-        if (type == "Set") {
-            heig = jsonObject.value("z").toInt();
-        }
+        QString message = tcpsocket->readAll();
+        ui.message->setText(message);
         });
-    QString styleSheet = QString("background-image:url(:/background_3.png);\
-        background-repeat:no-repeat;background-position:center;").arg(QCoreApplication::applicationDirPath());
-    this->setStyleSheet(styleSheet);
-    this->resize(1440, 720);
 }
 
 UAV_UI_new::~UAV_UI_new()
 {}
 void UAV_UI_new::on_connection_button() {
     cap.open(VideoCaptureAdress);
-    timer->start(100);
+    timer->start(10);
 };
-void UAV_UI_new::onclick_Setting_button() {
-    Settings_UI.show();
-}
 void UAV_UI_new::importImage() {
     Mat image;
     cap >> image;
@@ -90,15 +54,9 @@ void UAV_UI_new::importImage() {
         image.step,
         QImage::Format_RGB888));
     ui.display->setPixmap(showimage);
-    image_Pre = showimage;
 }
 void UAV_UI_new::on_stop_button() {
     timer->stop();
     cap.release();
     ui.display->clear();
 }
-void UAV_UI_new::on_predict_button() {
-    QPixmap image_Pre(":/Fire.png");
-    Predict_UI = new Prediction(image_Pre, start_pos_x,start_pos_y,length,wid,100);
-    Predict_UI->show();
-}

src/UAV_UI_new/UAV_UI_new/UAV_UI_new.h

@@ -2,8 +2,6 @@
 
 #include <QtWidgets/QMainWindow>
 #include "ui_UAV_UI_new.h"
-#include "Setting.h"
-#include "Prediction.h"
 #include <QTimer>
 #include <qpushbutton.h>
 #include <QPushbutton>
@@ -25,13 +23,8 @@ private:
     double rate;
     QTcpServer* tcpserver;
     QTcpSocket* tcpsocket;
-    Setting Settings_UI;
-    QPixmap image_Pre;
-
 private slots:
     void on_connection_button();
     void on_stop_button();
     void importImage();
-    void onclick_Setting_button();
-    void on_predict_button();
 };

src/UAV_UI_new/UAV_UI_new/UAV_UI_new.qrc

@@ -1,9 +1,4 @@
 <RCC>
-    <qresource prefix="/">
-	<file>background_1.png</file>
-	<file>background_2.png</file>
-	<file>background_3.png</file>
-	<file>Fire.png</file>
-	<file>kill_fire.jpg</file>
+    <qresource prefix="UAV_UI_new">
     </qresource>
 </RCC>

src/UAV_UI_new/UAV_UI_new/UAV_UI_new.ui

@@ -6,22 +6,10 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>1440</width>
-    <height>1000</height>
+    <width>1159</width>
+    <height>682</height>
    </rect>
   </property>
-  <property name="minimumSize">
-   <size>
-    <width>0</width>
-    <height>0</height>
-   </size>
-  </property>
-  <property name="maximumSize">
-   <size>
-    <width>1440</width>
-    <height>1200</height>
-   </size>
-  </property>
   <property name="windowTitle">
    <string>UAV_UI_new</string>
   </property>
@@ -76,7 +64,7 @@
      </rect>
     </property>
     <property name="text">
-     <string>关闭图像</string>
+     <string>stop</string>
     </property>
    </widget>
    <widget class="QPushButton" name="connection">
@@ -89,7 +77,7 @@
      </rect>
     </property>
     <property name="text">
-     <string>连接图像</string>
+     <string>connection</string>
     </property>
    </widget>
    <widget class="QLabel" name="play_tag">
@@ -102,46 +90,20 @@
      </rect>
     </property>
     <property name="text">
-     <string>实时图像</string>
-    </property>
-   </widget>
-   <widget class="QPushButton" name="Settings">
-    <property name="geometry">
-     <rect>
-      <x>1350</x>
-      <y>0</y>
-      <width>93</width>
-      <height>29</height>
-     </rect>
-    </property>
-    <property name="text">
-     <string>设置</string>
-    </property>
-   </widget>
-   <widget class="QPushButton" name="action">
-    <property name="geometry">
-     <rect>
-      <x>820</x>
-      <y>200</y>
-      <width>93</width>
-      <height>29</height>
-     </rect>
-    </property>
-    <property name="text">
-     <string>出警</string>
+     <string>图像播放处</string>
     </property>
    </widget>
-   <widget class="QPushButton" name="Prediction">
+   <widget class="QLabel" name="message">
     <property name="geometry">
      <rect>
-      <x>820</x>
-      <y>260</y>
-      <width>93</width>
-      <height>29</height>
+      <x>830</x>
+      <y>250</y>
+      <width>201</width>
+      <height>151</height>
      </rect>
     </property>
     <property name="text">
-     <string>预测</string>
+     <string>TextLabel</string>
     </property>
    </widget>
   </widget>
@@ -150,7 +112,7 @@
     <rect>
      <x>0</x>
      <y>0</y>
-     <width>1440</width>
+     <width>1159</width>
      <height>26</height>
     </rect>
    </property>

src/UAV_UI_new/UAV_UI_new/UAV_UI_new.vcxproj

@@ -92,13 +92,9 @@
   </ItemDefinitionGroup>
   <ItemGroup>
     <QtRcc Include="UAV_UI_new.qrc" />
-    <QtUic Include="Prediction.ui" />
-    <QtUic Include="Setting.ui" />
     <QtUic Include="tips.ui" />
     <QtUic Include="UAV_UI_new.ui" />
     <QtMoc Include="UAV_UI_new.h" />
-    <ClCompile Include="Prediction.cpp" />
-    <ClCompile Include="Setting.cpp" />
     <ClCompile Include="tips.cpp" />
     <ClCompile Include="UAV_UI_new.cpp" />
     <ClCompile Include="main.cpp" />
@@ -106,21 +102,6 @@
   <ItemGroup>
     <QtMoc Include="tips.h" />
   </ItemGroup>
-  <ItemGroup>
-    <QtMoc Include="Prediction.h" />
-    <ClInclude Include="FP.h" />
-    <ClInclude Include="levelToSpeed.h" />
-    <ClInclude Include="resource1.h" />
-    <QtMoc Include="Setting.h" />
-  </ItemGroup>
-  <ItemGroup>
-    <ResourceCompile Include="UAV_UI_new1.rc" />
-  </ItemGroup>
-  <ItemGroup>
-    <Image Include="background.jpg" />
-    <Image Include="Settings.jpg" />
-    <Image Include="Settings_2.jpg" />
-  </ItemGroup>
   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
   <ImportGroup Condition="Exists('$(QtMsBuild)\qt.targets')">
     <Import Project="$(QtMsBuild)\qt.targets" />

src/UAV_UI_new/UAV_UI_new/UAV_UI_new.vcxproj.filters

@@ -43,60 +43,15 @@
     <ClCompile Include="tips.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="Setting.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
-    <ClCompile Include="Prediction.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
   </ItemGroup>
   <ItemGroup>
     <QtMoc Include="tips.h">
       <Filter>Header Files</Filter>
     </QtMoc>
-    <QtMoc Include="Setting.h">
-      <Filter>Header Files</Filter>
-    </QtMoc>
-    <QtMoc Include="Prediction.h">
-      <Filter>Header Files</Filter>
-    </QtMoc>
   </ItemGroup>
   <ItemGroup>
     <QtUic Include="tips.ui">
       <Filter>Form Files</Filter>
     </QtUic>
-    <QtUic Include="Setting.ui">
-      <Filter>Form Files</Filter>
-    </QtUic>
-    <QtUic Include="Prediction.ui">
-      <Filter>Form Files</Filter>
-    </QtUic>
-  </ItemGroup>
-  <ItemGroup>
-    <ClInclude Include="resource1.h">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="levelToSpeed.h">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="FP.h">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-  </ItemGroup>
-  <ItemGroup>
-    <ResourceCompile Include="UAV_UI_new1.rc">
-      <Filter>Resource Files</Filter>
-    </ResourceCompile>
-  </ItemGroup>
-  <ItemGroup>
-    <Image Include="background.jpg">
-      <Filter>Resource Files</Filter>
-    </Image>
-    <Image Include="Settings.jpg">
-      <Filter>Resource Files</Filter>
-    </Image>
-    <Image Include="Settings_2.jpg">
-      <Filter>Resource Files</Filter>
-    </Image>
   </ItemGroup>
 </Project>

src/UAV_UI_new/UAV_UI_new/UAV_UI_new.vcxproj.user

@@ -2,9 +2,9 @@
 <Project ToolsVersion="Current" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
   <PropertyGroup />
   <PropertyGroup Label="QtSettings" Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
-    <QtLastBackgroundBuild>2023-06-14T08:40:27.1306328Z</QtLastBackgroundBuild>
+    <QtLastBackgroundBuild>2023-04-13T07:12:41.7498212Z</QtLastBackgroundBuild>
   </PropertyGroup>
   <PropertyGroup Label="QtSettings" Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
-    <QtLastBackgroundBuild>2023-06-14T08:40:27.2066207Z</QtLastBackgroundBuild>
+    <QtLastBackgroundBuild>2023-04-13T07:12:41.8188628Z</QtLastBackgroundBuild>
   </PropertyGroup>
 </Project>

src/UAV_UI_new/UAV_UI_new/main.cpp

@@ -1,9 +1,5 @@
 #include "UAV_UI_new.h"
 #include <QtWidgets/QApplication>
-#include <opencv2/opencv.hpp>
-#include <string.h>
-using namespace std;
-using namespace cv;
 
 int main(int argc, char *argv[])
 {

src/UAV_UI_new/UAV_UI_new/resource.h

@@ -1,14 +0,0 @@
-//{{NO_DEPENDENCIES}}
-// Microsoft Visual C++ generated include file.
-// Used by UAV_UI_new.rc
-
-// 新对象的下一组默认值
-// 
-#ifdef APSTUDIO_INVOKED
-#ifndef APSTUDIO_READONLY_SYMBOLS
-#define _APS_NEXT_RESOURCE_VALUE        101
-#define _APS_NEXT_COMMAND_VALUE         40001
-#define _APS_NEXT_CONTROL_VALUE         1001
-#define _APS_NEXT_SYMED_VALUE           101
-#endif
-#endif

src/UAV_UI_new/UAV_UI_new/resource1.h

@@ -1,14 +0,0 @@
-//{{NO_DEPENDENCIES}}
-// Microsoft Visual C++ generated include file.
-// Used by UAV_UI_new1.rc
-
-// 新对象的下一组默认值
-// 
-#ifdef APSTUDIO_INVOKED
-#ifndef APSTUDIO_READONLY_SYMBOLS
-#define _APS_NEXT_RESOURCE_VALUE        101
-#define _APS_NEXT_COMMAND_VALUE         40001
-#define _APS_NEXT_CONTROL_VALUE         1001
-#define _APS_NEXT_SYMED_VALUE           101
-#endif
-#endif

src/UAV_UI_new/UAV_UI_new/tips.cpp

@@ -1,20 +1,10 @@
 #include "tips.h"
 
-tips::tips(QPixmap image,QWidget *parent)
+tips::tips(QWidget *parent)
 	: QMainWindow(parent)
 {
 	ui.setupUi(this);
-	ui.display->setPixmap(image);
-	connect(ui.action, &QPushButton::clicked, this, &tips::on_action_button);
-	ui.action->setStyleSheet("background-color:red;");
-	QString styleSheet = QString("background-image:url(:/kill_fire.jpg);\
-        background-repeat:no-repeat;background-position:center;").arg(QCoreApplication::applicationDirPath());
-	this->setStyleSheet(styleSheet);
 }
 
 tips::~tips()
-{
-}
-void tips::on_action_button() {
-	//·Å¾¯±¨
-}
+{}

src/UAV_UI_new/UAV_UI_new/tips.h

@@ -8,10 +8,9 @@ class tips : public QMainWindow
 	Q_OBJECT
 
 public:
-	tips(QPixmap image, QWidget *parent = nullptr);
+	tips(QWidget *parent = nullptr);
 	~tips();
 
 private:
 	Ui::tipsClass ui;
-	void on_action_button();
 };

src/UAV_UI_new/UAV_UI_new/tips.ui

@@ -1,107 +1,22 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
+<UI version="4.0" >
  <class>tipsClass</class>
- <widget class="QMainWindow" name="tipsClass">
-  <property name="geometry">
+ <widget class="QMainWindow" name="tipsClass" >
+  <property name="objectName" >
+   <string notr="true">tipsClass</string>
+  </property>
+  <property name="geometry" >
    <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>1130</width>
-    <height>644</height>
+	<x>0</x>
+	<y>0</y>
+	<width>600</width>
+	<height>400</height>
    </rect>
   </property>
-  <property name="minimumSize">
-   <size>
-    <width>1130</width>
-    <height>644</height>
-   </size>
-  </property>
-  <property name="maximumSize">
-   <size>
-    <width>1130</width>
-    <height>644</height>
-   </size>
-  </property>
-  <property name="windowTitle">
+  <property name="windowTitle" >
    <string>tips</string>
-  </property>
-  <widget class="QWidget" name="centralWidget">
-   <widget class="QLabel" name="Pre_tag">
-    <property name="geometry">
-     <rect>
-      <x>19</x>
-      <y>6</y>
-      <width>81</width>
-      <height>31</height>
-     </rect>
-    </property>
-    <property name="text">
-     <string>火势状况</string>
-    </property>
-   </widget>
-   <widget class="QLabel" name="display">
-    <property name="enabled">
-     <bool>true</bool>
-    </property>
-    <property name="geometry">
-     <rect>
-      <x>20</x>
-      <y>30</y>
-      <width>640</width>
-      <height>480</height>
-     </rect>
-    </property>
-    <property name="minimumSize">
-     <size>
-      <width>640</width>
-      <height>480</height>
-     </size>
-    </property>
-    <property name="maximumSize">
-     <size>
-      <width>640</width>
-      <height>480</height>
-     </size>
-    </property>
-    <property name="text">
-     <string/>
-    </property>
-   </widget>
-   <widget class="QPushButton" name="action">
-    <property name="geometry">
-     <rect>
-      <x>830</x>
-      <y>40</y>
-      <width>93</width>
-      <height>29</height>
-     </rect>
-    </property>
-    <property name="text">
-     <string>出警</string>
-    </property>
-   </widget>
-  </widget>
-  <widget class="QMenuBar" name="menuBar">
-   <property name="geometry">
-    <rect>
-     <x>0</x>
-     <y>0</y>
-     <width>1130</width>
-     <height>26</height>
-    </rect>
-   </property>
-  </widget>
-  <widget class="QToolBar" name="mainToolBar">
-   <attribute name="toolBarArea">
-    <enum>TopToolBarArea</enum>
-   </attribute>
-   <attribute name="toolBarBreak">
-    <bool>false</bool>
-   </attribute>
-  </widget>
-  <widget class="QStatusBar" name="statusBar"/>
+  </property>  <widget class="QMenuBar" name="menuBar" />  <widget class="QToolBar" name="mainToolBar" />  <widget class="QWidget" name="centralWidget" />  <widget class="QStatusBar" name="statusBar" />
  </widget>
- <layoutdefault spacing="6" margin="11"/>
- <resources/>
+ <layoutDefault spacing="6" margin="11" />
+ <pixmapfunction></pixmapfunction>
  <connections/>
-</ui>
+</UI>

src/UAV_UI_new/UAV_UI_new/x64/Debug/UAV_UI_new.log

@@ -1,25 +1,8 @@
-  uic tips.ui
-  rcc UAV_UI_new.qrc
-  UAV_UI_new.cpp
-  tips.cpp
-D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x249 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。
-D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\tips.cpp(1,1): warning C4828: 文件包含在偏移 0x229 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。
-D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x24b 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。
-D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x24c 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。
-D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\tips.cpp(1,1): warning C4828: 文件包含在偏移 0x22c 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。
-D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x24e 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。
-D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x6a3 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。
-D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\tips.cpp(1,1): warning C4828: 文件包含在偏移 0x22d 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。
-D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x6a4 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。
-D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\tips.cpp(1,1): warning C4828: 文件包含在偏移 0x22e 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。
-D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x6a5 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。
-D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x6aa 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。
-D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x7b1 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。
-D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x7b2 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。
-D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x7b4 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。
-D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x7bb 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。
-D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x7bd 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。
-D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x7be 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。
-  moc_tips.cpp
-  qrc_UAV_UI_new.cpp
+  UAV_UI_new.cpp
+  main.cpp
+D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x48f 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。
+D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x490 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。
+D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x491 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。
+D:\software\UAV_UI\UAV_UI_new\UAV_UI_new\UAV_UI_new.cpp(1,1): warning C4828: 文件包含在偏移 0x496 处开始的字符，该字符在当前源字符集中无效(代码页 65001)。
+  moc_UAV_UI_new.cpp
   UAV_UI_new.vcxproj -> D:\software\UAV_UI\UAV_UI_new\x64\Debug\UAV_UI_new.exe