change gitignore

.gitignore

@@ -4,6 +4,7 @@ __pycache__/
 *.py[cod]
 *$py.class
 
+data/*
 # C extensions
 *.so
 
@@ -158,5 +159,5 @@ cython_debug/
 #  be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
 #  and can be added to the global gitignore or merged into this file.  For a more nuclear
 #  option (not recommended) you can uncomment the following to ignore the entire idea folder.
-#.idea/
+.idea/*
 

main.py

@@ -0,0 +1,67 @@
+import cv2
+import numpy as np
+
+
+def test():
+    raw = cv2.imread("./data/003.png")
+
+    # 设定颜色HSV范围，假定为红色
+    redLower = np.array([30, 0, 0])
+    redUpper = np.array([255, 193, 255])
+
+    img = raw
+
+    # 将图像转化为HSV格式
+    hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
+
+    # 去除颜色范围外的其余颜色
+    mask = cv2.inRange(hsv, redLower, redUpper)
+    cv2.imshow("mask", mask)
+
+    # 二值化操作
+    ret, binary = cv2.threshold(mask, 0, 255, cv2.THRESH_BINARY)
+
+    # 膨胀操作，因为是对线条进行提取定位，所以腐蚀可能会造成更大间隔的断点，将线条切断，因此仅做膨胀操作
+    kernel = np.ones((5, 5), np.uint8)
+    dilation = cv2.dilate(binary, kernel, iterations=1)
+    #
+    # img2 = cv2.bitwise_and(img, img, mask=mask)
+    # cv2.imshow('image', mask)
+    # cv2.waitKey(0)
+    # cv2.destroyAllWindows()
+
+    # 获取图像轮廓坐标，其中contours为坐标值，此处只检测外形轮廓
+    contours, hierarchy = cv2.findContours(dilation, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
+
+    aim_box = (0, 0, 0, 0)
+    if len(contours) > 0:
+        print('Run!')
+        # cv2.boundingRect()返回轮廓矩阵的坐标值，四个值为x, y, w, h， 其中x, y为左上角坐标，w,h为矩阵的宽和高
+        boxes = [cv2.boundingRect(c) for c in contours]
+        for box in boxes:
+            x, y, w, h = box
+            if box[2] * box[3] > aim_box[2] * aim_box[3]:
+                aim_box = box
+            # print(box)
+    else:
+        pass
+
+    # x, y, w, h = aim_box
+    # gray = cv2.GaussianBlur(raw, (5, 5), 0)
+    # canny = cv2.Canny(gray, 70, 210)
+    # contours, hierarchy = cv2.findContours(canny.copy(), cv2.RETR_LIST, cv2.CHAIN_APPROX_SIMPLE)
+    # contours = sorted(contours, key=cv2.contourArea, reverse=True)[:3]
+    #
+    # drawed = cv2.drawContours(raw, contours, -1, (0, 0, 255), 2)
+    # print(f"轮廓数量：{len(contours)}")
+    # cv2.imshow("raw", cv2.imread("./data/003.png"))
+    # cv2.imshow("test1", drawed)
+    # cv2.imshow("test", canny)
+    cv2.waitKey(0)
+
+
+# Press the green button in the gutter to run the script.
+if __name__ == '__main__':
+    test()
+
+# See PyCharm help at https://www.jetbrains.com/help/pycharm/

sim_control.py

@@ -0,0 +1,29 @@
+import airsim
+import os
+
+# connect to the AirSim simulator
+client = airsim.MultirotorClient()
+client.confirmConnection()
+# get control
+client.enableApiControl(True)
+# unlock
+client.armDisarm(True)
+# Async methods returns Future. Call join() to wait for task to complete.
+client.takeoffAsync().join()
+
+
+# keep fly in square path until get images
+client.moveByVelocityAsync(0, 0, 0, 1).join()
+# client.moveOnPathAsync([airsim.Vector3r(100, 0, -10)], 0.1, 60, airsim.DrivetrainType.ForwardOnly, airsim.YawMode(False, 0)).join()
+
+# take video from bottom camera and show using cv2
+raw = client.simGetImage("bottom_center", airsim.ImageType.Scene)
+airsim.write_file(os.path.normpath("./data/004.png"), raw)
+
+
+client.landAsync().join()
+# lock
+client.armDisarm(False)
+
+# release control
+client.enableApiControl(False)