.gitignore

@@ -4,7 +4,6 @@ __pycache__/
 *.py[cod]
 *$py.class
 
-data/*
 # C extensions
 *.so
 
@@ -159,5 +158,5 @@ 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

@@ -1,67 +0,0 @@
-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

@@ -1,29 +0,0 @@
-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)