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import logging
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import os
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import shutil
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import PIL
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from PyQt5 import QtCore, QtGui, QtWidgets
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import numpy as np
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import matplotlib
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import sys
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import cv2
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from djitellopy import tello
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import matplotlib.pyplot as plt
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# 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
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from matplotlib.figure import Figure
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from matplotlib.backends.backend_qt5agg import FigureCanvasQTAgg # pyqt5的画布
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import calib_RGB
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import huidu_shuai,qingxi_shuai,xiangsu_shuai,video_to_photo
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import argparse
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class MyMatplotlibFigure(FigureCanvasQTAgg):
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"""
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创建一个画布类，并把画布放到FigureCanvasQTAgg
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"""
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def __init__(self, width=10, heigh=10, dpi=100):
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plt.rcParams['figure.facecolor'] = 'r' # 设置窗体颜色
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plt.rcParams['axes.facecolor'] = 'b' # 设置绘图区颜色
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self.width_ = width
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self.heigh_ = heigh
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self.dpi = dpi
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self.figs = Figure(figsize=(self.width_, self.heigh_), dpi=self.dpi)
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super(MyMatplotlibFigure, self).__init__(self.figs) # 在父类种激活self.fig， 否则不能显示图像
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#self.axes = self.figs.add_subplot(111,projection='3d')
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fig = plt.figure()
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#fig.suptitle('3D reconstructed', fontsize=16)
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#self.axes = fig.gca(projection='3d')
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self.axes=fig.add_subplot(111, projection='3d')
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def mat_plot_drow_axes(self, t, s, l):
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"""
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用清除画布刷新的方法绘图
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:return:
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"""
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self.axes.cla() # 清除绘图区
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self.axes.spines['top'].set_visible(False) # 顶边界不可见
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self.axes.spines['right'].set_visible(False) # 右边界不可见
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# fig = plt.figure()
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# fig.suptitle('3D reconstructed', fontsize=16)
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# ax = plt.axes(projection='3d')
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# 设置左、下边界在（0，0）处相交
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# self.axes.spines['bottom'].set_position(('data', 0)) # 设置y轴线原点数据为 0
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self.axes.spines['left'].set_position(('data', 0)) # 设置x轴线原点数据为 0
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# self.axes.plot(t, s, l, 'b.')
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# self.set_xlabel('x axis')
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# self.set_ylabel('y axis')
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# self.set_zlabel('z axis')
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# self.view_init(elev=135, azim=90)
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# plt.savefig('Reconstruction.jpg')
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# plt.show()
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# self.axes.plot(t, s, l, 'o-r', linewidth=0.5)
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self.axes.scatter(t,s,l, 'b.')
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#self.axes.plot_surface(t,s,l)
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self.axes.set_xlabel('x axis')
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self.axes.set_ylabel('y axis')
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self.axes.set_zlabel('z axis')
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self.axes.view_init(elev=135, azim=90)
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plt.savefig('Reconstruction.jpg')
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plt.show()
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self.figs.canvas.draw() # 这里注意是画布重绘，self.figs.canvas
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self.figs.canvas.flush_events() # 画布刷新self.figs.canvas
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class Ui_MainWindow(QtWidgets.QWidget):
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def __init__(self, parent=None):
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super().__init__(parent)
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self.timer_camera = QtCore.QTimer()
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self.cap = cv2.VideoCapture()
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self.CAM_NUM = 0
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self.set_ui()
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self.slot_init()
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def set_ui(self):
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self.setWindowTitle('虚拟沙盘') # 标题
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self.resize(1200, 800) # 窗口尺寸
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#self.status = self.statusTip('虚拟沙盘3D建模系统') # 消息
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#self.status.showMessage()
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self.setWindowIcon(QIcon("./img/mou.ico")) # 图标
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self.drawn_back()
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self.__layout_main = QtWidgets.QVBoxLayout()
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self.__layout_fun_button = QtWidgets.QHBoxLayout()
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self.__layout_data_show = QtWidgets.QHBoxLayout()
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self.button_open_camera = QtWidgets.QPushButton('打开摄像头')
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self.button_operate = QtWidgets.QPushButton('键盘控制')
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self.button_takephoto = QtWidgets.QPushButton('视频转图片')
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self.button_make = QtWidgets.QPushButton('建模')
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self.button_close = QtWidgets.QPushButton('退出')
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self.button_open_camera.setMinimumHeight(50)
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self.button_close.setMinimumHeight(50)
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self.button_operate.setMinimumHeight(50)
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self.button_takephoto.setMinimumHeight(50)
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self.button_make.setMinimumHeight(50)
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self.button_open_camera.move(10, 100)
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self.label_show_camera = QtWidgets.QLabel()
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#self.label_show_camera.move(400,400)
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self.label_show_camera.setFixedSize(841, 681)
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self.__layout_fun_button.addWidget(self.button_open_camera)
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self.__layout_fun_button.addWidget(self.button_operate)
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self.__layout_fun_button.addWidget(self.button_takephoto)
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self.__layout_fun_button.addWidget(self.button_make)
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self.__layout_fun_button.addWidget(self.button_close)
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self.__layout_main.addLayout(self.__layout_fun_button)
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self.__layout_main.addWidget(self.label_show_camera)
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self.setLayout(self.__layout_main)
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##########################################
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# 将信号与槽关联
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#self.btn1.clicked.connect(self.onClick_Button)
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#self.btn2.clicked.connect(self.showDialog)
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def slot_init(self):
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self.button_open_camera.clicked.connect(
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self.button_open_camera_clicked)
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self.timer_camera.timeout.connect(self.show_camera)
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self.button_close.clicked.connect(self.onClick_Button)
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self.button_make.clicked.connect(self.showDialog)
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self.button_takephoto.clicked.connect(self.take_photo)
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self.button_operate.clicked.connect(self.keyboard_control)
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def drawn_back(self):
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self.palette = QPalette()
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self.palette.setBrush(QPalette.Background, QBrush(QPixmap("./img/back.jpeg")))
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self.setPalette(self.palette)
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def keyboard_control(self):
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dialog = QtWidgets.QDialog()
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dialog.resize(400, 300)
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# button = QtWidgets.QPushButton('储存', dialog)
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# button.clicked.connect(dialog.close)
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# button.move(350, 550)
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dialog.setWindowTitle('键盘控制')
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dialog.setWindowModality(QtCore.Qt.ApplicationModal)
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# dialog.__layout_main = QtWidgets.QHBoxLayout()
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# dialog.__layout_fun_button = QtWidgets.QVBoxLayout()
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# dialog.__layout_data_show = QtWidgets.QVBoxLayout()
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# dialog.button_takeoff = QtWidgets.QPushButton('起飞')
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# dialog.button_set_down = QtWidgets.QPushButton('降落')
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# dialog.button.takeoff.setMinimumHeight(50)
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# dialog.button_takeoff.move(250, 200)
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# dialog.button_takeoff.setMinimumHeight(50)
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# dialog.button_set_down.setMinimumHeight(50)
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#
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# dialog.button_takeoff.move(10, 100)
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button_takeoff = QtWidgets.QPushButton('起飞', dialog)
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button_takeoff.move(200, 100)
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button_set_down = QtWidgets.QPushButton('降落', dialog)
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button_set_down.move(200, 150)
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lab1 = QLabel()
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# lab1.resize(200, 200) # 重设Label大小
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# lab1.setScaledContents(True) # 设置图片自适应窗口大小
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lab1.setPixmap(QPixmap("./img/control.png"))
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vbox = QVBoxLayout()
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vbox.addWidget(lab1)
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dialog.setLayout(vbox)
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#dialog.label_show_camera = QtWidgets.QLabel()
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# self.label_show_camera.move(400,400)
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#dialog.label_show_camera.setFixedSize(841, 681)
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# dialog.__layout_fun_button.addWidget(dialog.button_takeoff)
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# dialog.__layout_fun_button.addWidget(dialog.button_set_down)
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#
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# # self.__layout_fun_button.addWidget(self.label)
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# dialog.__layout_main.addLayout(dialog.__layout_fun_button)
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# dialog.__layout_main.addWidget(lab1)
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#
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# dialog.setLayout(dialog.__layout_main)
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#self.show()
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dialog.show()
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#sys.exit(app.exec_())
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dialog.exec()
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def take_photo(self):
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#video to photo
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args = video_to_photo.parse_args()
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if not os.path.exists(args.output):
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os.makedirs(args.output)
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print('Called with args:')
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print(args)
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video_to_photo.process_video(args.input, args.output, args.skip_frame)
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#灰度值筛选
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dir2 = r"C:\Users\xinluo\PycharmProjects\pythonProject\Camera Roll"
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dir1 = r"C:\Users\xinluo\PycharmProjects\pythonProject\Saved Pictures"
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names = os.listdir(dir1)
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n = len(names)
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print("文件数量", n)
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res = 0
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average_5 = 25565356
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average_25 = 26409377
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average_5_right = 10006019
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# average_tmp = (average_25+average_5)//2
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count = 0
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# show(os.path.join(dir1, "uni4F6C.png"))
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for i in range(n):
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# 取图片
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print(1234)
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img = PIL.Image.open(os.path.join(dir1, names[i]))
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file = os.path.join(dir1, names[i])
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rmfile = os.path.join(dir2, names[i])
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array = np.array(img)
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num = array.sum(axis=0)
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res_right = 0
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for i in range(256, 512):
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res_right += num[i]
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average_5_right += res_right / n
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#res_right > average_5_right
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if (1):
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print(4321)
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shutil.copyfile(file, rmfile)
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os.remove(file)
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count += 1
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print(average_5_right)
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print(count)
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#像素筛选
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xiangsu_shuai.pixel()
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#清晰度筛选
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qingxi_shuai.read_path(r"C:\Users\xinluo\PycharmProjects\pythonProject\Camera Roll")
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def button_open_camera_clicked(self):
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if self.timer_camera.isActive() == False:
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flag = self.cap.open(self.CAM_NUM)
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if flag == False:
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msg = QtWidgets.QMessageBox.warning(self, 'warning', "请检查无人机是否连接正确", buttons=QtWidgets.QMessageBox.Ok)
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else:
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self.timer_camera.start(30)
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self.button_open_camera.setText('关闭摄像头')
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else:
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self.timer_camera.stop()
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self.cap.release()
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self.label_show_camera.clear()
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self.button_open_camera.setText('打开摄像头')
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def show_camera(self):
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self.Drone = tello.Tello() # 创建飞行器对象
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self.Drone.connect() # 连接到飞行器
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self.Drone.streamon() # 开启视频传输
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self.Drone.LOGGER.setLevel(logging.ERROR) # 只显示错误信息
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#sleep(5) # 等待视频初始化
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#kp.init() # 初始化按键处理模块
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flag,OriginalImage = self.Drone.get_frame_read()
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#flag, self.image = self.cap.read()
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show = cv2.resize(OriginalImage, (640, 480))
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show = cv2.cvtColor(show, cv2.COLOR_BGR2RGB)
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showImage = QtGui.QImage(show.data, show.shape[1], show.shape[0],
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QtGui.QImage.Format_RGB888)
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self.label_show_camera.setPixmap(QtGui.QPixmap.fromImage(showImage))
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#getKeyboardInput(drone=Drone, speed=70, image=Image) # 按键控制
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cv2.imshow("Drone Control Centre", OriginalImage)
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def showDialog(self):
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dialog = QtWidgets.QDialog()
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dialog.resize(1800, 1600)
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button = QtWidgets.QPushButton('储存', dialog)
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button.clicked.connect(dialog.close)
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button.move(1350, 750)
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dialog.setWindowTitle('建模视图')
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dialog.setWindowModality(QtCore.Qt.ApplicationModal)
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dialog.label = QtWidgets.QLabel(dialog)
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dialog.label.setGeometry(QtCore.QRect(0, 0, 800, 600))
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# 实例化自定义画布类
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dialog.canvas = MyMatplotlibFigure(width=5, heigh=4, dpi=100)
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#dialog.plotcos()
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# t = np.arange(0.0, 5.0, 0.01)
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# s = np.cos(2 * np.pi * t)
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# dialog.canvas.mat_plot_drow_axes(t, s)
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# dialog.canvas.figs.suptitle("sin") # 设置标题
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# 重建3D点
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dialog.canvas.mat_plot_drow_axes(Points3D[0], Points3D[1], Points3D[2])
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dialog.canvas.figs.suptitle("SanDCJ") # 设置标题
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dialog.hboxlayout = QtWidgets.QHBoxLayout(dialog.label)
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dialog.hboxlayout.addWidget(dialog.canvas)
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#不展示dialog，只看figure
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#dialog.exec()
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def onClick_Button(self):
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sender = self.sender() #获得button
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#print(sender.text() + '按钮被按下')
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app = QtWidgets.QApplication.instance()
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#退出程序
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app.quit()
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if __name__ == '__main__':
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inter_corner_shape = (9, 6)
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size_per_grid = 0.023
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# 储存用来标定相机的照片，这里是为畸变的照片
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img_dir = ".\\pic\\RGB_camera_calib_img_1"
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img_type = "jpg"
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# 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
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CameraParam_Path = '.\\CameraParam.txt'
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# 要重建的目标图片
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Images_Path = 'SubstitutionCalibration_Image_1/*.jpg'
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# 计算相机参数
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calib_RGB.calib(inter_corner_shape, size_per_grid, img_dir, img_type, CameraParam_Path)
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# 读取相机参数
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config = calib_RGB.readfromfile(CameraParam_Path)
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K = np.array(config['mtx'])
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# 计算3D点
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Points3D = calib_RGB.epipolar_geometric(Images_Path, K)
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app = QtWidgets.QApplication(sys.argv)
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ui = Ui_MainWindow()
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ui.show()
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sys.exit(app.exec_()) |
