update

src/tello/main.py

@@ -1,3 +1,4 @@
+
 import logging
 import time
 import cv2
@@ -51,7 +52,7 @@ def getKeyboardInput(drone, speed, image):
     drone.send_rc_control(lr, fb, ud, yv)
 
 # 主程序
-# 摄像头设置 
+# 摄像头设置
 Camera_Width = 720
 Camera_Height = 480
 DetectRange = [6000, 11000]
@@ -78,4 +79,18 @@ while True:
     Image = cv2.resize(OriginalImage, (Camera_Width, Camera_Height))
     getKeyboardInput(drone=Drone, speed=70, image=Image)  # 按键控制
     cv2.imshow("Drone Control Centre", Image)
-    cv2.waitKey(1)
+    cv2.waitKey(1)
+
+# from PyQt5.QtWidgets import QMainWindow, QApplication
+# import guidingUI
+# import sys
+#
+#
+# if __name__ == '__main__':
+#     app = QApplication(sys.argv)
+#     window = QMainWindow()
+#     ui = guidingUI.Ui_MainWindow()
+#     ui.setupUi(window)
+#     window.show()
+#
+#     sys.exit(app.exec_())

src/tello/video.py

@@ -0,0 +1,182 @@
+import os
+
+from PyQt5 import QtCore, QtGui, QtWidgets
+from PyQt5.QtCore import *
+from PyQt5.QtGui import *
+from PyQt5.QtWidgets import *
+
+import sys
+import cv2
+from av import logging
+from djitellopy import tello
+
+
+
+class Ui_MainWindow(QtWidgets.QWidget):
+    def __init__(self, parent=None):
+        super().__init__(parent)
+
+
+
+
+        self.timer_camera = QtCore.QTimer()
+        self.cap = cv2.VideoCapture(0)
+        self.CAM_NUM = 0
+
+        self.set_ui()
+        self.slot_init()
+        #self.paintEvent()
+
+
+    def set_ui(self):
+
+        self.setWindowTitle('虚拟沙盘')  # 标题
+
+        self.resize(1200, 800)  # 窗口尺寸
+
+        self.setWindowIcon(QIcon("./img/mou.ico"))  # 图标
+
+        # MainWindow.setObjectName("MainWindow")
+        # MainWindow.resize(788, 634)
+        # self.centralwidget = QtWidgets.QWidget(MainWindow)
+        # self.centralwidget.setObjectName("centralwidget")
+        #self.status = self.status()  # 消息
+
+        #self.status.showMessage('虚拟沙盘3D建模系统')
+
+        #插入图片
+
+        # self.centralwidget = QtWidgets.QWidget(Ui_MainWindow)
+        # self.centralwidget.setObjectName("centralwidget")
+        # self.groupBox_3 = QtWidgets.QGroupBox(self.QtWidgets.centralwidget)
+        # self.groupBox_3.setGeometry(QtCore.QRect(500, 10, 231, 271))
+        # self.groupBox_3.setObjectName("groupBox_3")
+        # self.label_6 = QtWidgets.QLabel(self.groupBox_3)
+        # self.label_6.setGeometry(QtCore.QRect(6, 30, 221, 241))
+        # self.label_6.setMinimumSize(QtCore.QSize(221, 0))
+        # self.label_6.setMaximumSize(QtCore.QSize(221, 16777215))
+        # self.label_6.setText("")
+        # self.label_6.setPixmap(QtGui.QPixmap("./control.png"))
+        # self.label_6.setObjectName("label_6")
+        # self.label_6.setScaledContents(True)  # 图片自适应
+        self.__layout_main = QtWidgets.QVBoxLayout()
+        self.__layout_fun_button = QtWidgets.QHBoxLayout()
+        self.__layout_data_show = QtWidgets.QHBoxLayout()
+        self.button_open_camera = QtWidgets.QPushButton('打开摄像头')
+        self.button_operate = QtWidgets.QPushButton('键盘控制')
+        self.button_takephoto = QtWidgets.QPushButton('拍照')
+        self.button_make = QtWidgets.QPushButton('建模')
+        self.button_close = QtWidgets.QPushButton('退出')
+
+        self.button_open_camera.setMinimumHeight(50)
+        self.button_close.setMinimumHeight(50)
+        self.button_operate.setMinimumHeight(50)
+        self.button_takephoto.setMinimumHeight(50)
+        self.button_make.setMinimumHeight(50)
+        self.button_open_camera.move(10, 100)
+        self.label_show_camera = QtWidgets.QLabel()
+        #self.label_show_camera.move(400,400)
+        self.label_show_camera.setFixedSize(841, 681)
+        self.__layout_fun_button.addWidget(self.button_open_camera)
+        self.__layout_fun_button.addWidget(self.button_operate)
+        self.__layout_fun_button.addWidget(self.button_takephoto)
+        self.__layout_fun_button.addWidget(self.button_make)
+        self.__layout_fun_button.addWidget(self.button_close)
+        #self.__layout_fun_button.addWidget(self.label)
+        self.__layout_main.addLayout(self.__layout_fun_button)
+        self.__layout_main.addWidget(self.label_show_camera)
+
+        self.setLayout(self.__layout_main)
+
+        self.show()
+##########################################
+
+    #绘制图形操作无人机界面
+    # def paintEvent(self,event):
+    #     ap = QPainter()
+    #     ap.begin(self)
+    #
+    #     ap.setPen(Qt.blue)
+    #
+    #     #圆圈
+    #     rect_arc= QRect(800,300,300,300)
+    #     ap.drawArc(rect_arc,0,16*360)
+    #
+    #     #键盘
+    #
+    #
+    #     #image = QImage('./control.png')
+    #     #rect = QRect(400, 400, 300, 300)
+    #     #ap.drawImage(rect, image)
+    #
+    #     ap.end()
+
+
+    # 将信号与槽关联
+    #self.btn1.clicked.connect(self.onClick_Button)
+    #self.btn2.clicked.connect(self.showDialog)
+    def slot_init(self):
+        self.button_open_camera.clicked.connect(
+            self.button_open_camera_clicked)
+        self.timer_camera.timeout.connect(self.show_camera)
+        self.button_close.clicked.connect(self.onClick_Button)
+        self.button_make.clicked.connect(self.showDialog)
+
+    def button_open_camera_clicked(self):
+        if self.timer_camera.isActive() == False:
+            flag = self.cap.open(self.CAM_NUM)
+            if flag == False:
+                msg = QtWidgets.QMessageBox.warning(self, 'warning', "请检查无人机是否连接正确", buttons=QtWidgets.QMessageBox.Ok)
+            else:
+                self.timer_camera.start(30)
+                self.button_open_camera.setText('关闭摄像头')
+        else:
+            self.timer_camera.stop()
+            self.cap.release()
+            self.label_show_camera.clear()
+            self.button_open_camera.setText('打开摄像头')
+
+    def show_camera(self):
+        self.Drone = tello.Tello()  # 创建飞行器对象
+        #self.Drone.connect()  # 连接到飞行器
+        #self.Drone.streamon()  # 开启视频传输
+        self.Drone.LOGGER.setLevel(logging.ERROR)  # 只显示错误信息
+        #sleep(5)  # 等待视频初始化
+        #kp.init()  # 初始化按键处理模块
+        #flag,OriginalImage = self.Drone.get_frame_read()
+        F = self.Drone.get_frame_read().frame
+        Image = cv2.resize(F, (500, 500))
+        cv2.imshow("Drone Control Centre", Image)
+        cv2.waitKey(1)
+        #flag, self.image = self.cap.read()
+        #show = cv2.resize(OriginalImage, (640, 480))
+        #show = cv2.cvtColor(show, cv2.COLOR_BGR2RGB)
+        #showImage = QtGui.QImage(show.data, show.shape[1], show.shape[0],
+        #                         QtGui.QImage.Format_RGB888)
+        #self.label_show_camera.setPixmap(QtGui.QPixmap.fromImage(showImage))
+
+        #getKeyboardInput(drone=Drone, speed=70, image=Image)  # 按键控制
+        #cv2.imshow("Drone Control Centre", OriginalImage)
+    def showDialog(self):
+        dialog = QtWidgets.QDialog()
+        dialog.resize(800, 600)
+        button = QtWidgets.QPushButton('储存', dialog)
+        button.clicked.connect(dialog.close)
+        button.move(350, 550)
+        dialog.setWindowTitle('建模视图')
+        dialog.setWindowModality(QtCore.Qt.ApplicationModal)
+
+        dialog.exec()
+    def onClick_Button(self):
+        sender = self.sender() #获得button
+        #print(sender.text() + '按钮被按下')
+        app = QtWidgets.QApplication.instance()
+        #退出程序
+        app.quit()
+
+if __name__ == '__main__':
+    app = QtWidgets.QApplication(sys.argv)
+
+    ui = Ui_MainWindow()
+    ui.show()
+    sys.exit(app.exec_())