import logging import os import shutil import PIL from PyQt5 import QtCore, QtGui, QtWidgets import numpy as np import matplotlib import sys import cv2 from djitellopy import tello import matplotlib.pyplot as plt # matplotlib.figure 模块提供了顶层的Artist(图中的所有可见元素都是Artist的子类)，它包含了所有的plot元素 from matplotlib.figure import Figure from matplotlib.backends.backend_qt5agg import FigureCanvasQTAgg # pyqt5的画布 import calib_RGB import huidu_shuai,qingxi_shuai,xiangsu_shuai,video_to_photo import argparse class MyMatplotlibFigure(FigureCanvasQTAgg): """ 创建一个画布类，并把画布放到FigureCanvasQTAgg """ def __init__(self, width=10, heigh=10, dpi=100): plt.rcParams['figure.facecolor'] = 'r' # 设置窗体颜色 plt.rcParams['axes.facecolor'] = 'b' # 设置绘图区颜色 self.width_ = width self.heigh_ = heigh self.dpi = dpi self.figs = Figure(figsize=(self.width_, self.heigh_), dpi=self.dpi) super(MyMatplotlibFigure, self).__init__(self.figs) # 在父类种激活self.fig， 否则不能显示图像 #self.axes = self.figs.add_subplot(111,projection='3d') fig = plt.figure() #fig.suptitle('3D reconstructed', fontsize=16) #self.axes = fig.gca(projection='3d') self.axes=fig.add_subplot(111, projection='3d') def mat_plot_drow_axes(self, t, s, l): """ 用清除画布刷新的方法绘图 :return: """ self.axes.cla() # 清除绘图区 self.axes.spines['top'].set_visible(False) # 顶边界不可见 self.axes.spines['right'].set_visible(False) # 右边界不可见 # fig = plt.figure() # fig.suptitle('3D reconstructed', fontsize=16) # ax = plt.axes(projection='3d') # 设置左、下边界在（0，0）处相交 # self.axes.spines['bottom'].set_position(('data', 0)) # 设置y轴线原点数据为 0 self.axes.spines['left'].set_position(('data', 0)) # 设置x轴线原点数据为 0 # self.axes.plot(t, s, l, 'b.') # self.set_xlabel('x axis') # self.set_ylabel('y axis') # self.set_zlabel('z axis') # self.view_init(elev=135, azim=90) # plt.savefig('Reconstruction.jpg') # plt.show() # self.axes.plot(t, s, l, 'o-r', linewidth=0.5) self.axes.scatter(t,s,l, 'b.') #self.axes.plot_surface(t,s,l) self.axes.set_xlabel('x axis') self.axes.set_ylabel('y axis') self.axes.set_zlabel('z axis') self.axes.view_init(elev=135, azim=90) plt.savefig('Reconstruction.jpg') plt.show() self.figs.canvas.draw() # 这里注意是画布重绘，self.figs.canvas self.figs.canvas.flush_events() # 画布刷新self.figs.canvas class Ui_MainWindow(QtWidgets.QWidget): def __init__(self, parent=None): super().__init__(parent) self.timer_camera = QtCore.QTimer() self.cap = cv2.VideoCapture() self.CAM_NUM = 0 self.set_ui() self.slot_init() def set_ui(self): self.setWindowTitle('虚拟沙盘') # 标题 self.resize(1200, 800) # 窗口尺寸 #self.status = self.statusTip('虚拟沙盘3D建模系统') # 消息 #self.status.showMessage() self.setWindowIcon(QIcon("./img/mou.ico")) # 图标 self.drawn_back() 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('视频转图片') 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_main.addLayout(self.__layout_fun_button) self.__layout_main.addWidget(self.label_show_camera) self.setLayout(self.__layout_main) ########################################## # 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) self.button_takephoto.clicked.connect(self.take_photo) self.button_operate.clicked.connect(self.keyboard_control) def drawn_back(self): self.palette = QPalette() self.palette.setBrush(QPalette.Background, QBrush(QPixmap("./img/back.jpeg"))) self.setPalette(self.palette) def keyboard_control(self): dialog = QtWidgets.QDialog() dialog.resize(400, 300) # button = QtWidgets.QPushButton('储存', dialog) # button.clicked.connect(dialog.close) # button.move(350, 550) dialog.setWindowTitle('键盘控制') dialog.setWindowModality(QtCore.Qt.ApplicationModal) # dialog.__layout_main = QtWidgets.QHBoxLayout() # dialog.__layout_fun_button = QtWidgets.QVBoxLayout() # dialog.__layout_data_show = QtWidgets.QVBoxLayout() # dialog.button_takeoff = QtWidgets.QPushButton('起飞') # dialog.button_set_down = QtWidgets.QPushButton('降落') # dialog.button.takeoff.setMinimumHeight(50) # dialog.button_takeoff.move(250, 200) # dialog.button_takeoff.setMinimumHeight(50) # dialog.button_set_down.setMinimumHeight(50) # # dialog.button_takeoff.move(10, 100) button_takeoff = QtWidgets.QPushButton('起飞', dialog) button_takeoff.move(200, 100) button_set_down = QtWidgets.QPushButton('降落', dialog) button_set_down.move(200, 150) lab1 = QLabel() # lab1.resize(200, 200) # 重设Label大小 # lab1.setScaledContents(True) # 设置图片自适应窗口大小 lab1.setPixmap(QPixmap("./img/control.png")) vbox = QVBoxLayout() vbox.addWidget(lab1) dialog.setLayout(vbox) #dialog.label_show_camera = QtWidgets.QLabel() # self.label_show_camera.move(400,400) #dialog.label_show_camera.setFixedSize(841, 681) # dialog.__layout_fun_button.addWidget(dialog.button_takeoff) # dialog.__layout_fun_button.addWidget(dialog.button_set_down) # # # self.__layout_fun_button.addWidget(self.label) # dialog.__layout_main.addLayout(dialog.__layout_fun_button) # dialog.__layout_main.addWidget(lab1) # # dialog.setLayout(dialog.__layout_main) #self.show() dialog.show() #sys.exit(app.exec_()) dialog.exec() def take_photo(self): #video to photo args = video_to_photo.parse_args() if not os.path.exists(args.output): os.makedirs(args.output) print('Called with args:') print(args) video_to_photo.process_video(args.input, args.output, args.skip_frame) #灰度值筛选 dir2 = r"C:\Users\xinluo\PycharmProjects\pythonProject\Camera Roll" dir1 = r"C:\Users\xinluo\PycharmProjects\pythonProject\Saved Pictures" names = os.listdir(dir1) n = len(names) print("文件数量", n) res = 0 average_5 = 25565356 average_25 = 26409377 average_5_right = 10006019 # average_tmp = (average_25+average_5)//2 count = 0 # show(os.path.join(dir1, "uni4F6C.png")) for i in range(n): # 取图片 print(1234) img = PIL.Image.open(os.path.join(dir1, names[i])) file = os.path.join(dir1, names[i]) rmfile = os.path.join(dir2, names[i]) array = np.array(img) num = array.sum(axis=0) res_right = 0 for i in range(256, 512): res_right += num[i] average_5_right += res_right / n #res_right > average_5_right if (1): print(4321) shutil.copyfile(file, rmfile) os.remove(file) count += 1 print(average_5_right) print(count) #像素筛选 xiangsu_shuai.pixel() #清晰度筛选 qingxi_shuai.read_path(r"C:\Users\xinluo\PycharmProjects\pythonProject\Camera Roll") 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() #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(1800, 1600) button = QtWidgets.QPushButton('储存', dialog) button.clicked.connect(dialog.close) button.move(1350, 750) dialog.setWindowTitle('建模视图') dialog.setWindowModality(QtCore.Qt.ApplicationModal) dialog.label = QtWidgets.QLabel(dialog) dialog.label.setGeometry(QtCore.QRect(0, 0, 800, 600)) # 实例化自定义画布类 dialog.canvas = MyMatplotlibFigure(width=5, heigh=4, dpi=100) #dialog.plotcos() # t = np.arange(0.0, 5.0, 0.01) # s = np.cos(2 * np.pi * t) # dialog.canvas.mat_plot_drow_axes(t, s) # dialog.canvas.figs.suptitle("sin") # 设置标题 # 重建3D点 dialog.canvas.mat_plot_drow_axes(Points3D[0], Points3D[1], Points3D[2]) dialog.canvas.figs.suptitle("SanDCJ") # 设置标题 dialog.hboxlayout = QtWidgets.QHBoxLayout(dialog.label) dialog.hboxlayout.addWidget(dialog.canvas) #不展示dialog，只看figure #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__': inter_corner_shape = (9, 6) size_per_grid = 0.023 # 储存用来标定相机的照片，这里是为畸变的照片 img_dir = ".\\pic\\RGB_camera_calib_img_1" img_type = "jpg" # 储存标定相机之后的参数，应该相机的内外参数与畸变参数 CameraParam_Path = '.\\CameraParam.txt' # 要重建的目标图片 Images_Path = 'SubstitutionCalibration_Image_1/*.jpg' # 计算相机参数 calib_RGB.calib(inter_corner_shape, size_per_grid, img_dir, img_type, CameraParam_Path) # 读取相机参数 config = calib_RGB.readfromfile(CameraParam_Path) K = np.array(config['mtx']) # 计算3D点 Points3D = calib_RGB.epipolar_geometric(Images_Path, K) app = QtWidgets.QApplication(sys.argv) ui = Ui_MainWindow() ui.show() sys.exit(app.exec_())