fix：新增例程

基础智能/e7.相机取图实验/VisionCapAPIDemo.py

@@ -0,0 +1,91 @@
+import time
+import math
+import sys
+import VisionCaptureApi
+import PX4MavCtrlV4 as PX4MavCtrl
+import cv2
+import UE4CtrlAPI
+ue = UE4CtrlAPI.UE4CtrlAPI()
+
+#Create a new MAVLink communication instance, UDP sending port (CopterSim’s receving port) is 20100
+mav = PX4MavCtrl.PX4MavCtrler(1)
+
+# The IP should be specified by the other computer
+vis = VisionCaptureApi.VisionCaptureApi()
+
+# Send command to UE4 Window 1 to change resolution 
+ue.sendUE4Cmd('r.setres 1280x720',0) # 设置UE4窗口分辨率，注意本窗口仅限于显示，取图分辨率在json中配置，本窗口设置越小，资源需求越少。
+ue.sendUE4Cmd('t.MaxFPS 30',0) # 设置UE4最大刷新频率，同时也是取图频率
+time.sleep(2)    
+
+# VisionCaptureApi 中的配置函数
+vis.jsonLoad() # 加载Config.json中的传感器配置文件
+
+# vis.RemotSendIP = '192.168.3.80'
+# 注意，手动修改RemotSendIP的值，可以将图片发送到本地址
+# 如果不修改这个值，那么发送的IP地址为json文件中SendProtocol[1:4]定义的IP
+# 图片的发送端口，为json中SendProtocol[5]定义好的。
+
+isSuss = vis.sendReqToUE4() # 向RflySim3D发送取图请求，并验证
+if not isSuss: # 如果请求取图失败，则退出
+    sys.exit(0)
+vis.startImgCap() # 开启取图，并启用共享内存图像转发，转发到填写的目录
+
+
+#mav.InitMavLoop(UDPMode), where UDPMode=0,1,2,3,4
+# Use MAVLink_Full Mode to control PX4
+# In this mode, this script will send MAVLinkOffboard message to PX4 directly
+# and receive MAVLink data from PX4
+# Obviously, MAVLink_Full mode is slower than UDP mode, but the functions and data are more comprehensive
+mav.InitMavLoop() # the same as mav.InitMavLoop() in other PythonVision demos
+
+time.sleep(1)
+print('Start Offboard Send!')
+mav.initOffboard2()
+time.sleep(1)
+
+
+# Check if the PX4'EKF has correctlly initialized, which is necessary for offboard control
+if not mav.isPX4Ekf3DFixed:
+    print('CopterSim/PX4 still not 3DFxied, please wait and try again.')
+    sys.exit(0)
+else:
+    print('CopterSim/PX4 3D Fixed, ready to fly.')
+
+mav.SendMavArm(True)
+print('Fly to pos 10, 0,-100!')
+time.sleep(1)
+mav.sendMavTakeOff(10,0,-100)
+
+# 下面的程序非必需，仅用于观察图像用，在电脑性能不足时，请删除
+lastTime = time.time()
+num=0
+lastClock=time.time()
+while True:
+    lastTime = lastTime + 1/30.0
+    sleepTime = lastTime - time.time()
+    if sleepTime > 0:
+        time.sleep(sleepTime)
+    else:
+        lastTime = time.time()   
+        
+    for i in range(len(vis.hasData)):
+        if vis.hasData[i]:
+            # Process your image here
+            cv2.imshow('Img'+str(i),vis.Img[i])
+            cv2.waitKey(1)
+            
+        if i==0: # 更新0号相机的参数
+            # 以下代码用于实时更新相机参数（位置、焦距、角度、装载飞机和形式）
+            vs = vis.VisSensor[0] #获取第0号相机基本参数
+            # 修改其中的可变部分，只修改需要改变的部分即可
+            vs.TargetCopter=1  #修改视角绑定的飞机ID
+            vs.TargetMountType=0  # 修改视角绑定类型，固连飞机还是地面
+            vs.CameraFOV=90   # 修改视角的视场角（焦距），可以模拟对焦相机
+            vs.SensorPosXYZ=[0,0,0]  # 修改相机的位置，可以调整相机初始位置
+            vs.SensorAngEular=[0,0,0]  # 修改相机的姿态，可以模拟云台转动
+            vis.sendUpdateUEImage(vs) # 发送更新数据
+            
+
+#mav.endOffboard()
+#mav.stopRun()