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109 lines
4.4 KiB
109 lines
4.4 KiB
from UIfile.gestureUI import Ui_gestureUI
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from PyQt5.QtCore import QTimer,pyqtSignal,QMutex,QThread,QWaitCondition,QObject
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from PyQt5.QtWidgets import QWidget
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from PyQt5.QtGui import QIcon,QCloseEvent
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from PyQt5.QtGui import QImage,QPixmap
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import myGesture
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import cv2
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class myGesture_UI(QWidget,Ui_gestureUI):
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signal_send_order_to_Tello = pyqtSignal(str,str)
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def __init__(self):
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super(myGesture_UI, self).__init__()
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self.setupUi(self)
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self.dockWidget_HintHelp.setFloating(False)
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self.channel = 3
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self.timer = QTimer(self) #定时器
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self.timer.timeout.connect(self.show_and_get_order)
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self.cap = cv2.VideoCapture() # 读取电脑摄像头图像
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self.pushButton_start_and_close.clicked.connect(self.start_or_stop) #开始按钮触发动作
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self.myGesture = myGesture.myGesture() #手势识别
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self.frame_skip = 20 #每次跳过这么多帧数才识别一次
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self.frame_skiped = self.frame_skip #已经跳过的帧数，每隔一段时间清零，初始应该是最大值
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# 进度条
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self.progressBar.setMaximum(self.frame_skip)
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self.progressBar.setValue(self.frame_skip)
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#显示已经发送的命令
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self.order_already_sent = ''
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self.move_distance_per_step = 20 #先设置一个初始值，但它会随主窗口步长的调整而变化
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def start_or_stop(self):
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'''显示电脑摄像头图像并开始识别'''
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# 如果此时未打开手势控制
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if self.timer.isActive() == False:
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self.cap.open(0)
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self.pushButton_start_and_close.setText('关闭手势控制')
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self.timer.start(100) #计时开始
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# 如果此时已经打开了手势控制
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else:
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self.timer.stop() #计时结束
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self.cap.release() #释放
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self.label_PC_Cam_frame_show.clear() #清空显示
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self.pushButton_start_and_close.setText('开始手势控制')
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def show_and_get_order(self):
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self.img_w = self.label_PC_Cam_frame_show.width()
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self.img_h = self.label_PC_Cam_frame_show.height()
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ret,frame = self.cap.read()
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if ret == True:
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frame = cv2.resize(frame, (self.img_w, self.img_h)) # 要保证要显示的图像大小和显示窗口大小一致
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# frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
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pixmap = QPixmap.fromImage(QImage(frame.data,self.img_w,self.img_h,self.channel*self.img_w,QImage.Format_BGR888))
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self.label_PC_Cam_frame_show.setPixmap(pixmap)
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if self.frame_skiped >= self.frame_skip:
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self.progressBar.setValue(self.frame_skip)
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self.label_is_ready.setText('就绪')
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result,order = self.myGesture.getOrder(frame) #得到识别结果和命令
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#假如命令有效
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if order != '':
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self.signal_send_order_to_Tello.emit(result,order) #发送命令
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self.frame_skiped = 0 #更新已经跳过的帧数
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self.progressBar.setValue(self.frame_skiped)
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self.label_is_ready.setText('跳帧中')
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self.update_textBrower(result,order)
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return
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else:
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return
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else:
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self.frame_skiped += 1
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self.progressBar.setValue(self.frame_skiped)
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return
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def closeEvent(self, a0: QCloseEvent) -> None:
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'''窗口关闭时触发的动作'''
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self.dockWidget_HintHelp.close()
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self.timer.stop()
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self.cap.release() # 释放
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def get_move_distance_per_step(self,distance : int):
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'''得到设置的步长'''
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self.move_distance_per_step = distance
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def update_textBrower(self,result,order):
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'''更新显示已经发送的命令'''
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if order in ('cw 90','ccw 90','stop','takeoff','command','land','landhand'):
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#这些不需要得到步长
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self.order_already_sent = '\n' + '>>> ' + result
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else:
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# 这些需要得到步长
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self.order_already_sent = '\n' + '>>> ' + result + ' ' + str(self.move_distance_per_step) + ' ' + '厘米'
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self.textBrowser_order_already_sent.append(self.order_already_sent)
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#更新显示
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# self.textBrowser_order_already_sent.setText(self.order_already_sent) |