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USVLander
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This commit is contained in:
raiot 2024-06-16 21:59:53 +08:00
parent 384e2f9851
commit 9fe258d6fb
2 changed files with 19 additions and 9 deletions
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14
agent.py
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@ -29,7 +29,8 @@ class UAV:
self.send_rc_control = False self.send_rc_control = False
self.manual_control = ManualControl(self) self.manual_control = ManualControl(self)
self.status = Status.INIT self.auto_control = AutoControl(self)
self.status = Status.DETECT
self.frame_queue = Queue(maxsize=1) # 用于存放视频帧, 1用于避免帧堆积 self.frame_queue = Queue(maxsize=1) # 用于存放视频帧, 1用于避免帧堆积
@ -88,9 +89,14 @@ class UAV:
self.keep_recording = False self.keep_recording = False
cv2.destroyAllWindows() cv2.destroyAllWindows()
def auto_control(self): def auto_track_land(self):
if self.status == Status.INIT:
pass if self.status == Status.INIT or self.status == Status.TRACKING:
front_img = self.frame_queue.get()
if self.status == Status.DETECT:
self.auto_control.detect(front_img=front_img)
elif self.status == Status.TRACK:
self.auto_control.track(front_img=front_img)

14
control.py
View File

@ -91,8 +91,7 @@ class AutoControl:
self.target = [0, 0, 0, 0] self.target = [0, 0, 0, 0]
self.pid = PIDController(1, 0, 0, time.time()) self.pid = PIDController(1, 0, 0, time.time())
def detect(self): def detect(self, front_img):
front_img = self.uav.frame_queue.get()
cv2.imshow("ROI select", front_img[:, :, 0:3]) cv2.imshow("ROI select", front_img[:, :, 0:3])
self.gROI = cv2.selectROI("ROI select", front_img[:, :, 0:3], False) self.gROI = cv2.selectROI("ROI select", front_img[:, :, 0:3], False)
if (not self.gROI): if (not self.gROI):
@ -101,11 +100,16 @@ class AutoControl:
self.gTracker = Tracker(tracker_type="KCF") self.gTracker = Tracker(tracker_type="KCF")
self.gTracker.initWorking(front_img[:, :, 0:3], self.gROI) self.gTracker.initWorking(front_img[:, :, 0:3], self.gROI)
print("start tracking") print("start tracking")
self.uav.status = Status.TRACKING self.uav.status = Status.TRACK
cv2.destroyWindow("ROI select") cv2.destroyWindow("ROI select")
def track(self): def track(self, front_img):
front_img = self.uav.frame_queue.get() _item = self.gTracker.track(front_img)
if _item.message:
self.target = _item.getMessage()['target']
else:
return None
class FakeUAV: class FakeUAV: