统一格式

src/Screenshot/Audio_record.py

@@ -0,0 +1,133 @@
+import time
+import wave
+from pathlib import Path
+from threading import Thread
+
+from pyaudio import PyAudio, paInt16, paContinue, paComplete
+
+
+class AudioRecord(PyAudio):
+
+    def __init__(self, channels=2):
+        super().__init__()
+        self.chunk = 1024  # 每个缓冲区的帧数
+        self.format_sample = paInt16  # 采样位数
+        self.channels = channels  # 声道： 1，单声道；2，双声道
+        self.fps = 44100  # 采样频率
+        self.input_dict = None
+        self.output_dict = None
+        self.stream = None
+        self.filename = '~test.wav'
+        self.wf = None
+        self.stop_flag = False
+        self.kill = False
+
+    def callback_input(self, in_data, frame_count, time_info, status):
+        """录制回调函数"""
+        self.wf.writeframes(in_data)
+        if not self.stop_flag:
+            return (in_data, paContinue)
+        else:
+            return (in_data, paComplete)
+
+    def callback_output(self, in_data, frame_count, time_info, status):
+        """播放回调函数"""
+        data = self.wf.readframes(frame_count)
+        return (data, paContinue)
+
+    def open_stream(self, name):
+        """打开录制流"""
+        input_device_index = self.get_device_index(name, True) if name else None
+        return self.open(format=self.format_sample,
+                         channels=self.channels,
+                         rate=self.fps,
+                         frames_per_buffer=self.chunk,
+                         input=True,
+                         input_device_index=input_device_index,
+                         stream_callback=self.callback_input
+                         )
+
+    def audio_record_run(self, name=None):
+        """音频录制"""
+        self.wf = self.save_audio_file(self.filename)
+        self.stream = self.open_stream(name)
+        self.stream.start_stream()
+        while self.stream.is_active():
+            time.sleep(0.1)
+        self.wf.close()
+        if self.kill:
+            Path(self.filename).unlink()
+        self.duration = self.get_duration()
+        self.terminate_run()
+
+    def run(self, filename=None, name=None, record=True):
+        """音频录制启动"""
+        if record:
+            if filename:
+                self.filename = filename
+            thread_1 = Thread(target=self.audio_record_run, args=(name,))
+        else:
+            if not filename:
+                raise Exception('未输入音频文件名，不能播放，请输入后再试！')
+            thread_1 = Thread(target=self.read_audio, args=(filename, name,))
+        thread_1.start()
+
+    def read_audio(self, filename, name=None):
+        """音频播放"""
+        output_device_index = self.get_device_index(name, False) if name else None
+        with wave.open(filename, 'rb') as self.wf:
+            # 获取音频长度
+            self.duration = self.get_duration()
+            self.stream = self.open(format=self.get_format_from_width(self.wf.getsampwidth()),
+                                    channels=self.wf.getnchannels(),
+                                    rate=self.wf.getframerate(),
+                                    output=True,
+                                    output_device_index=output_device_index,
+                                    stream_callback=self.callback_output
+                                    )
+            self.stream.start_stream()
+            while self.stream.is_active():
+                time.sleep(0.1)
+        print(self.duration)
+        self.terminate_run()
+
+    def get_duration(self):
+        """获取音频时长"""
+        return round(self.wf.getnframes() / self.wf.getframerate(), 2)
+
+    def get_in_out_devices(self):
+        """获取系统输入输出设备"""
+        self.input_dict = {}
+        self.output_dict = {}
+        for i in range(self.get_device_count()):
+            devinfo = self.get_device_info_by_index(i)
+            if not devinfo['hostApi'] and int(devinfo['defaultSampleRate']) == self.fps \
+                    and '映射器' not in devinfo['name']:
+                if devinfo['maxInputChannels']:
+                    self.input_dict[devinfo['name'].split(' ')[0]] = i
+                elif devinfo['maxOutputChannels']:
+                    self.output_dict[devinfo['name'].split(' ')[0]] = i
+
+    def get_device_index(self, name, inp=True):
+        """获取选定设备索引"""
+        if inp and self.input_dict:
+            return self.input_dict.get(name, -1)
+        elif not inp and self.output_dict:
+            return self.output_dict.get(name, -1)
+
+    def save_audio_file(self, filename):
+        """音频文件保存"""
+        wf = wave.open(filename, 'wb')
+        wf.setnchannels(self.channels)
+        wf.setsampwidth(self.get_sample_size(self.format_sample))
+        wf.setframerate(self.fps)
+        return wf
+
+    def terminate_run(self):
+        """结束流录制或流播放"""
+        if self.stream is not None:
+            self.stream.stop_stream()
+            self.stream.close()
+        self.stream = None
+        self.wf = None
+        self.terminate()

src/Screenshot/README.md

@@ -0,0 +1,39 @@
+# 使用python动手做一个屏幕录制工具  
+
+*更新日期：2022-04-20*  
+> windows 10  
+> python 3.7
+
+- Screeshot_Gui.exe [58.5M] [下载地址](https://github.com/lk-itween/FunnyCodeRepository/releases/download/Screenshot_Gui/Screenshot_Gui.exe)  
+先将ffmpeg.exe压缩成7z格式，再一并打包进入exe文件中，且使用pyinstaller打包，生成文件较大  
+
+- Screenshot_Gui.py  
+pyqt5制作的屏幕录制窗口，窗口程序入口
+
+- Screenshot_record.py  
+使用ffmpeg工具，利用python调用ffmpeg命令行来录制屏幕
+
+- Audio_record.py  
+pyaudio读取可录制音频设备，设定需要使用的设备进行录制音频
+
+- Screenshot_record_with_cv2.py  
+使用opencv-python录制视频并保存
+
+- Screenshot_test.py  
+无窗口化测试联动屏幕录制及音频录制，保持音视频同时录制和同时停止录制
+
+- resource
+保存程序运行过程中需要使用到的程序或图片
+
+- requirements.txt  
+已将所需模块放在requirements.txt中，可直接pip install -r requirements.txt下载安装。  
+
+- PyAudio-0.2.11-cp37-cp37m-win_amd64.whl  
+python3.7环境的PyAudio的轮子  
+
+
+**ps:**  
+*1. ffmpeg.exe 请至此https://www.gyan.dev/ffmpeg/builds/#release-builds 下载符合的版本，并解压将bin下的ffmpeg.exe移动到resource文件夹下*  
+*2. 如果PyAudio包不能使用pip在线安装，python3.7环境请下载PyAudio-0.2.11-cp37-cp37m-win_amd64.whl至本地，在该路径下打开cmd窗口，执行pip install 该whl文件*  
+*3. 其他python环境可在https://www.lfd.uci.edu/~gohlke/pythonlibs/#pyaudio 下自行安装对应版本的whl文件*  
+

src/Screenshot/Screenshot_Gui.py

@@ -0,0 +1,360 @@
+# -*- coding: utf-8 -*-
+
+# Form implementation generated from reading ui file 'Screenshot_GUI.ui'
+#
+# Created by: PyQt5 UI code generator 5.15.4
+#
+# WARNING: Any manual changes made to this file will be lost when pyuic5 is
+# run again.  Do not edit this file unless you know what you are doing.
+import sys
+import os
+
+sys.path.append(os.path.dirname(os.path.abspath(__file__)) + "/../../PaddleClas-release-2.3")
+import shutil
+
+from datetime import datetime
+from pathlib import Path
+
+from PIL import ImageGrab
+from PyQt5.QtCore import QRect, Qt, QPoint, QMetaObject, QThread
+from PyQt5.QtGui import QIcon, QFont, QColor, QImage, QPixmap, QPen, QPainter
+from PyQt5.QtWidgets import (QMainWindow, QApplication, QDesktopWidget, QWidget, QFrame,
+                             QLabel, QPushButton, QComboBox, QCheckBox, QSpinBox, QDialog, QFileDialog, QMessageBox)
+from py7zr import pack_7zarchive, unpack_7zarchive
+
+from Screenshot.Audio_record import AudioRecord
+from Screenshot.Screenshot_record import Screenshot, file_path
+
+
+def unpack_7zip_to_exe(filename):
+    file_basename = Path(file_path(f'{filename}.exe'))
+    if file_basename.exists():
+        return True
+    elif file_basename.with_suffix('.7z').exists():
+        shutil.unpack_archive(file_basename.with_suffix('.7z'), file_basename.parent)
+        return unpack_7zip_to_exe(file_basename.stem)
+    else:
+        return False
+
+class Thread_screenshot(QThread):
+
+    def __init__(self):
+        super().__init__()
+        self.offset_x = 0
+        self.offset_y = 0
+        self.draw_mouse = 1
+        self.filename = ''
+        self.screen = Screenshot()
+
+    def config_modify(self, **kwargs):
+        self.screen.width = kwargs.get('width', self.screen.width)
+        self.screen.height = kwargs.get('height', self.screen.height)
+        self.screen.fps = kwargs.get('fps', self.screen.fps)
+        self.offset_x = kwargs.get('offset_x', self.offset_x)
+        self.offset_y = kwargs.get('offset_y', self.offset_y)
+        self.draw_mouse = kwargs.get('draw_mouse', self.draw_mouse)
+        self.filename = kwargs.get('filename', self.filename)
+
+    def compose(self):
+        video = self.filename + '.mp4'
+        audio = self.filename + '.mp3'
+        self.screen.compose_audio(video, audio, video.replace('缓存', ''))
+        QThread.sleep(1)
+        self.stop()
+        Path(audio).unlink()
+        Path(video).unlink()
+
+    def run(self):
+        if not self.filename:
+            raise Exception('请输入filename!')
+        filename = self.filename + '.mp4'
+        self.screen.record(filename, self.offset_x, self.offset_y, self.draw_mouse)
+
+    def stop(self):
+        self.screen.terminate()
+
+
+class Ui_MainWindow1(QMainWindow):
+    """主体窗口设置"""
+
+    def __init__(self):
+        super().__init__()
+        self.setObjectName("MainWindow")
+        self.setWindowTitle('屏幕录制')
+        windowico = file_path('gui_svg.svg')
+        self.setWindowIcon(QIcon(windowico))
+        self.resize(512, 352)
+        self.setFixedSize(512, 352)
+        self._dir = '.'
+        self.fname = ''
+        self.offset_x, self.offset_y = 0, 0
+        self.screen_x, self.screen_y = ImageGrab.grab().size
+        self.audio = AudioRecord()
+        self.audio.get_in_out_devices()
+        self.device_name = None
+        self.record_audio = True if self.audio.input_dict else False
+        self.hotkey_start = False
+        self.screenshot = Thread_screenshot()
+        self.setupUi()
+        ffmpeg_exists = unpack_7zip_to_exe('ffmpeg')
+        if not ffmpeg_exists:
+            QMessageBox.warning(self, '请下载ffmpeg！', '请将ffmpeg.exe放在resource目录下再录制！')
+        self.show()
+
+    def setupUi(self):
+        self.centralwidget = QWidget(self)
+        self.centralwidget.setObjectName("centralwidget")
+        self.label0 = QLabel(self.centralwidget)
+        self.label0.setGeometry(QRect(0, 0, 421, 351))
+        self.label0.setObjectName("scrollArea")
+        # 添加边框
+        self.label0.setFrameShape(QFrame.Box)
+        self.label0.setFrameShadow(QFrame.Sunken)
+        self.get_screen_grab((0, 0, self.screen_x, self.screen_y))
+        self.label0.setAlignment(Qt.AlignCenter)
+        self.label_1 = QLabel(self.centralwidget)
+        font = QFont()
+        font.setBold(True)
+        self.label_1.setGeometry(QRect(430, 0, 85, 31))
+        self.label_1.setTextFormat(Qt.AutoText)
+        self.label_1.setFont(font)
+        self.label_1.setScaledContents(True)
+        self.label_1.setObjectName("屏幕录制器")
+        self.label_6 = QLabel(self.centralwidget)
+        self.label_6.setGeometry(QRect(430, 20, 85, 31))
+        self.label_6.setTextFormat(Qt.AutoText)
+        self.label_6.setScaledContents(True)
+        self.label_6.setObjectName("注释1")
+        self.checkbox = QCheckBox(self.centralwidget)
+        self.checkbox.setGeometry(QRect(430, 100, 85, 20))
+        self.checkbox.setChecked(True)
+        self.checkbox.stateChanged.connect(self.mouse_draw)
+        self.checkbox.setObjectName("录制鼠标")
+        self.comboBox = QComboBox(self.centralwidget)
+        self.comboBox.setGeometry(QRect(430, 200, 85, 20))
+        self.comboBox.setEditable(False)
+        self.comboBox.addItems(self.audio.input_dict.keys())
+        self.comboBox.addItems(['无'])
+        self.comboBox.setMaxVisibleItems(9)
+        self.comboBox.currentTextChanged.connect(self.change_combox)
+        self.comboBox.setObjectName("音频来源")
+        self.comboBox_3 = QComboBox(self.centralwidget)
+        self.comboBox_3.setGeometry(QRect(430, 260, 80, 20))
+        self.comboBox_3.addItems(['双声道', '单声道'])
+        self.comboBox_3.currentIndexChanged.connect(self.change_combox)
+        self.comboBox_3.setObjectName("声道设置")
+        self.pushButton = QPushButton(self.centralwidget)
+        self.pushButton.setGeometry(QRect(470, 320, 41, 31))
+        self.pushButton.clicked.connect(self.stop)
+        self.pushButton.setObjectName("停止")
+        self.pushButton_2 = QPushButton(self.centralwidget)
+        self.pushButton_2.setGeometry(QRect(430, 320, 41, 31))
+        self.pushButton_2.setObjectName("开始")
+        self.pushButton_2.clicked.connect(self.start)
+        self.pushButton_3 = QPushButton(self.centralwidget)
+        self.pushButton_3.setGeometry(QRect(430, 290, 80, 23))
+        self.pushButton_3.setObjectName("保存目录")
+        self.pushButton_3.clicked.connect(self.open_dirpath)
+        self.pushButton_4 = QPushButton(self.centralwidget)
+        self.pushButton_4.setGeometry(QRect(430, 70, 80, 23))
+        self.pushButton_4.setCheckable(True)
+        self.pushButton_4.setObjectName("Size")
+        self.pushButton_4.clicked.connect(self.get_screen_area)
+        self.spinBox = QSpinBox(self.centralwidget)
+        self.spinBox.setValue(15)
+        self.spinBox.setRange(10, 60)
+        self.spinBox.setGeometry(QRect(430, 145, 80, 20))
+        self.spinBox.valueChanged.connect(self.screen_fps_mofify)
+        self.spinBox.setObjectName("spinBox")
+        self.label_2 = QLabel(self.centralwidget)
+        self.label_2.setGeometry(QRect(430, 50, 54, 16))
+        self.label_2.setTextFormat(Qt.AutoText)
+        self.label_2.setObjectName("选择区域")
+        self.label_3 = QLabel(self.centralwidget)
+        self.label_3.setGeometry(QRect(430, 125, 54, 16))
+        self.label_3.setObjectName("帧率")
+        self.label_4 = QLabel(self.centralwidget)
+        self.label_4.setGeometry(QRect(430, 240, 54, 16))
+        self.label_4.setObjectName("声道设置")
+        self.label_5 = QLabel(self.centralwidget)
+        self.label_5.setGeometry(QRect(430, 180, 54, 16))
+        self.label_5.setObjectName("音频来源")
+        self.setCentralWidget(self.centralwidget)
+
+        self.retranslateUi()
+        QMetaObject.connectSlotsByName(self)
+
+    def retranslateUi(self):
+        self.pushButton.setText("停止")
+        self.pushButton_2.setText("开始")
+        self.pushButton_3.setText("保存目录")
+        self.pushButton_4.setText("Size*Size")
+        self.checkbox.setText("录制鼠标")
+        self.label_1.setText("屏幕录制器")
+        self.label_2.setText("选择区域：")
+        self.label_3.setText("帧率：")
+        self.label_4.setText("声道设置：")
+        self.label_5.setText("音频来源：")
+        self.label_6.setText("F7：开始/停止")
+
+    def keyPressEvent(self, event):
+        """监测键盘是否按下F3，如果已开始录制则停止，否则开始录制"""
+        if event.key() == Qt.Key_F7:
+            if not self.hotkey_start:
+                self.start()
+            else:
+                self.stop()
+
+    def change_combox(self, event):
+        sendername = self.sender().objectName()
+        if sendername == '声道设置':
+            self.channels = 2 if event == 0 else 1
+        elif sendername == '音频来源':
+            if event == '无':
+                self.record_audio = False
+            else:
+                self.record_audio = True
+                self.device_name = event
+
+    def get_screen_grab(self, crop_size):
+        # 获取屏幕截图并更新至self.label0中
+        screen = ImageGrab.grab().convert('RGBA')
+        screen = screen.crop(box=crop_size)  # box=(left, upper, right, lower)
+        data = screen.tobytes("raw", "RGBA")
+        qim = QImage(data, screen.size[0], screen.size[1], QImage.Format_RGBA8888)
+        pix = QPixmap.fromImage(qim).scaled(self.label0.size(), aspectRatioMode=Qt.KeepAspectRatio)
+        pix.detach()  # QPixmap为另开线程操作的，避免程序崩溃，使用detach方法使用一个QImage对象直到QPixmap对象销毁
+        self.label0.setPixmap(pix)
+        self.label0.repaint()
+        return screen.size
+
+    def get_screen_area(self):
+        # 获取截图区间
+        SizeScreen = MousePaint()
+        SizeScreen.exec_()
+        self.offset_x, self.offset_y = SizeScreen.lastpoint
+        end_x, end_y = SizeScreen.endpoint
+        self.screen_x, self.screen_y = self.get_screen_grab((self.offset_x, self.offset_y, end_x, end_y))
+        self.screenshot.config_modify(offset_x=self.offset_x, offset_y=self.offset_y,
+                                      width=self.screen_x, height=self.screen_y)
+        self.pushButton_4.setText(f'{self.screen_x}*{self.screen_y}')
+
+    def screen_fps_mofify(self, fps):
+        self.screenshot.config_modify(fps=fps)
+
+    def mouse_draw(self, checked):
+        draw_mouse = 1 if checked else 0
+        self.screenshot.config_modify(draw_mouse=draw_mouse)
+
+    def open_dirpath(self):
+        fdir = QFileDialog.getExistingDirectory(self, '选择目录', self._dir)
+        if not fdir:
+            return None
+        self._dir = fdir
+        self.set_filename()
+
+    def set_filename(self):
+        self.fname = f'{self._dir}/屏幕录制缓存_{int(datetime.now().replace(microsecond=0).timestamp())}'
+        self.screenshot.config_modify(filename=self.fname)
+        self.audio = AudioRecord()
+        self.setWindowTitle(f'屏幕录制 {self.fname}')
+
+    def start(self):
+        if self.hotkey_start:
+            return
+        if not self.fname:
+            QMessageBox.warning(self, '请选择保存目录！', '请选择保存目录！')
+            return
+        self.screenshot.start()
+        if self.record_audio:
+            self.audio.stop_flag = False
+            self.audio.run(filename=self.fname + '.mp3', name=self.device_name)
+        self.hotkey_start = True
+
+    def stop(self):
+        if not self.hotkey_start:
+            return
+        self.audio.stop_flag = True
+        self.hotkey_start = False
+        self.screenshot.stop()
+        if self.record_audio:
+            self.screenshot.compose()
+        else:
+            filename = self.fname + '.mp4'
+            target = filename.replace('缓存', '')
+            Path(filename).replace(target)
+        self.set_filename()
+
+
+class MousePaint(QDialog):
+    """移动鼠标获取屏幕捕获范围"""
+
+    def __init__(self):
+        super().__init__()
+        self.setMouseTracking(True)
+        # 设置窗口布满整个屏幕
+        self.showFullScreen()
+        # 设置窗体无边框
+        self.setWindowFlags(Qt.FramelessWindowHint)  # 窗口置顶，无边框
+        # 设置背景透明
+        self.setWindowOpacity(0.5)
+        self.initUI()
+        self.setFocus()
+
+    def initUI(self):
+        self.setGeometry(*(QDesktopWidget().screenGeometry()).getRect())
+        self.pix = QPixmap()
+        self.lastpoint = QPoint()
+        self.endpoint = QPoint()
+        self.pos = None
+        self.bline = 0
+
+    def mousePressEvent(self, event):
+        # 监听鼠标按压事件
+        if event.button() == Qt.LeftButton:
+            self.lastpoint = event.x(), event.y()
+            self.bline = 1
+        elif event.button() == Qt.RightButton:
+            self.close()
+        event.accept()
+
+    def mouseReleaseEvent(self, event):
+        # 监听鼠标释放事件
+        self.endpoint = event.x(), event.y()
+        self.bline = 0
+        event.accept()
+        self.close()
+
+    def mouseMoveEvent(self, event):
+        # 监听鼠标移动事件
+        if self.bline == 1:
+            self.pos = event.x(), event.y()
+            event.accept()
+            self.update()
+
+    def paintEvent(self, event):
+        # 绘画事件
+        if self.bline == 1:
+            pp = QPainter(self)
+            pen = QPen()  # 定义笔格式对象
+            pen.setWidth(5)  # 设置笔的宽度
+            pen.setColor(QColor(255, 0, 0))
+            pp.setPen(pen)
+            lpx, lpy = self.lastpoint
+            pp.drawRect(lpx, lpy, self.pos[0] - lpx, self.pos[1] - lpy)
+            event.accept()
+
+
+# def main():
+#     """运行函数"""
+#     # 将7zip压缩格式添加到shutil中
+#     shutil.register_archive_format('7zip', pack_7zarchive, description='7zip archive')
+#     shutil.register_unpack_format('7zip', ['.7z'], unpack_7zarchive, description='7zip archive')
+#     app = QApplication(sys.argv)
+#     app.setAttribute(Qt.AA_UseHighDpiPixmaps)
+#     ui = Ui_MainWindow1()
+#     sys.exit(app.exec_())
+
+
+#if __name__ == '__main__':
+#    main()

src/Screenshot/Screenshot_record.py

@@ -0,0 +1,68 @@
+"""
+使用ffmpeg录制屏幕，并结合Pyaudio同步录制的音频合成带有声音的视频文件
+"""
+import sys
+from pathlib import Path
+from time import sleep
+
+import ffmpeg
+
+
+def file_path(filename):
+    relative_path = Path('resource').joinpath(filename)
+    if getattr(sys, 'frozen', False):
+        base_path = Path(sys._MEIPASS)
+    else:
+        base_path = Path('.').absolute()
+    return Path(base_path).joinpath(relative_path).as_posix()
+
+
+class Screenshot:
+
+    def __init__(self, width=1920, height=1080, fps=15):
+        self.width = width
+        self.height = height
+        self.fps = fps
+        self.process = None
+        self.ffmpeg_path = file_path('ffmpeg.exe')
+
+    def __call__(self, width, height, fps=None):
+        self.width = width
+        self.height = height
+        self.fps = fps if fps else self.fps
+
+    @staticmethod
+    def unlink(filename):
+        Path(filename).unlink()
+
+    def record(self, filename, offset_x=0, offset_y=0, draw_mouse=0):
+        self.process = (
+            ffmpeg.output(
+                ffmpeg.input(
+                    filename='desktop', format='gdigrab', framerate=self.fps, offset_x=offset_x, offset_y=offset_y,
+                    draw_mouse=draw_mouse, s=f'{self.width}x{self.height}'),
+                filename=filename, pix_fmt='yuv420p'
+            ).overwrite_output()
+        )
+        self.ffmpeg_async()
+
+    def compose_audio(self, video_path, audio_path, output_path):
+        self.process = (
+            ffmpeg.output(
+                ffmpeg.input(filename=video_path),
+                ffmpeg.input(filename=audio_path),
+                filename=output_path, vcodec='copy', acodec='aac', strict='experimental', pix_fmt='yuv420p'
+            ).overwrite_output()
+        )
+        sleep(1)
+        self.ffmpeg_async()
+
+    def ffmpeg_async(self):
+        self.process = self.process.run_async(cmd=self.ffmpeg_path, pipe_stdin=True, pipe_stdout=False,
+                                              pipe_stderr=False)
+
+    def terminate(self):
+        if self.process is not None:
+            self.process.communicate(str.encode("q"))
+            self.process.terminate()
+            self.process = None

src/Screenshot/Screenshot_record_with_cv2.py

@@ -0,0 +1,151 @@
+import time
+from pathlib import Path
+from threading import Thread
+
+import cv2
+import numpy as np
+from PIL import ImageGrab
+from numba import jit
+from pynput import keyboard
+
+
+@jit(nopython=True)
+def average_n(x, y):
+    """Numpy计算趋近值"""
+    return ((x + y + y) // 3).astype(x.dtype)
+
+
+class ScreenshotVideo(Thread):
+
+    def __init__(self, width, high, path='', fps=15):
+        """初始化参数"""
+        super().__init__()
+        self.save_file = path
+        self.best_fps = fps
+        self.fps = fps
+        self.width = width
+        self.high = high
+        self.spend_time = 1
+        self.flag = False
+        self.kill = False
+        self.video = None
+
+    def __call__(self, path):
+        """重载视频路径，便于类的二次调用"""
+        self.save_file = Path(path)
+        self.video = self.init_videowriter(self.save_file)
+
+    @staticmethod
+    def screenshot():
+        """静态方法，屏幕截图，并转换为np.array数组"""
+        return np.array(ImageGrab.grab())
+
+    @staticmethod
+    def get_fourcc(name):
+        """视频编码字典"""
+        fourcc_maps = {'.avi': 'I420',
+                       '.m4v': 'mp4v',
+                       '.mp4': 'avc1',
+                       '.ogv': 'THEO',
+                       '.flv': 'FLV1',
+                       }
+        return fourcc_maps.get(name)
+
+    def init_videowriter(self, path):
+        """获取视频编码并新建视频文件"""
+        if not path:
+            raise Exception('视频路径未设置，请设置\nvideo = ScreenshotVideo(fps,width,high)\nvideo = video(video_path)')
+        path = Path(path) if isinstance(path, str) else path
+        fourcc = cv2.VideoWriter_fourcc(*self.get_fourcc(path.suffix))
+        return cv2.VideoWriter(path.as_posix(), fourcc, self.fps, (self.width, self.high))
+
+    def video_record_doing(self, img):
+        """将BGR数组转换为RGB数组"""
+        im_cv = cv2.cvtColor(img, cv2.COLOR_BGR2RGB)
+        self.video.write(im_cv)
+
+    def video_record_end(self):
+        """录制结束，根据条件判断文件是否保存"""
+        self.video.release()
+        cv2.destroyAllWindows()
+        if self.save_file and self.kill:
+            Path(self.save_file).unlink()
+
+    def video_best_fps(self, path):
+        """获取电脑录制视频的最优帧率"""
+        video = cv2.VideoCapture(path)
+        fps = video.get(cv2.CAP_PROP_FPS)
+        count = video.get(cv2.CAP_PROP_FRAME_COUNT)
+        self.best_fps = int(fps * ((int(count) / fps) / self.spend_time))
+        video.release()
+
+    def pre_video_record(self):
+        """预录制，以获取最佳fps值"""
+        self.video = self.init_videowriter('test.mp4')
+        start_time = time.time()
+        for _ in range(10):
+            im = self.screenshot()
+            self.video_record_doing(im)
+        self.spend_time = round(time.time() - start_time, 4)
+        self.video_record_end()
+        time.sleep(2)
+        self.video_best_fps('test.mp4')
+        Path('test.mp4').unlink()
+
+    def insert_frame_array(self, frame_list):
+        """Numpy增强截图信息"""
+        fps_n = round(self.fps / self.best_fps)
+        if fps_n <= 0:
+            return frame_list
+        times = int(np.log2(fps_n))  # 倍率
+        for _ in range(times):
+            frame_list2 = map(average_n, [frame_list[0]] + frame_list[:-1], frame_list)
+            frame_list = [[x, y] for x, y in zip(frame_list2, frame_list)]
+            frame_list = [j for i in frame_list for j in i]
+        return frame_list
+
+    def frame2video_run(self):
+        """使用opencv将连续型截图转换为视频"""
+        self.video = self.init_videowriter(self.save_file)
+        start_time = time.time()
+        frame_list = []
+        while True:
+            frame_list.append(self.screenshot())
+            if self.flag:
+                break
+        self.spend_time = round(time.time() - start_time, 4)
+        if not self.kill:  # 视频录制不被终止将逐帧处理图像
+            frame_list = self.insert_frame_array(frame_list)
+            for im in frame_list:
+                self.video_record_doing(im)
+        self.video_record_end()
+
+    def hotkey(self):
+        """热键监听"""
+        with keyboard.Listener(on_press=self.on_press) as listener:
+            listener.join()
+
+    def on_press(self, key):
+        try:
+            if key.char == 't':  # 录屏结束，保存视频
+                self.flag = True
+            elif key.char == 'k':  # 录屏中止，删除文件
+                self.flag = True
+                self.kill = True
+        except Exception as e:
+            print(e)
+
+    def run(self):
+        # 运行函数
+        # 设置守护线程
+        Thread(target=self.hotkey, daemon=True).start()
+        # 运行截图函数
+        self.frame2video_run()
+
+
+screen = ImageGrab.grab()
+width, high = screen.size
+video = ScreenshotVideo(width, high, fps=60)
+video.pre_video_record()  # 预录制获取最优fps
+video('test1.mp4')
+video.run()

src/Screenshot/Screenshot_test.py

@@ -0,0 +1,32 @@
+from threading import Thread
+
+from pynput import keyboard  # pip install pynput
+
+from Audio_record import AudioRecord
+from Screenshot_record import Screenshot
+
+
+def hotkey():
+    """热键监听"""
+    with keyboard.Listener(on_press=on_press) as listener:
+        listener.join()
+
+
+def on_press(key):
+    try:
+        video.terminate()
+        if key.char == 't':  # t键，录制结束，保存音视频
+            audio.stop_flag = True
+        elif key.char == 'k':  # k键，录制中止，删除文件
+            audio.stop_flag = True
+            audio.kill = True
+            video.unlink('test.mp4')
+    except Exception as e:
+        print(e)
+
+
+key_thread = Thread(target=hotkey, daemon=True)
+audio = AudioRecord()
+video = Screenshot()
+key_thread.start()
+video.record('test.mp4')

src/Screenshot/requirements.txt

@@ -0,0 +1,9 @@
+ffmpeg-python==0.2.0
+numba==0.54.1
+numpy==1.20.3
+opencv-python==4.5.4.60
+Pillow==8.4.0
+PyAudio
+pynput==1.7.5
+PyQt5==5.15.4
+py7zr==0.18.4

src/Screenshot/resource/gui_svg.svg

@@ -0,0 +1,4 @@
+<?xml version="1.0" standalone="no"?><!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN" "http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">
+<svg t="1649602952440" class="icon" viewBox="0 0 1024 1024" version="1.1" xmlns="http://www.w3.org/2000/svg" p-id="1892"
+     width="200" height="200"><defs><style type="text/css">@font-face { font-family: feedback-iconfont; src: url("//at.alicdn.com/t/font_1031158_u69w8yhxdu.woff2?t=1630033759944") format("woff2"), url("//at.alicdn.com/t/font_1031158_u69w8yhxdu.woff?t=1630033759944") format("woff"), url("//at.alicdn.com/t/font_1031158_u69w8yhxdu.ttf?t=1630033759944") format("truetype"); }
+</style></defs><path d="M196.608 806.570667c-0.341333-19.114667 15.018667-34.474667 34.133333-34.816h562.176c9.216 0 17.749333 3.754667 24.234667 10.24 6.485333 6.485333 9.898667 15.36 10.24 24.576 0 19.114667-15.36 34.474667-34.474667 34.474666H231.082667c-19.114667 0-34.474667-15.36-34.474667-34.474666zM815.445333 703.488H208.554667c-41.642667 0-75.093333-33.792-75.093334-75.093333V291.157333c0-41.642667 33.792-75.093333 75.093334-75.093333H815.786667c41.642667 0 75.093333 33.792 75.093333 75.093333v337.237334c0 41.301333-33.792 75.093333-75.434667 75.093333z" fill="#635DF7" opacity=".7" p-id="1893"></path><path d="M323.584 553.642667c-9.557333-9.557333-9.557333-25.258667 0-34.816l59.050667-59.050667-59.050667-59.050667c-9.557333-9.557333-9.557333-25.258667 0-34.816 9.557333-9.557333 25.258667-9.557333 34.816 0l76.458667 76.458667c9.557333 9.557333 9.557333 25.258667 0 34.816L358.4 553.642667c-9.557333 9.898667-25.258667 9.898667-34.816 0zM683.008 484.352h-107.52c-13.653333 0-24.576-10.922667-24.576-24.576s10.922667-24.576 24.576-24.576h107.52c13.653333 0 24.576 10.922667 24.576 24.576s-10.922667 24.576-24.576 24.576z" fill="#FFFFFF" p-id="1894"></path></svg>

src/qt/page1.py

@@ -0,0 +1,114 @@
+# -*- coding: utf-8 -*-
+
+# Form implementation generated from reading ui file 'page1.ui'
+#
+# Created by: PyQt5 UI code generator 5.15.4
+#
+# WARNING: Any manual changes made to this file will be lost when pyuic5 is
+# run again.  Do not edit this file unless you know what you are doing.
+import logging
+
+from PyQt5 import QtCore, QtWidgets
+import sys
+import os
+sys.path.append(os.path.dirname(os.path.abspath(__file__)) + "/../../PaddleClas-release-2.3")
+from Screenshot.Screenshot_Gui import *
+from tello_UI import *
+
+
+from djitellopy import *
+import time
+
+
+class Ui_Form1(object):
+    def setupUi(self, Form):
+        Form.setObjectName("Form")
+        Form.resize(1108, 767)
+        self.pushButton = QtWidgets.QPushButton(Form)
+        self.pushButton.setGeometry(QtCore.QRect(10, 740, 75, 23))
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Fixed, QtWidgets.QSizePolicy.Fixed)
+        sizePolicy.setHorizontalStretch(0)
+        sizePolicy.setVerticalStretch(0)
+        sizePolicy.setHeightForWidth(self.pushButton.sizePolicy().hasHeightForWidth())
+        self.pushButton.setSizePolicy(sizePolicy)
+        self.pushButton.setObjectName("pushButton")
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Fixed, QtWidgets.QSizePolicy.Fixed)
+        sizePolicy.setHorizontalStretch(0)
+        sizePolicy.setVerticalStretch(0)
+        self.mdiArea = QtWidgets.QMdiArea(Form)
+        self.mdiArea.setGeometry(QtCore.QRect(9, 61, 1091, 671))
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Preferred, QtWidgets.QSizePolicy.Preferred)
+        sizePolicy.setHorizontalStretch(0)
+        sizePolicy.setVerticalStretch(0)
+        sizePolicy.setHeightForWidth(self.mdiArea.sizePolicy().hasHeightForWidth())
+        self.mdiArea.setSizePolicy(sizePolicy)
+        self.mdiArea.setMaximumSize(QtCore.QSize(16777215, 16777215))
+        self.mdiArea.setObjectName("mdiArea")
+        self.pushButton_4 = QtWidgets.QPushButton(Form)
+        self.pushButton_4.setGeometry(QtCore.QRect(1020, 740, 75, 23))
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Fixed, QtWidgets.QSizePolicy.Fixed)
+        sizePolicy.setHorizontalStretch(0)
+        sizePolicy.setVerticalStretch(0)
+        sizePolicy.setHeightForWidth(self.pushButton_4.sizePolicy().hasHeightForWidth())
+        self.pushButton_4.setSizePolicy(sizePolicy)
+        self.pushButton_4.setObjectName("pushButton_4")
+        self.pushButton_3 = QtWidgets.QPushButton(Form)
+        self.pushButton_3.setGeometry(QtCore.QRect(940, 740, 75, 23))
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Fixed, QtWidgets.QSizePolicy.Fixed)
+        sizePolicy.setHorizontalStretch(0)
+        sizePolicy.setVerticalStretch(0)
+        sizePolicy.setHeightForWidth(self.pushButton_3.sizePolicy().hasHeightForWidth())
+        self.pushButton_3.setSizePolicy(sizePolicy)
+        self.pushButton_3.setObjectName("pushButton_3")
+        self.label = QtWidgets.QLabel(Form)
+        self.label.setGeometry(QtCore.QRect(10, 10, 101, 31))
+        self.label.setObjectName("label")
+        self.pushButton_5 = QtWidgets.QPushButton(Form)
+        self.pushButton_5.setGeometry(QtCore.QRect(480, 740, 75, 23))
+        self.pushButton_5.setObjectName("pushButton_5")
+
+        self.retranslateUi(Form)
+        QtCore.QMetaObject.connectSlotsByName(Form)
+        self.pushButton.clicked.connect(lambda: self.show_camera())
+        self.pushButton_5.clicked.connect(lambda: self.record_vedio())
+    def show_camera(self):
+        MainWindow = QMainWindow()
+        ui = Ui_Form()
+        ui.setupUi(MainWindow)
+        MainWindow.setFixedSize(1022, 618)
+        self.mdiArea.addSubWindow(MainWindow)
+        MainWindow.show()
+        try:
+            import Tello.KeyboardControl as kb
+            ui.pushButton.clicked.connect(lambda: up())
+            ui.pushButton2.clicked.connect(lambda: left())
+            ui.pushButton4.clicked.connect(lambda: right())
+            ui.pushButton5.clicked.connect(lambda: return1())
+            ui.pushButton3.clicked.connect(lambda: qifei())
+            ui.pushButton6.clicked.connect(lambda: jiangluo())
+        except:
+            print("")
+        def up():
+            kb.getKeyboardInput("i")# 前
+        def left():#左
+            kb.getKeyboardInput("j")
+        def right():
+            kb.getKeyboardInput("l")#右
+        def return1():
+            kb.getKeyboardInput("k")#后
+        def qifei():
+            kb.getKeyboardInput("UP")
+        def jiangluo():
+            kb.getKeyboardInput("DOWN")
+    def record_vedio(self):
+        ui = Ui_MainWindow1()
+        self.mdiArea.addSubWindow(ui)
+        ui.show()
+    def retranslateUi(self, Form):
+        _translate = QtCore.QCoreApplication.translate
+        Form.setWindowTitle(_translate("Form", "page1"))
+        self.pushButton.setText(_translate("Form", "连接"))
+        self.pushButton_4.setText(_translate("Form", "缩小"))
+        self.pushButton_3.setText(_translate("Form", "放大"))
+        self.label.setText(_translate("Form", "实时画面显示系统"))
+        self.pushButton_5.setText(_translate("Form", "视频录制"))

src/qt/page2.py

@@ -0,0 +1,280 @@
+# -*- coding: utf-8 -*-
+
+# Form implementation generated from reading ui file 'page2.ui'
+#
+# Created by: PyQt5 UI code generator 5.15.4
+#
+# WARNING: Any manual changes made to this file will be lost when pyuic5 is
+# run again.  Do not edit this file unless you know what you are doing.
+
+
+from PyQt5 import QtCore, QtGui, QtWidgets
+from vedio_demo import Ui_MainWindow
+from PyQt5.QtWidgets import *
+from PyQt5.QtMultimedia import QMediaContent, QMediaPlayer
+import os
+import sys
+import math
+import heapq
+
+sys.path.append(os.path.dirname(os.path.abspath(__file__)) +
+                "/../../Search_based_Planning/")
+
+from Search_2D import plotting, env
+
+class AStar:
+    """AStar set the cost + heuristics as the priority
+    """
+    def __init__(self, s_start, s_goal, heuristic_type):
+        self.s_start = s_start
+        self.s_goal = s_goal
+        self.heuristic_type = heuristic_type
+
+        self.Env = env.Env()  # class Env
+
+        self.u_set = self.Env.motions  # feasible input set
+        self.obs = self.Env.obs  # position of obstacles
+
+        self.OPEN = []  # priority queue / OPEN set
+        self.CLOSED = []  # CLOSED set / VISITED order
+        self.PARENT = dict()  # recorded parent
+        self.g = dict()  # cost to come
+
+    def searching(self):
+        """
+        A_star Searching.
+        :return: path, visited order
+        """
+
+        self.PARENT[self.s_start] = self.s_start
+        self.g[self.s_start] = 0
+        self.g[self.s_goal] = math.inf
+        heapq.heappush(self.OPEN,
+                       (self.f_value(self.s_start), self.s_start))
+
+        while self.OPEN:
+            _, s = heapq.heappop(self.OPEN)
+            self.CLOSED.append(s)
+
+            if s == self.s_goal:  # stop condition
+                break
+
+            for s_n in self.get_neighbor(s):
+                new_cost = self.g[s] + self.cost(s, s_n)
+
+                if s_n not in self.g:
+                    self.g[s_n] = math.inf
+
+                if new_cost < self.g[s_n]:  # conditions for updating Cost
+                    self.g[s_n] = new_cost
+                    self.PARENT[s_n] = s
+                    heapq.heappush(self.OPEN, (self.f_value(s_n), s_n))
+
+        return self.extract_path(self.PARENT), self.CLOSED
+
+    def searching_repeated_astar(self, e):
+        """
+        repeated A*.
+        :param e: weight of A*
+        :return: path and visited order
+        """
+
+        path, visited = [], []
+
+        while e >= 1:
+            p_k, v_k = self.repeated_searching(self.s_start, self.s_goal, e)
+            path.append(p_k)
+            visited.append(v_k)
+            e -= 0.5
+
+        return path, visited
+
+    def repeated_searching(self, s_start, s_goal, e):
+        """
+        run A* with weight e.
+        :param s_start: starting state
+        :param s_goal: goal state
+        :param e: weight of a*
+        :return: path and visited order.
+        """
+
+        g = {s_start: 0, s_goal: float("inf")}
+        PARENT = {s_start: s_start}
+        OPEN = []
+        CLOSED = []
+        heapq.heappush(OPEN,
+                       (g[s_start] + e * self.heuristic(s_start), s_start))
+
+        while OPEN:
+            _, s = heapq.heappop(OPEN)
+            CLOSED.append(s)
+
+            if s == s_goal:
+                break
+
+            for s_n in self.get_neighbor(s):
+                new_cost = g[s] + self.cost(s, s_n)
+
+                if s_n not in g:
+                    g[s_n] = math.inf
+
+                if new_cost < g[s_n]:  # conditions for updating Cost
+                    g[s_n] = new_cost
+                    PARENT[s_n] = s
+                    heapq.heappush(OPEN, (g[s_n] + e * self.heuristic(s_n), s_n))
+
+        return self.extract_path(PARENT), CLOSED
+
+    def get_neighbor(self, s):
+        """
+        find neighbors of state s that not in obstacles.
+        :param s: state
+        :return: neighbors
+        """
+
+        return [(s[0] + u[0], s[1] + u[1]) for u in self.u_set]
+
+    def cost(self, s_start, s_goal):
+        """
+        Calculate Cost for this motion
+        :param s_start: starting node
+        :param s_goal: end node
+        :return:  Cost for this motion
+        :note: Cost function could be more complicate!
+        """
+
+        if self.is_collision(s_start, s_goal):
+            return math.inf
+
+        return math.hypot(s_goal[0] - s_start[0], s_goal[1] - s_start[1])
+
+    def is_collision(self, s_start, s_end):
+        """
+        check if the line segment (s_start, s_end) is collision.
+        :param s_start: start node
+        :param s_end: end node
+        :return: True: is collision / False: not collision
+        """
+
+        if s_start in self.obs or s_end in self.obs:
+            return True
+
+        if s_start[0] != s_end[0] and s_start[1] != s_end[1]:
+            if s_end[0] - s_start[0] == s_start[1] - s_end[1]:
+                s1 = (min(s_start[0], s_end[0]), min(s_start[1], s_end[1]))
+                s2 = (max(s_start[0], s_end[0]), max(s_start[1], s_end[1]))
+            else:
+                s1 = (min(s_start[0], s_end[0]), max(s_start[1], s_end[1]))
+                s2 = (max(s_start[0], s_end[0]), min(s_start[1], s_end[1]))
+
+            if s1 in self.obs or s2 in self.obs:
+                return True
+
+        return False
+
+    def f_value(self, s):
+        """
+        f = g + h. (g: Cost to come, h: heuristic value)
+        :param s: current state
+        :return: f
+        """
+
+        return self.g[s] + self.heuristic(s)
+
+    def extract_path(self, PARENT):
+        """
+        Extract the path based on the PARENT set.
+        :return: The planning path
+        """
+
+        path = [self.s_goal]
+        s = self.s_goal
+
+        while True:
+            s = PARENT[s]
+            path.append(s)
+
+            if s == self.s_start:
+                break
+
+        return list(path)
+
+    def heuristic(self, s):
+        """
+        Calculate heuristic.
+        :param s: current node (state)
+        :return: heuristic function value
+        """
+
+        heuristic_type = self.heuristic_type  # heuristic type
+        goal = self.s_goal  # goal node
+
+        if heuristic_type == "manhattan":
+            return abs(goal[0] - s[0]) + abs(goal[1] - s[1])
+        else:
+            return math.hypot(goal[0] - s[0], goal[1] - s[1])
+
+
+
+class Ui_MainWindow1(object):
+    def setupUi(self, MainWindow):
+        MainWindow.setObjectName("MainWindow")
+        MainWindow.resize(1112, 766)
+        self.centralwidget = QtWidgets.QWidget(MainWindow)
+        self.centralwidget.setObjectName("centralwidget")
+        self.gridLayout = QtWidgets.QGridLayout(self.centralwidget)
+        self.gridLayout.setObjectName("gridLayout")
+        self.pushButton = QtWidgets.QPushButton(self.centralwidget)
+        self.pushButton.setObjectName("pushButton")
+        self.gridLayout.addWidget(self.pushButton, 2, 0, 1, 1)
+        self.mdiArea = QtWidgets.QMdiArea(self.centralwidget)
+        self.mdiArea.setObjectName("mdiArea")
+        self.gridLayout.addWidget(self.mdiArea, 1, 0, 1, 1)
+        self.pushButton_2 = QtWidgets.QPushButton(self.centralwidget)
+        self.pushButton_2.setObjectName("pushButton_2")
+        self.gridLayout.addWidget(self.pushButton_2, 3, 0, 1, 1)
+        self.label = QtWidgets.QLabel(self.centralwidget)
+        self.label.setObjectName("label")
+        self.gridLayout.addWidget(self.label, 0, 0, 1, 1)
+        MainWindow.setCentralWidget(self.centralwidget)
+        self.menubar = QtWidgets.QMenuBar(MainWindow)
+        self.menubar.setGeometry(QtCore.QRect(0, 0, 1112, 23))
+        self.menubar.setObjectName("menubar")
+        MainWindow.setMenuBar(self.menubar)
+        self.statusbar = QtWidgets.QStatusBar(MainWindow)
+        self.statusbar.setObjectName("statusbar")
+        MainWindow.setStatusBar(self.statusbar)
+        self.retranslateUi(MainWindow)
+        QtCore.QMetaObject.connectSlotsByName(MainWindow)
+        self.pushButton.clicked.connect(lambda: self.msg())
+        self.pushButton_2.clicked.connect(lambda: self.search())
+    def search(self):
+        s_start = (5, 5)
+        s_goal = (45, 25)
+
+        astar = AStar(s_start, s_goal, "euclidean")
+        plot = plotting.Plotting(s_start, s_goal)
+
+        path, visited = astar.searching()
+        plot.animation(path, visited, "A*")  # animation
+    def msg(self):
+        MainWindow = QMainWindow()
+        ui = Ui_MainWindow()
+        ui.setupUi(MainWindow)
+        self.mdiArea.addSubWindow(MainWindow)
+        MainWindow.showMaximized()
+        ui.player = QMediaPlayer()
+        ui.player.setVideoOutput(ui.wgt_video)
+        ui.pushButton.clicked.connect(lambda: openVideoFile(ui))
+        ui.player.setMedia(QMediaContent(QFileDialog.getOpenFileUrl()[0]))
+        ui.pushButton_2.clicked.connect(lambda: pause(ui))
+        def pause(a):
+            a.player.pause()
+        def openVideoFile(a):
+            a.player.play()
+    def retranslateUi(self, MainWindow):
+        _translate = QtCore.QCoreApplication.translate
+        MainWindow.setWindowTitle(_translate("MainWindow", "MainWindow"))
+        self.pushButton.setText(_translate("MainWindow", "添加文件"))
+        self.pushButton_2.setText(_translate("MainWindow", "分析路径"))
+        self.label.setText(_translate("MainWindow", "路径分析界面"))

src/qt/system_main.py

@@ -0,0 +1,96 @@
+# -*- coding: utf-8 -*-
+
+# Form implementation generated from reading ui file 'system_main.ui'
+#
+# Created by: PyQt5 UI code generator 5.15.4
+#
+# WARNING: Any manual changes made to this file will be lost when pyuic5 is
+# run again.  Do not edit this file unless you know what you are doing.
+
+from PyQt5 import QtCore, QtGui, QtWidgets
+import sys
+import os
+from PyQt5.QtWidgets import *
+from page1 import Ui_Form1
+from page2 import Ui_MainWindow1
+
+sys.path.append(os.path.dirname(os.path.abspath(__file__)) + "/../../PaddleClas-release-2.3")
+class Ui_MainWindow(object):
+    def setupUi(self, MainWindow):
+        MainWindow.setObjectName("MainWindow")
+        MainWindow.resize(1275, 896)
+        self.centralwidget = QtWidgets.QWidget(MainWindow)
+        self.centralwidget.setObjectName("centralwidget")
+        self.gridLayout = QtWidgets.QGridLayout(self.centralwidget)
+        self.gridLayout.setObjectName("gridLayout")
+        self.label = QtWidgets.QLabel(self.centralwidget)
+        self.label.setMinimumSize(QtCore.QSize(0, 20))
+        self.label.setMaximumSize(QtCore.QSize(300, 20))
+        self.label.setTextFormat(QtCore.Qt.AutoText)
+        self.label.setAlignment(QtCore.Qt.AlignCenter)
+        self.label.setObjectName("label")
+        self.gridLayout.addWidget(self.label, 1, 0, 1, 1)
+        self.groupBox = QtWidgets.QGroupBox(self.centralwidget)
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Fixed, QtWidgets.QSizePolicy.Expanding)
+        sizePolicy.setHorizontalStretch(0)
+        sizePolicy.setVerticalStretch(0)
+        sizePolicy.setHeightForWidth(self.groupBox.sizePolicy().hasHeightForWidth())
+        self.groupBox.setSizePolicy(sizePolicy)
+        self.groupBox.setMaximumSize(QtCore.QSize(600, 16777215))
+        self.groupBox.setFlat(False)
+        self.groupBox.setCheckable(False)
+        self.groupBox.setObjectName("groupBox")
+        self.gridLayout_2 = QtWidgets.QGridLayout(self.groupBox)
+        self.gridLayout_2.setObjectName("gridLayout_2")
+        self.pushButton = QtWidgets.QPushButton(self.groupBox)
+        self.pushButton.setObjectName("pushButton")
+        self.gridLayout_2.addWidget(self.pushButton, 0, 0, 1, 1)
+        self.pushButton_2 = QtWidgets.QPushButton(self.groupBox)
+        self.pushButton_2.setObjectName("pushButton_2")
+        self.gridLayout_2.addWidget(self.pushButton_2, 1, 0, 1, 1)
+        self.gridLayout.addWidget(self.groupBox, 2, 0, 2, 1)
+        self.mdiArea = QtWidgets.QMdiArea(self.centralwidget)
+        self.mdiArea.setObjectName("mdiArea")
+        self.gridLayout.addWidget(self.mdiArea, 2, 1, 2, 1)
+        MainWindow.setCentralWidget(self.centralwidget)
+        self.menubar = QtWidgets.QMenuBar(MainWindow)
+        self.menubar.setGeometry(QtCore.QRect(0, 0, 1275, 23))
+        self.menubar.setObjectName("menubar")
+        MainWindow.setMenuBar(self.menubar)
+        self.statusbar = QtWidgets.QStatusBar(MainWindow)
+        self.statusbar.setObjectName("statusbar")
+        MainWindow.setStatusBar(self.statusbar)
+        self.pushButton.clicked.connect(lambda: self.open1())
+        self.pushButton_2.clicked.connect(lambda: self.open2())
+        self.retranslateUi(MainWindow)
+        QtCore.QMetaObject.connectSlotsByName(MainWindow)
+
+    def open1(self):
+        MainWindow = QMainWindow()
+        ui = Ui_Form1()
+        ui.setupUi(MainWindow)
+        self.mdiArea.addSubWindow(MainWindow)
+        MainWindow.showMaximized()
+
+    def open2(self):    
+        MainWindow = QMainWindow()
+        ui = Ui_MainWindow1()
+        ui.setupUi(MainWindow)
+        self.mdiArea.addSubWindow(MainWindow)
+        MainWindow.showMaximized()
+
+    def retranslateUi(self, MainWindow):
+        _translate = QtCore.QCoreApplication.translate
+        MainWindow.setWindowTitle(_translate("MainWindow", "无人机自动寻路系统"))
+        self.label.setText(_translate("MainWindow", "无人机自动寻路系统（主界面)"))
+        self.groupBox.setTitle(_translate("MainWindow", "菜单栏"))
+        self.pushButton.setText(_translate("MainWindow", "实时画面"))
+        self.pushButton_2.setText(_translate("MainWindow", "路径分析"))
+
+if __name__ == '__main__':
+    app = QApplication(sys.argv)
+    MainWindow = QMainWindow()
+    ui = Ui_MainWindow()
+    ui.setupUi(MainWindow)
+    MainWindow.show()
+    sys.exit(app.exec_())

src/qt/tello_UI.py

@@ -0,0 +1,97 @@
+# -*- coding: utf-8 -*-
+
+# Form implementation generated from reading ui file 'tello_UI.ui'
+#
+# Created by: PyQt5 UI code generator 5.15.4
+#
+# WARNING: Any manual changes made to this file will be lost when pyuic5 is
+# run again.  Do not edit this file unless you know what you are doing.
+
+
+from PyQt5 import QtCore, QtGui, QtWidgets
+
+
+class Ui_Form(object):
+    def setupUi(self, Form):
+        Form.setObjectName("Form")
+        Form.resize(1022, 618)
+        self.groupBox_4 = QtWidgets.QGroupBox(Form)
+        self.groupBox_4.setGeometry(QtCore.QRect(670, 567, 350, 50))
+        self.groupBox_4.setMaximumSize(QtCore.QSize(350, 50))
+        self.groupBox_4.setObjectName("groupBox_4")
+        self.lineEdit_3 = QtWidgets.QLineEdit(self.groupBox_4)
+        self.lineEdit_3.setGeometry(QtCore.QRect(10, 20, 331, 20))
+        self.lineEdit_3.setObjectName("lineEdit_3")
+        self.groupBox_2 = QtWidgets.QGroupBox(Form)
+        self.groupBox_2.setGeometry(QtCore.QRect(670, 156, 350, 405))
+        self.groupBox_2.setObjectName("groupBox_2")
+        self.pushButton = QtWidgets.QPushButton(self.groupBox_2)
+        self.pushButton.setGeometry(QtCore.QRect(150, 120, 71, 71))
+        self.pushButton.setText("")
+        icon = QtGui.QIcon()
+        icon.addPixmap(QtGui.QPixmap("tello_png/up.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
+        self.pushButton.setIcon(icon)
+        self.pushButton.setIconSize(QtCore.QSize(70, 100))
+        self.pushButton.setObjectName("pushButton")
+        self.pushButton_2 = QtWidgets.QPushButton(self.groupBox_2)
+        self.pushButton_2.setGeometry(QtCore.QRect(70, 200, 71, 71))
+        self.pushButton_2.setText("")
+        icon1 = QtGui.QIcon()
+        icon1.addPixmap(QtGui.QPixmap("tello_png/left.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
+        self.pushButton_2.setIcon(icon1)
+        self.pushButton_2.setIconSize(QtCore.QSize(70, 100))
+        self.pushButton_2.setObjectName("pushButton_2")
+        self.pushButton_4 = QtWidgets.QPushButton(self.groupBox_2)
+        self.pushButton_4.setGeometry(QtCore.QRect(230, 200, 71, 71))
+        self.pushButton_4.setText("")
+        icon2 = QtGui.QIcon()
+        icon2.addPixmap(QtGui.QPixmap("tello_png/right.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
+        self.pushButton_4.setIcon(icon2)
+        self.pushButton_4.setIconSize(QtCore.QSize(70, 100))
+        self.pushButton_4.setObjectName("pushButton_4")
+        self.pushButton_5 = QtWidgets.QPushButton(self.groupBox_2)
+        self.pushButton_5.setGeometry(QtCore.QRect(150, 200, 71, 71))
+        self.pushButton_5.setText("")
+        icon3 = QtGui.QIcon()
+        icon3.addPixmap(QtGui.QPixmap("tello_png/return.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
+        self.pushButton_5.setIcon(icon3)
+        self.pushButton_5.setIconSize(QtCore.QSize(70, 100))
+        self.pushButton_5.setObjectName("pushButton_5")
+        self.pushButton_3 = QtWidgets.QPushButton(self.groupBox_2)
+        self.pushButton_3.setGeometry(QtCore.QRect(70, 20, 231, 91))
+        icon4 = QtGui.QIcon()
+        icon4.addPixmap(QtGui.QPixmap("tello_png/qifei.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
+        self.pushButton_3.setIcon(icon4)
+        self.pushButton_3.setIconSize(QtCore.QSize(150, 150))
+        self.pushButton_3.setObjectName("pushButton_3")
+        self.pushButton_6 = QtWidgets.QPushButton(self.groupBox_2)
+        self.pushButton_6.setGeometry(QtCore.QRect(70, 290, 231, 91))
+        icon5 = QtGui.QIcon()
+        icon5.addPixmap(QtGui.QPixmap("tello_png/jiangluo.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
+        self.pushButton_6.setIcon(icon5)
+        self.pushButton_6.setIconSize(QtCore.QSize(150, 150))
+        self.pushButton_6.setObjectName("pushButton_6")
+        self.groupBox = QtWidgets.QGroupBox(Form)
+        self.groupBox.setGeometry(QtCore.QRect(670, 0, 350, 150))
+        self.groupBox.setMaximumSize(QtCore.QSize(16777215, 150))
+        self.groupBox.setObjectName("groupBox")
+        self.lineEdit = QtWidgets.QLineEdit(self.groupBox)
+        self.lineEdit.setGeometry(QtCore.QRect(20, 20, 311, 41))
+        self.lineEdit.setObjectName("lineEdit")
+        self.lineEdit_2 = QtWidgets.QLineEdit(self.groupBox)
+        self.lineEdit_2.setGeometry(QtCore.QRect(20, 70, 311, 41))
+        self.lineEdit_2.setObjectName("lineEdit_2")
+
+        self.retranslateUi(Form)
+        QtCore.QMetaObject.connectSlotsByName(Form)
+
+    def retranslateUi(self, Form):
+        _translate = QtCore.QCoreApplication.translate
+        Form.setWindowTitle(_translate("Form", "Form"))
+        self.groupBox_4.setTitle(_translate("Form", "连接状态"))
+        self.groupBox_2.setTitle(_translate("Form", "控制面板"))
+        self.pushButton_3.setText(_translate("Form", "起飞"))
+        self.pushButton_6.setText(_translate("Form", "降落"))
+        self.groupBox.setTitle(_translate("Form", "无人机状态"))
+        self.lineEdit.setText(_translate("Form", "剩余电量："))
+        self.lineEdit_2.setText(_translate("Form", "WIFI强度："))

src/qt/vedio_demo.py

@@ -0,0 +1,50 @@
+# -*- coding: utf-8 -*-
+
+# Form implementation generated from reading ui file 'vedio_demo.ui'
+#
+# Created by: PyQt5 UI code generator 5.15.4
+#
+# WARNING: Any manual changes made to this file will be lost when pyuic5 is
+# run again.  Do not edit this file unless you know what you are doing.
+
+
+from PyQt5 import QtCore, QtGui, QtWidgets
+from PyQt5.QtMultimediaWidgets import QVideoWidget
+
+class Ui_MainWindow(object):
+    def setupUi(self, MainWindow):
+        MainWindow.setObjectName("MainWindow")
+        MainWindow.resize(1111, 676)
+        self.centralwidget = QtWidgets.QWidget(MainWindow)
+        self.centralwidget.setObjectName("centralwidget")
+        self.gridLayout = QtWidgets.QGridLayout(self.centralwidget)
+        self.gridLayout.setObjectName("gridLayout")
+        self.pushButton_2 = QtWidgets.QPushButton(self.centralwidget)
+        self.pushButton_2.setObjectName("pushButton_2")
+        self.gridLayout.addWidget(self.pushButton_2, 3, 0, 1, 1)
+        self.pushButton = QtWidgets.QPushButton(self.centralwidget)
+        self.pushButton.setObjectName("pushButton")
+        self.gridLayout.addWidget(self.pushButton, 2, 0, 1, 1)
+        self.wgt_video = QVideoWidget(self.centralwidget)
+        self.wgt_video.setObjectName("widget")
+        self.gridLayout.addWidget(self.wgt_video, 0, 0, 1, 1)
+        self.horizontalSlider = QtWidgets.QSlider(self.centralwidget)
+        self.horizontalSlider.setOrientation(QtCore.Qt.Horizontal)
+        self.horizontalSlider.setObjectName("horizontalSlider")
+        self.gridLayout.addWidget(self.horizontalSlider, 1, 0, 1, 1)
+        MainWindow.setCentralWidget(self.centralwidget)
+        self.menubar = QtWidgets.QMenuBar(MainWindow)
+        self.menubar.setGeometry(QtCore.QRect(0, 0, 1111, 23))
+        self.menubar.setObjectName("menubar")
+        MainWindow.setMenuBar(self.menubar)
+        self.statusbar = QtWidgets.QStatusBar(MainWindow)
+        self.statusbar.setObjectName("statusbar")
+        MainWindow.setStatusBar(self.statusbar)
+        self.retranslateUi(MainWindow)
+        QtCore.QMetaObject.connectSlotsByName(MainWindow)
+
+    def retranslateUi(self, MainWindow):
+        _translate = QtCore.QCoreApplication.translate
+        MainWindow.setWindowTitle(_translate("MainWindow", "MainWindow"))
+        self.pushButton_2.setText(_translate("MainWindow", "暂停"))
+        self.pushButton.setText(_translate("MainWindow", "播放"))