fix：新增例程
This commit is contained in:
53
基础智能/e8.多目相机实验取图实验/Config.json
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53
基础智能/e8.多目相机实验取图实验/Config.json
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{
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"VisionSensors":[
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{
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"SeqID":0, //视觉传感器序号0 1 2 3 ...排序。如果填0，则自动递增排序。
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"TypeID":1, //视觉传感器类型，1:RGB，2:深度，3:灰度，4:分割，5:测距，7:深度转点云，20-23:激光雷达，40-41:热力红外（收费版）
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"TargetCopter":1, //传感器绑定的CopterID号，注:免费版只支持绑定1号飞机
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"TargetMountType":0, //绑定方式，0:固定飞机几何中心， 1:固定飞机底部中心，2:固定地面上，3:弱固定飞机上姿态不随动，4:绑定其他视觉传感器上
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"DataWidth":640, //图像像素长度
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"DataHeight":480,//图像像素宽度
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"DataCheckFreq":30,//图像检查更新频率，如果发现UE渲染更新了（取决于UE刷新帧率），会立刻发出数据。UE刷新率+DataCheckFreq检查频率，共同决定图像延迟。
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"SendProtocol":[0,0,0,0,0,0,0,0],// SendProtocol[0]，表示传输协议，0：共享内存（仅限Windows下获取图像），1：UDP网络传输模式（图片使用jpeg压缩，点云直传），2：UDP直传图片不压缩，3：UDP直传图片png压缩。注：0-1适用所有传感器，2-3选项仅限图像类传感器。
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//SendProtocol[1-4]位对应，IP地址位，表示请求返回的IP地址。默认都填0（或127.0.0.1），会自动请求UE返回图像到本电脑；SendProtocol[5]端口位，指定传感器图像回传端口，需要为每个传感器设置不同端口。默认填0，会自动使用9999+SeqID的递增端口号。
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"CameraFOV":90, //视觉传感器的FOV视场角，和焦距呈现一定数值关系，能间接修改焦距。
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"EularOrQuat":0, //使用欧拉角SensorAngEular还是四元数SensorAngQuat来设置视觉传感器姿态，默认使用0欧拉角。
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"SensorPosXYZ":[0.3,-0.15,0], //视觉传感器的安装位置，和TargetMountType对应偏移中心，单位米
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"SensorAngQuat":[0,0,0,0], // 视觉传感器的安装姿态，用四元数方式表示
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"SensorAngEular":[0,0,0],// 视觉传感器的安装姿态，用欧拉角方式表示，单位角度制
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"otherParams":[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0] //其他参数
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},
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{
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"SeqID":0, //自动确认序号，这里会自动识别为1
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"TypeID":2,
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"TargetCopter":1,
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"TargetMountType":0,
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"DataWidth":640,
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"DataHeight":480,
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"DataCheckFreq":30,
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"EularOrQuat":0,
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"SendProtocol":[0,0,0,0,0,0,0,0], //使用共享内存机制，并自动确定IP和端口号
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"CameraFOV":90,
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"SensorPosXYZ":[0.3,0.15,0], //这里安装位置有区别，一左一右
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"SensorAngQuat":[0,0,0,0],
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"SensorAngEular":[0,0,0],
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"otherParams":[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]
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},
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{
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"SeqID":0,
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"TypeID":3,
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"TargetCopter":1,
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"TargetMountType":0,
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"DataWidth":640,
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"DataHeight":480,
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"DataCheckFreq":30,
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"SendProtocol":[0,0,0,0,0,0,0,0],
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"CameraFOV":90,
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"EularOrQuat":0,
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"SensorPosXYZ":[0.3,0,0],
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"SensorAngQuat":[0,0,0,0],
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"SensorAngEular":[0,0,0],
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"otherParams":[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]
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}
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]
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}
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5
基础智能/e8.多目相机实验取图实验/Python38Run.bat
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5
基础智能/e8.多目相机实验取图实验/Python38Run.bat
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if not defined PSP_PATH (
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SET PSP_PATH=C:\PX4PSP
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SET PSP_PATH_LINUX=/mnt/c/PX4PSP
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)
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start cmd.exe /k "echo Python3.8 environment has been set with openCV+pymavlink+numpy+pyulog etc. && echo You can use pip or pip3 command to install other libraries && echo Put Python38Run.bat into your code folder && echo Use the command: 'python XXX.py' to run the script with Python && SET PATH=%PSP_PATH%\Python38;%PSP_PATH%\Python38\Scripts;%CD%;%PATH%"
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BIN
基础智能/e8.多目相机实验取图实验/Readme.pdf
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BIN
基础智能/e8.多目相机实验取图实验/Readme.pdf
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Binary file not shown.
162
基础智能/e8.多目相机实验取图实验/VisionCapAPIDemo.bat
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162
基础智能/e8.多目相机实验取图实验/VisionCapAPIDemo.bat
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@ECHO OFF
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REM Run script as administrator
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%1 mshta vbscript:CreateObject("Shell.Application").ShellExecute("cmd.exe","/c ""%~s0"" ::","","runas",1)(window.close)&&exit
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REM The text start with 'REM' is annotation, the following options are corresponding to Options on CopterSim
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REM Start index of vehicle number (should larger than 0)
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REM This option is useful for simulation with multi-computers
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SET /a START_INDEX=1
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REM Set the vehicleType/ClassID of vehicle 3D display in RflySim3D
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SET /a CLASS_3D_ID=-1
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REM Set use DLL model name or not, use number index or name string
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REM This option is useful for simulation with other types of vehicles instead of multicopters
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set DLLModel=0
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REM Set the simulation mode on CopterSim, use number index or name string
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REM e.g., SimMode=2 equals to SimMode=PX4_SITL_RFLY
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set SimMode=2
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REM Set the vehicle-model (airframe) of PX4 SITL simulation, the default airframe is a quadcopter: iris
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REM Check folder Firmware\ROMFS\px4fmu_common\init.d-posix for supported airframes (Note: You can also create your airframe file here)
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REM E.g., fixed-wing aircraft: PX4SitlFrame=plane; small cars: PX4SitlFrame=rover
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set PX4SitlFrame=iris
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REM Set the map, use index or name of the map on CopterSim
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REM e.g., UE4_MAP=1 equals to UE4_MAP=Grasslands
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SET UE4_MAP=Grasslands
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REM Set the origin x,y position (m) and yaw angle (degree) at the map
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SET /a ORIGIN_POS_X=0
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SET /a ORIGIN_POS_Y=0
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SET /a ORIGIN_YAW=0
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REM Set the interval between two vehicle, unit:m
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SET /a VEHICLE_INTERVAL=2
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REM Set broadcast to other computer; 0: only this computer, 1: broadcast; or use IP address to increase speed
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REM e.g., IS_BROADCAST=0 equals to IS_BROADCAST=127.0.0.1, IS_BROADCAST=1 equals to IS_BROADCAST=255.255.255.255
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SET IS_BROADCAST=0
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REM Set UDP data mode; 0: UDP_FULL, 1:UDP_Simple, 2: Mavlink_Full, 3: Mavlink_simple. input number or string
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REM 4:Mavlink_NoSend, 5:Mavlink_NoGPS, 6:Mavlink_Vision (NoGPS and set PX4 EKF)
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SET UDPSIMMODE=2
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REM Set the path of the RflySim tools
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if not defined PSP_PATH (
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SET PSP_PATH=C:\PX4PSP
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SET PSP_PATH_LINUX=/mnt/c/PX4PSP
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)
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:Top
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ECHO.
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ECHO ---------------------------------------
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REM Max vehicle number 50
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SET /a MAX_VEHICLE=50
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REM SET /P VehicleNum=Please input UAV swarm number:
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SET /A VehicleNum=1
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SET /A Evaluated=VehicleNum
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if %Evaluated% EQU %VehicleNum% (
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IF %VehicleNum% GTR 0 (
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IF %VehicleNum% GTR %MAX_VEHICLE% (
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ECHO The vehicle number is too large, which may cause a crash
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pause
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)
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GOTO StartSim
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)
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ECHO Not a positive integer
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GOTO Top
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) ELSE (
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ECHO Not a integer
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GOTO Top
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)
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:StartSim
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SET /A VehicleTotalNum=%VehicleNum% + %START_INDEX% - 1
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if not defined TOTOAL_COPTER (
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SET /A TOTOAL_COPTER=%VehicleTotalNum%
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)
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set /a sqrtNum=1
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set /a squareNum=1
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:loopSqrt
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set /a squareNum=%sqrtNum% * %sqrtNum%
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if %squareNum% EQU %TOTOAL_COPTER% (
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goto loopSqrtEnd
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)
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if %squareNum% GTR %TOTOAL_COPTER% (
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goto loopSqrtEnd
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)
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set /a sqrtNum=%sqrtNum%+1
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goto loopSqrt
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:loopSqrtEnd
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REM QGCPath
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tasklist|find /i "QGroundControl.exe" || start %PSP_PATH%\QGroundControl\QGroundControl.exe -noComPix
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ECHO Start QGroundControl
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REM UE4Path
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cd /d %PSP_PATH%\RflySim3D
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tasklist|find /i "RflySim3D.exe" || start %PSP_PATH%\RflySim3D\RflySim3D.exe
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choice /t 5 /d y /n >nul
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tasklist|find /i "CopterSim.exe" && taskkill /im "CopterSim.exe"
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ECHO Kill all CopterSims
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REM CptSmPath
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cd /d %PSP_PATH%\CopterSim
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set /a cntr=%START_INDEX%
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set /a endNum=%VehicleTotalNum%+1
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:loopBegin
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set /a PosXX=((%cntr%-1) / %sqrtNum%)*%VEHICLE_INTERVAL% + %ORIGIN_POS_X%
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set /a PosYY=((%cntr%-1) %% %sqrtNum%)*%VEHICLE_INTERVAL% + %ORIGIN_POS_Y%
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start /realtime CopterSim.exe 1 %cntr% %CLASS_3D_ID% %DLLModel% %SimMode% %UE4_MAP% %IS_BROADCAST% %PosXX% %PosYY% %ORIGIN_YAW% 1 %UDPSIMMODE%
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choice /t 1 /d y /n >nul
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set /a cntr=%cntr%+1
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if %cntr% EQU %endNum% goto loopEnd
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goto loopBegin
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:loopEnd
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REM Set ToolChainType 1:Win10WSL 3:Cygwin
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SET /a ToolChainType=1
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if "%IS_BROADCAST%" == "0" (
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SET IS_BROADCAST=0
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) else (
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SET IS_BROADCAST=1
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)
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SET WINDOWSPATH=%PATH%
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if %ToolChainType% EQU 1 (
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wsl -d RflySim-20.04 echo Starting PX4 Build; cd %PSP_PATH_LINUX%/Firmware; ./BkFile/EnvOri.sh; export PATH=$HOME/ninja:$HOME/gcc-arm-none-eabi-7-2017-q4-major/bin:$PATH;make px4_sitl_default; ./Tools/sitl_multiple_run_rfly.sh %VehicleNum% %START_INDEX% %PX4SitlFrame%;echo Press any key to exit; read -n 1
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) else (
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REM CYGPath
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cd /d %PSP_PATH%\CygwinToolchain
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CALL setPX4Env.bat
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bash -l -i -c 'echo Starting SITL SIMULATION; cd %PSP_PATH_LINUX%/Firmware; ./BkFile/EnvOri.sh; pwd; make px4_sitl_default; ./Tools/sitl_multiple_run_rfly.sh %VehicleNum% %START_INDEX% %PX4SitlFrame%;echo Press any key to exit; read -n 1; pkill -x px4 || true;'
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)
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SET PATH=%WINDOWSPATH%
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REM kill all applications when press a key
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tasklist|find /i "CopterSim.exe" && taskkill /im "CopterSim.exe"
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tasklist|find /i "QGroundControl.exe" && taskkill /f /im "QGroundControl.exe"
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tasklist|find /i "RflySim3D.exe" && taskkill /f /im "RflySim3D.exe"
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tasklist|find /i "python.exe" && taskkill /f /im "python.exe"
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tasklist|find /i "cmd.exe" && taskkill /f /im "cmd.exe"
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ECHO Start End.
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90
基础智能/e8.多目相机实验取图实验/VisionCapAPIDemo.py
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90
基础智能/e8.多目相机实验取图实验/VisionCapAPIDemo.py
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import time
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import math
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import sys
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import VisionCaptureApi
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import PX4MavCtrlV4 as PX4MavCtrl
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import cv2
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import UE4CtrlAPI
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ue = UE4CtrlAPI.UE4CtrlAPI()
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#Create a new MAVLink communication instance, UDP sending port (CopterSim’s receving port) is 20100
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mav = PX4MavCtrl.PX4MavCtrler(1)
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# The IP should be specified by the other computer
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vis = VisionCaptureApi.VisionCaptureApi()
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# Send command to UE4 Window 1 to change resolution
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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。
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ue.sendUE4Cmd('t.MaxFPS 30',0) # 设置UE4最大刷新频率，同时也是取图频率
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time.sleep(2)
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# VisionCaptureApi 中的配置函数
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vis.jsonLoad() # 加载Config.json中的传感器配置文件
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# vis.RemotSendIP = '192.168.3.80'
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# 注意，手动修改RemotSendIP的值，可以将图片发送到本地址
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# 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
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# 图片的发送端口，为json中SendProtocol[5]定义好的。
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isSuss = vis.sendReqToUE4() # 向RflySim3D发送取图请求，并验证
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if not isSuss: # 如果请求取图失败，则退出
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sys.exit(0)
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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
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#mav.InitMavLoop(UDPMode), where UDPMode=0,1,2,3,4
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# Use MAVLink_Full Mode to control PX4
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# In this mode, this script will send MAVLinkOffboard message to PX4 directly
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# and receive MAVLink data from PX4
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# Obviously, MAVLink_Full mode is slower than UDP mode, but the functions and data are more comprehensive
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mav.InitMavLoop() # the same as mav.InitMavLoop() in other PythonVision demos
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time.sleep(1)
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print('Start Offboard Send!')
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mav.initOffboard()
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time.sleep(1)
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# Check if the PX4'EKF has correctlly initialized, which is necessary for offboard control
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if not mav.isPX4Ekf3DFixed:
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print('CopterSim/PX4 still not 3DFxied, please wait and try again.')
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sys.exit(0)
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else:
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print('CopterSim/PX4 3D Fixed, ready to fly.')
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mav.SendMavArm(True)
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print('Fly to pos 0, 0, -1!')
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mav.SendPosNED(0, 0, -1, 0)
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# 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
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lastTime = time.time()
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num=0
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lastClock=time.time()
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while True:
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lastTime = lastTime + 1/30.0
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sleepTime = lastTime - time.time()
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if sleepTime > 0:
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time.sleep(sleepTime)
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else:
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lastTime = time.time()
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for i in range(len(vis.hasData)):
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if vis.hasData[i]:
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# Process your image here
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cv2.imshow('Img'+str(i),vis.Img[i])
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cv2.waitKey(1)
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if i==0: # 更新0号相机的参数
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# 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）
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vs = vis.VisSensor[0] #获取第0号相机基本参数
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# 修改其中的可变部分，只修改需要改变的部分即可
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vs.TargetCopter=1 #修改视角绑定的飞机ID
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vs.TargetMountType=0 # 修改视角绑定类型，固连飞机还是地面
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vs.CameraFOV=90 # 修改视角的视场角（焦距），可以模拟对焦相机
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vs.SensorPosXYZ=[0.3,-0.15,0] # 修改相机的位置，可以调整相机初始位置
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vs.SensorAngEular=[0,0,0] # 修改相机的姿态，可以模拟云台转动
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vis.sendUpdateUEImage(vs) # 发送更新数据
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#mav.endOffboard()
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#mav.stopRun()
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0
基础智能/e8.多目相机实验取图实验/名称-多目相机实验取图实验.txt
Normal file
0
基础智能/e8.多目相机实验取图实验/名称-多目相机实验取图实验.txt
Normal file
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