fix：新增例程

人工智能/e3.双目视觉人脸识别实验/Config.json

@@ -0,0 +1,37 @@
+{
+    "VisionSensors":[
+        {
+            "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。
+            "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）
+            "TargetCopter":1, //传感器绑定的CopterID号，注:免费版只支持绑定1号飞机
+            "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
+            "DataWidth":640, //图像像素长度
+            "DataHeight":480,//图像像素宽度
+            "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。
+            "SendProtocol":[1,0,0,0,0,0,0,0],// 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。
+            //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。
+            "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。
+            "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。
+            "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
+            "SensorAngQuat":[0,0,0,0], // 视觉传感器的安装姿态，用四元数方式表示
+            "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
+            "otherParams":[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0] //其他参数
+        },
+        {
+            "SeqID":0, //自动确认序号，这里会自动识别为1
+            "TypeID":1,
+            "TargetCopter":1,
+            "TargetMountType":0,
+            "DataWidth":640,
+            "DataHeight":480,
+            "DataCheckFreq":30,
+            "EularOrQuat":0,
+            "SendProtocol":[1,0,0,0,0,0,0,0], //自动确定IP和端口号
+            "CameraFOV":90,
+            "SensorPosXYZ":[0.3,0.15,0], 
+            "SensorAngQuat":[0,0,0,0],
+            "SensorAngEular":[0,0,0],
+            "otherParams":[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]
+        }
+    ]
+}

人工智能/e3.双目视觉人脸识别实验/ManDetect3.py

@@ -0,0 +1,102 @@
+# import required libraries
+import cv2
+import time
+import math
+import sys
+import threading
+
+# import RflySim APIs
+import PX4MavCtrlV4 as PX4MavCtrl
+
+import VisionCaptureApi
+import UE4CtrlAPI
+ue = UE4CtrlAPI.UE4CtrlAPI()
+
+vis = VisionCaptureApi.VisionCaptureApi()
+
+# VisionCaptureApi 中的配置函数
+vis.jsonLoad() # 加载Config.json中的传感器配置文件
+
+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(True) # 开启取图，并启用共享内存图像转发，转发到填写的目录
+
+# Send command to UE4 Window 1 to change resolution 
+ue.sendUE4Cmd('r.setres 720x405w',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)    
+
+# Create MAVLink control API instance
+mav = PX4MavCtrl.PX4MavCtrler(1)
+# Init MAVLink data receiving loop
+mav.InitMavLoop()
+
+
+# send vehicle position command to create a man, with copterID=100 
+# the man is located before the drone, and rotated to 180 degree (face the drone)
+ue.sendUE4Pos(100,30,0,[1,0,-8.086],[0,0,math.pi])
+time.sleep(1)
+
+# send command to change object with copterID=100 (the man just created) to a walking style
+ue.sendUE4Cmd('RflyChange3DModel 100 16') 
+time.sleep(0.5)
+
+# send command to the first RflySim3D window, to switch to vehicle 1
+ue.sendUE4Cmd('RflyChangeViewKeyCmd B 1',0)
+
+print("5s, Arm the drone")
+mav.initOffboard()
+time.sleep(0.5)
+mav.SendMavArm(True) # Arm the drone
+print("Arm the drone!, and fly to NED 0,0,-5")
+time.sleep(0.5)
+mav.SendPosNED(0, 0, -1.7, 0) # Fly to target position 0,0，-1.5
+
+# Process the image in the following timer
+startTime = time.time()
+lastTime = time.time()
+timeInterval = 1/30.0 # time interval of the timer
+face_cascade=cv2.CascadeClassifier(sys.path[0]+'\cascades\haarcascade_frontalface_default.xml')
+
+num=0
+lastClock=time.time()
+while True:
+    #gImgList = sca.getCVImgList(ImgInfoList)
+    #img1=sca.getCVImg(ImgInfo1)
+    # Get the first camera view and change to gray
+    
+    if vis.hasData[0]: 
+        pic1=cv2.cvtColor(vis.Img[0], cv2.COLOR_BGR2GRAY)
+        faces1=face_cascade.detectMultiScale(pic1,1.3,5) # face recognition for the first camera
+        for (x,y,w,h) in faces1:
+            pic1=cv2.rectangle(pic1,(x,y),(x+w,y+h),(255,0,0),1) # Draw a rectangle to mark the face
+        cv2.imshow("pic1",pic1) # Show the processed image 
+        
+    if vis.hasData[1]:         
+        #img2=sca.getCVImg(ImgInfo2)
+        # Get the second camera view and change to gray
+        pic2=cv2.cvtColor(vis.Img[1], cv2.COLOR_BGR2GRAY)
+        faces2=face_cascade.detectMultiScale(pic2,1.3,5) # face recognition for the second camera
+        for (x,y,w,h) in faces2:
+            pic2=cv2.rectangle(pic2,(x,y),(x+w,y+h),(255,0,0),1)
+        cv2.imshow("pic2",pic2)
+    
+    
+    # add target tracking algorithm here with mav.SendVelNED or SendVelFRD API
+
+    cv2.waitKey(1)
+    
+    num=num+1
+    if num%100==0:
+        tiem=time.time()
+        print('MainThreadFPS: '+str(100/(tiem-lastClock)))
+        lastClock=tiem   
+
+    # The above code will be executed 30Hz (0.033333s)    
+    lastTime = lastTime + timeInterval
+    sleepTime = lastTime - time.time()
+    if sleepTime > 0:
+        time.sleep(sleepTime)
+    else:
+        lastTime = time.time()

人工智能/e3.双目视觉人脸识别实验/ManDetect3HITL.bat

@@ -0,0 +1,177 @@
+@ECHO OFF
+
+REM Run script as administrator
+%1 mshta vbscript:CreateObject("Shell.Application").ShellExecute("cmd.exe","/c ""%~s0"" ::","","runas",1)(window.close)&&exit
+
+
+REM The text start with 'REM' is annotation, the following options are corresponding to Options on CopterSim
+
+REM Start index of vehicle number (should larger than 0)
+REM This option is useful for simulation with multi-computers
+SET /a START_INDEX=1
+
+
+REM Set the vehicleType/ClassID of vehicle 3D display in RflySim3D
+SET /a CLASS_3D_ID=-1
+
+REM Set use DLL model name or not, use number index or name string
+REM This option is useful for simulation with other types of vehicles instead of multicopters
+set DLLModel=0
+
+REM Set the simulation mode on CopterSim, use number index or name string
+REM e.g., 0:PX4_HITL, 1:PX4_SITL, 2:PX4_SITL_RFLY, 3:"Simulink&DLL_SIL", 4:PX4_HITL_NET, 5:EXT_HITL_COM, 6:EXT_SIM_NET
+set SimMode=0
+
+REM SET the baudrate for Pixhawk COM
+SET /a BaudRate=921600
+
+REM Set the map, use index or name of the map on CopterSim
+REM e.g., UE4_MAP=1 equals to UE4_MAP=Grasslands
+SET UE4_MAP=Grasslands
+
+REM Set the origin x,y position (m) and yaw angle (degree) at the map
+SET /a ORIGIN_POS_X=0
+SET /a ORIGIN_POS_Y=0
+SET /a ORIGIN_YAW=0
+
+REM Set the interval between two vehicle, unit:m 
+SET /a VEHICLE_INTERVAL=2
+
+
+REM Set broadcast to other computer; 0: only this computer, 1: broadcast; or use IP address to increase speed
+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
+SET IS_BROADCAST=0
+
+REM Set UDP data mode; 0: UDP_FULL, 1:UDP_Simple, 2: Mavlink_Full, 3: Mavlink_simple. input number or string
+REM 4:Mavlink_NoSend, 5:Mavlink_NoGPS, 6:Mavlink_Vision (NoGPS and set PX4 EKF)
+SET UDPSIMMODE=2
+
+REM Set the path of the RflySim tools
+if not defined PSP_PATH (
+    SET PSP_PATH=C:\PX4PSP
+    SET PSP_PATH_LINUX=/mnt/c/PX4PSP
+)
+
+
+
+ECHO.
+ECHO ---------------------------------------
+REM Get the Com port number
+for /f "delims=" %%t in ('%PSP_PATH%\CopterSim\GetComList.exe 3 %BaudRate%') do set ComInfoStr=%%t
+
+for /f "tokens=1,2,3 delims=#" %%a in ("%ComInfoStr%") do (
+    set ComNumExe=%%a
+    set ComNameList=%%b
+    set ComInfoList=%%c
+)
+echo Please input the Pixhawk COM port list for HIL
+echo Use ',' as the separator if more than one Pixhawk
+echo E.g., input 3 for COM3 of Pixhawk on the computer
+echo Input 3,6,7 for COM3, COM6 and COM7 of Pixhawks 
+
+ECHO ---------------------------------------
+set remain=%ComInfoList%
+echo All COM ports on this computer are:
+echo.
+:loopInfo
+for /f "tokens=1* delims=;" %%a in ("%remain%") do (
+    echo %%a
+    set remain=%%b
+)
+if defined remain goto :loopInfo
+echo.
+ECHO ---------------------------------------
+
+if %ComNumExe% EQU 0 (
+    echo Warning: there is no available COM port
+) else (
+    echo Recommended COM list input is: %ComNameList%
+)
+
+
+ECHO.
+ECHO ---------------------------------------
+SET /P ComNum=My COM list for HITL simulation is:
+SET string=%ComNum%
+set subStr = ""
+set /a VehicleNum=0
+:split
+    for /f "tokens=1,* delims=," %%i in ("%string%") do (
+    set subStr=%%i
+    set string=%%j
+    )
+    set /a eValue=subStr
+    if not %eValue% EQU %subStr% (
+        echo Error: Input '%subStr%' is not a integer!
+        goto EOF
+    )
+    set /a VehicleNum = VehicleNum +1
+if not "%string%"=="" goto split
+REM cho total com number is %VehicleNum%
+
+SET /A VehicleTotalNum=%VehicleNum% + %START_INDEX% - 1
+if not defined TOTOAL_COPTER (
+    SET /A TOTOAL_COPTER=%VehicleTotalNum%
+)
+
+set /a sqrtNum=1
+set /a squareNum=1
+:loopSqrt
+set /a squareNum=%sqrtNum% * %sqrtNum%
+if %squareNum% EQU %TOTOAL_COPTER% (
+    goto loopSqrtEnd
+)
+if %squareNum% GTR %TOTOAL_COPTER% (
+    goto loopSqrtEnd
+)
+set /a sqrtNum=%sqrtNum%+1
+goto loopSqrt
+:loopSqrtEnd
+
+
+REM UE4Path
+cd /d %PSP_PATH%\RflySim3D
+tasklist|find /i "RflySim3D.exe" || start %PSP_PATH%\RflySim3D\RflySim3D.exe
+choice /t 5 /d y /n >nul
+
+
+tasklist|find /i "CopterSim.exe" && taskkill /im "CopterSim.exe"
+ECHO Kill all CopterSims
+
+
+REM CptSmPath
+cd /d %PSP_PATH%\CopterSim
+
+set /a cntr = %START_INDEX%
+set /a endNum = %VehicleTotalNum% +1
+
+SET string=%ComNum%
+:split1
+    for /f "tokens=1,* delims=," %%i in ("%string%") do (
+    set subStr=%%i
+    set string=%%j
+    )
+    set /a PosXX=((%cntr%-1) / %sqrtNum%)*%VEHICLE_INTERVAL% + %ORIGIN_POS_X%
+    set /a PosYY=((%cntr%-1) %% %sqrtNum%)*%VEHICLE_INTERVAL% + %ORIGIN_POS_Y%
+    REM echo start CopterSim
+    start /realtime CopterSim.exe 1 %cntr% %CLASS_3D_ID% %DLLModel% %SimMode% %UE4_MAP% %IS_BROADCAST% %PosXX% %PosYY% %ORIGIN_YAW% %subStr%:%BaudRate% %UDPSIMMODE%
+    choice /t 2 /d y /n >nul
+    set /a cntr=%cntr%+1
+    
+    REM TIMEOUT /T 1
+if not "%string%"=="" goto split1
+
+REM QGCPath
+tasklist|find /i "QGroundControl.exe" || start %PSP_PATH%\QGroundControl\QGroundControl.exe -noComPix
+ECHO Start QGroundControl
+
+pause
+
+REM kill all applications when press a key
+tasklist|find /i "CopterSim.exe" && taskkill /im "CopterSim.exe"
+tasklist|find /i "QGroundControl.exe" && taskkill /f /im "QGroundControl.exe"
+tasklist|find /i "RflySim3D.exe" && taskkill /f /im "RflySim3D.exe"
+tasklist|find /i "python.exe" && taskkill /f /im "python.exe"
+tasklist|find /i "cmd.exe" && taskkill /f /im "cmd.exe"
+
+ECHO Start End.

人工智能/e3.双目视觉人脸识别实验/ManDetect3SITL.bat

@@ -0,0 +1,162 @@
+@ECHO OFF
+
+REM Run script as administrator
+%1 mshta vbscript:CreateObject("Shell.Application").ShellExecute("cmd.exe","/c ""%~s0"" ::","","runas",1)(window.close)&&exit
+
+
+REM The text start with 'REM' is annotation, the following options are corresponding to Options on CopterSim
+
+REM Start index of vehicle number (should larger than 0)
+REM This option is useful for simulation with multi-computers
+SET /a START_INDEX=1
+
+
+REM Set the vehicleType/ClassID of vehicle 3D display in RflySim3D
+SET /a CLASS_3D_ID=-1
+
+REM Set use DLL model name or not, use number index or name string
+REM This option is useful for simulation with other types of vehicles instead of multicopters
+set DLLModel=0
+
+REM Set the simulation mode on CopterSim, use number index or name string
+REM e.g., SimMode=2 equals to  SimMode=PX4_SITL_RFLY
+set SimMode=2
+
+REM Set the vehicle-model (airframe) of PX4 SITL simulation, the default airframe is a quadcopter: iris
+REM Check folder Firmware\ROMFS\px4fmu_common\init.d-posix for supported airframes (Note: You can also create your airframe file here)
+REM E.g., fixed-wing aircraft: PX4SitlFrame=plane; small cars: PX4SitlFrame=rover
+set PX4SitlFrame=iris
+
+
+REM Set the map, use index or name of the map on CopterSim
+REM e.g., UE4_MAP=1 equals to UE4_MAP=Grasslands
+SET UE4_MAP=Grasslands
+
+REM Set the origin x,y position (m) and yaw angle (degree) at the map
+SET /a ORIGIN_POS_X=0
+SET /a ORIGIN_POS_Y=0
+SET /a ORIGIN_YAW=0
+
+REM Set the interval between two vehicle, unit:m 
+SET /a VEHICLE_INTERVAL=2
+
+
+REM Set broadcast to other computer; 0: only this computer, 1: broadcast; or use IP address to increase speed
+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
+SET IS_BROADCAST=0
+
+REM Set UDP data mode; 0: UDP_FULL, 1:UDP_Simple, 2: Mavlink_Full, 3: Mavlink_simple. input number or string
+REM 4:Mavlink_NoSend, 5:Mavlink_NoGPS, 6:Mavlink_Vision (NoGPS and set PX4 EKF)
+SET UDPSIMMODE=2
+
+REM Set the path of the RflySim tools
+if not defined PSP_PATH (
+    SET PSP_PATH=C:\PX4PSP
+    SET PSP_PATH_LINUX=/mnt/c/PX4PSP
+)
+
+:Top
+ECHO.
+ECHO ---------------------------------------
+REM Max vehicle number 50
+SET /a MAX_VEHICLE=50
+REM SET /P VehicleNum=Please input UAV swarm number:
+SET /A VehicleNum=1
+SET /A Evaluated=VehicleNum
+if %Evaluated% EQU %VehicleNum% (
+    IF %VehicleNum% GTR 0 (
+        IF %VehicleNum% GTR %MAX_VEHICLE% (
+            ECHO The vehicle number is too large, which may cause a crash
+            pause
+        )
+        GOTO StartSim
+    )
+    ECHO Not a positive integer
+    GOTO Top
+) ELSE (
+    ECHO Not a integer
+    GOTO Top
+)
+:StartSim
+
+SET /A VehicleTotalNum=%VehicleNum% + %START_INDEX% - 1
+if not defined TOTOAL_COPTER (
+    SET /A TOTOAL_COPTER=%VehicleTotalNum%
+)
+
+set /a sqrtNum=1
+set /a squareNum=1
+:loopSqrt
+set /a squareNum=%sqrtNum% * %sqrtNum%
+if %squareNum% EQU %TOTOAL_COPTER% (
+    goto loopSqrtEnd
+)
+if %squareNum% GTR %TOTOAL_COPTER% (
+    goto loopSqrtEnd
+)
+set /a sqrtNum=%sqrtNum%+1
+goto loopSqrt
+:loopSqrtEnd
+
+
+REM QGCPath
+tasklist|find /i "QGroundControl.exe" || start %PSP_PATH%\QGroundControl\QGroundControl.exe -noComPix
+ECHO Start QGroundControl
+
+REM UE4Path
+cd /d %PSP_PATH%\RflySim3D
+tasklist|find /i "RflySim3D.exe" || start %PSP_PATH%\RflySim3D\RflySim3D.exe
+choice /t 5 /d y /n >nul
+
+
+tasklist|find /i "CopterSim.exe" && taskkill /im "CopterSim.exe"
+ECHO Kill all CopterSims
+
+
+REM CptSmPath
+cd /d %PSP_PATH%\CopterSim
+
+
+set /a cntr=%START_INDEX%
+set /a endNum=%VehicleTotalNum%+1
+
+:loopBegin
+set /a PosXX=((%cntr%-1) / %sqrtNum%)*%VEHICLE_INTERVAL% + %ORIGIN_POS_X%
+set /a PosYY=((%cntr%-1) %% %sqrtNum%)*%VEHICLE_INTERVAL% + %ORIGIN_POS_Y%
+start /realtime CopterSim.exe 1 %cntr% %CLASS_3D_ID% %DLLModel% %SimMode% %UE4_MAP% %IS_BROADCAST% %PosXX% %PosYY% %ORIGIN_YAW% 1 %UDPSIMMODE%
+choice /t 1 /d y /n >nul
+set /a cntr=%cntr%+1
+
+if %cntr% EQU %endNum% goto loopEnd
+goto loopBegin
+:loopEnd
+
+REM Set ToolChainType 1:Win10WSL 3:Cygwin
+SET /a ToolChainType=1
+
+if "%IS_BROADCAST%" == "0" (
+    SET IS_BROADCAST=0
+) else (
+    SET IS_BROADCAST=1
+)
+
+SET WINDOWSPATH=%PATH%
+if %ToolChainType% EQU 1 (
+    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
+) else (
+    REM CYGPath
+    cd /d %PSP_PATH%\CygwinToolchain
+    CALL setPX4Env.bat
+    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;'
+)
+SET PATH=%WINDOWSPATH%
+
+
+REM kill all applications when press a key
+tasklist|find /i "CopterSim.exe" && taskkill /im "CopterSim.exe"
+tasklist|find /i "QGroundControl.exe" && taskkill /f /im "QGroundControl.exe"
+tasklist|find /i "RflySim3D.exe" && taskkill /f /im "RflySim3D.exe"
+tasklist|find /i "python.exe" && taskkill /f /im "python.exe"
+tasklist|find /i "cmd.exe" && taskkill /f /im "cmd.exe"
+
+ECHO Start End.

人工智能/e3.双目视觉人脸识别实验/MultiCameraDemo/Config.json

@@ -0,0 +1,68 @@
+{
+    "VisionSensors":[
+        {
+            "SeqID":0,
+            "TypeID":1,
+            "TargetCopter":1,
+            "TargetMountType":0,
+            "DataWidth":640,
+            "DataHeight":480,
+            "DataCheckFreq":30,
+            "SendProtocol":[0,127,0,0,1,9999,0,0],
+            "CameraFOV":90,
+            "EularOrQuat":0,
+            "SensorPosXYZ":[0.3,-0.15,0],
+            "SensorAngQuat":[0,0,0,0],
+            "SensorAngEular":[0,0,0],
+            "otherParams":[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]
+        },
+        {
+            "SeqID":1,
+            "TypeID":1,
+            "TargetCopter":1,
+            "TargetMountType":0,
+            "DataWidth":640,
+            "DataHeight":480,
+            "DataCheckFreq":30,
+            "SendProtocol":[0,127,0,0,1,10000,0,0],
+            "CameraFOV":90,
+            "EularOrQuat":0,
+            "SensorPosXYZ":[0.3,0.15,0],
+            "SensorAngQuat":[0,0,0,0],
+            "SensorAngEular":[0,0,0],
+            "otherParams":[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]
+        },
+        {
+            "SeqID":2,
+            "TypeID":1,
+            "TargetCopter":2,
+            "TargetMountType":0,
+            "DataWidth":640,
+            "DataHeight":480,
+            "DataCheckFreq":30,
+            "SendProtocol":[0,127,0,0,1,10001,0,0],
+            "CameraFOV":90,
+            "EularOrQuat":0,
+            "SensorPosXYZ":[0.3,-0.15,0],
+            "SensorAngQuat":[0,0,0,0],
+            "SensorAngEular":[0,0,0],
+            "otherParams":[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]
+        },
+        {
+            "SeqID":3,
+            "TypeID":1,
+            "TargetCopter":2,
+            "TargetMountType":0,
+            "DataWidth":640,
+            "DataHeight":480,
+            "DataCheckFreq":30,
+            "SendProtocol":[0,127,0,0,1,10002,0,0],
+            "CameraFOV":90,
+            "EularOrQuat":0,
+            "SensorPosXYZ":[0.3,0.15,0],
+            "SensorAngQuat":[0,0,0,0],
+            "SensorAngEular":[0,0,0],
+            "otherParams":[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]
+        }
+    ]
+}

人工智能/e3.双目视觉人脸识别实验/MultiCameraDemo/MultiCameraDemo.py

@@ -0,0 +1,104 @@
+# import required libraries
+import cv2
+import time
+import math
+import sys
+
+# import RflySim APIs
+import PX4MavCtrlV4 as PX4MavCtrl
+
+# import RflySim APIs
+import PX4MavCtrlV4 as PX4MavCtrl
+
+import VisionCaptureApi
+import UE4CtrlAPI
+ue = UE4CtrlAPI.UE4CtrlAPI()
+
+vis = VisionCaptureApi.VisionCaptureApi()
+
+# VisionCaptureApi 中的配置函数
+vis.jsonLoad() # 加载Config.json中的传感器配置文件
+
+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(True) # 开启取图，并启用共享内存图像转发，转发到填写的目录
+
+# Send command to UE4 Window 1 to change resolution 
+ue.sendUE4Cmd('r.setres 720x405w',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)    
+
+# Create MAVLink control API instance
+mav = PX4MavCtrl.PX4MavCtrler(1)
+mav2 = PX4MavCtrl.PX4MavCtrler(2)
+# Init MAVLink data receiving loop
+mav.InitMavLoop()
+mav2.InitMavLoop()
+
+
+# send vehicle position command to create a man, with copterID=100 
+# the man is located before the drone, and rotated to 180 degree (face the drone)
+ue.sendUE4Pos(100,30,0,[1,0,-8.086],[0,0,math.pi])
+time.sleep(1)
+
+# send command to change object with copterID=100 (the man just created) to a walking style
+ue.sendUE4Cmd('RflyChange3DModel 100 16') 
+time.sleep(0.5)
+
+# send command to the first RflySim3D window, to switch to vehicle 1
+ue.sendUE4Cmd('RflyChangeViewKeyCmd B 1',0)
+time.sleep(0.5)  
+# change the first window to size 720x405
+ue.sendUE4Cmd('r.setres 720x405w',0)
+time.sleep(2)
+
+
+#send command to the second RflySim3D window to configure camera's position
+ue.sendUE4Cmd('RflyChangeViewKeyCmd B 2',1)
+time.sleep(0.5)  
+ue.sendUE4Cmd('r.setres 720x405w',1)
+time.sleep(2)
+
+print("5s, Arm the drone")
+mav.initOffboard()
+mav2.initOffboard()
+
+time.sleep(0.5)
+mav.SendMavArm(True) # Arm the drone
+mav2.SendMavArm(True) # Arm the drone
+print("Arm the drone!, and fly to NED 0,0,-5")
+time.sleep(0.5)
+
+mav.SendPosNED(0, 0, -1.7, 0) # Fly to target position 0,0，-1.5
+mav2.SendPosNED(0, 0, -1.7, 0) # Fly to target position 0,0，-1.5
+
+# Process the image in the following timer
+startTime = time.time()
+lastTime = time.time()
+timeInterval = 1/30.0 # time interval of the timer
+num=0
+lastClock=time.time()
+while True:
+    # The above code will be executed 30Hz (0.033333s)    
+    lastTime = lastTime + timeInterval
+    sleepTime = lastTime - time.time()
+    if sleepTime > 0:
+        time.sleep(sleepTime)
+    else:
+        lastTime = time.time()
+    
+    for i in range(4):
+        if vis.hasData[i]:
+            img = vis.Img[i]
+            cv2.imshow("pic"+str(i),img)
+    cv2.waitKey(1)
+    # add target tracking algorithm here with mav.SendVelNED or SendVelFRD API
+
+    num=num+1
+    if num%100==0:
+        tiem=time.time()
+        print(100/(tiem-lastClock))
+        lastClock=tiem    
+    
+

人工智能/e3.双目视觉人脸识别实验/MultiCameraDemo/MultiCameraDemoHITL.bat

@@ -0,0 +1,178 @@
+@ECHO OFF
+
+REM Run script as administrator
+%1 mshta vbscript:CreateObject("Shell.Application").ShellExecute("cmd.exe","/c ""%~s0"" ::","","runas",1)(window.close)&&exit
+
+
+REM The text start with 'REM' is annotation, the following options are corresponding to Options on CopterSim
+
+REM Start index of vehicle number (should larger than 0)
+REM This option is useful for simulation with multi-computers
+SET /a START_INDEX=1
+
+
+REM Set the vehicleType/ClassID of vehicle 3D display in RflySim3D
+SET /a CLASS_3D_ID=-1
+
+REM Set use DLL model name or not, use number index or name string
+REM This option is useful for simulation with other types of vehicles instead of multicopters
+set DLLModel=0
+
+REM Set the simulation mode on CopterSim, use number index or name string
+REM e.g., 0:PX4_HITL, 1:PX4_SITL, 2:PX4_SITL_RFLY, 3:"Simulink&DLL_SIL", 4:PX4_HITL_NET, 5:EXT_HITL_COM, 6:EXT_SIM_NET
+set SimMode=0
+
+REM SET the baudrate for Pixhawk COM
+SET /a BaudRate=921600
+
+REM Set the map, use index or name of the map on CopterSim
+REM e.g., UE4_MAP=1 equals to UE4_MAP=Grasslands
+SET UE4_MAP=Grasslands
+
+REM Set the origin x,y position (m) and yaw angle (degree) at the map
+SET /a ORIGIN_POS_X=0
+SET /a ORIGIN_POS_Y=0
+SET /a ORIGIN_YAW=0
+
+REM Set the interval between two vehicle, unit:m 
+SET /a VEHICLE_INTERVAL=2
+
+
+REM Set broadcast to other computer; 0: only this computer, 1: broadcast; or use IP address to increase speed
+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
+SET IS_BROADCAST=0
+
+REM Set UDP data mode; 0: UDP_FULL, 1:UDP_Simple, 2: Mavlink_Full, 3: Mavlink_simple. input number or string
+REM 4:Mavlink_NoSend, 5:Mavlink_NoGPS, 6:Mavlink_Vision (NoGPS and set PX4 EKF)
+SET UDPSIMMODE=2
+
+REM Set the path of the RflySim tools
+if not defined PSP_PATH (
+    SET PSP_PATH=C:\PX4PSP
+    SET PSP_PATH_LINUX=/mnt/c/PX4PSP
+)
+
+
+
+ECHO.
+ECHO ---------------------------------------
+REM Get the Com port number
+for /f "delims=" %%t in ('%PSP_PATH%\CopterSim\GetComList.exe 3 %BaudRate%') do set ComInfoStr=%%t
+
+for /f "tokens=1,2,3 delims=#" %%a in ("%ComInfoStr%") do (
+    set ComNumExe=%%a
+    set ComNameList=%%b
+    set ComInfoList=%%c
+)
+echo Please input the Pixhawk COM port list for HIL
+echo Use ',' as the separator if more than one Pixhawk
+echo E.g., input 3 for COM3 of Pixhawk on the computer
+echo Input 3,6,7 for COM3, COM6 and COM7 of Pixhawks 
+
+ECHO ---------------------------------------
+set remain=%ComInfoList%
+echo All COM ports on this computer are:
+echo.
+:loopInfo
+for /f "tokens=1* delims=;" %%a in ("%remain%") do (
+    echo %%a
+    set remain=%%b
+)
+if defined remain goto :loopInfo
+echo.
+ECHO ---------------------------------------
+
+if %ComNumExe% EQU 0 (
+    echo Warning: there is no available COM port
+) else (
+    echo Recommended COM list input is: %ComNameList%
+)
+
+
+ECHO.
+ECHO ---------------------------------------
+SET /P ComNum=My COM list for HITL simulation is:
+SET string=%ComNum%
+set subStr = ""
+set /a VehicleNum=0
+:split
+    for /f "tokens=1,* delims=," %%i in ("%string%") do (
+    set subStr=%%i
+    set string=%%j
+    )
+    set /a eValue=subStr
+    if not %eValue% EQU %subStr% (
+        echo Error: Input '%subStr%' is not a integer!
+        goto EOF
+    )
+    set /a VehicleNum = VehicleNum +1
+if not "%string%"=="" goto split
+REM cho total com number is %VehicleNum%
+
+SET /A VehicleTotalNum=%VehicleNum% + %START_INDEX% - 1
+if not defined TOTOAL_COPTER (
+    SET /A TOTOAL_COPTER=%VehicleTotalNum%
+)
+
+set /a sqrtNum=1
+set /a squareNum=1
+:loopSqrt
+set /a squareNum=%sqrtNum% * %sqrtNum%
+if %squareNum% EQU %TOTOAL_COPTER% (
+    goto loopSqrtEnd
+)
+if %squareNum% GTR %TOTOAL_COPTER% (
+    goto loopSqrtEnd
+)
+set /a sqrtNum=%sqrtNum%+1
+goto loopSqrt
+:loopSqrtEnd
+
+
+REM UE4Path
+cd /d %PSP_PATH%\RflySim3D
+tasklist|find /i "RflySim3D.exe" || start %PSP_PATH%\RflySim3D\RflySim3D.exe
+start %PSP_PATH%\RflySim3D\RflySim3D.exe
+choice /t 5 /d y /n >nul
+
+
+tasklist|find /i "CopterSim.exe" && taskkill /im "CopterSim.exe"
+ECHO Kill all CopterSims
+
+
+REM CptSmPath
+cd /d %PSP_PATH%\CopterSim
+
+set /a cntr = %START_INDEX%
+set /a endNum = %VehicleTotalNum% +1
+
+SET string=%ComNum%
+:split1
+    for /f "tokens=1,* delims=," %%i in ("%string%") do (
+    set subStr=%%i
+    set string=%%j
+    )
+    set /a PosXX=((%cntr%-1) / %sqrtNum%)*%VEHICLE_INTERVAL% + %ORIGIN_POS_X%
+    set /a PosYY=((%cntr%-1) %% %sqrtNum%)*%VEHICLE_INTERVAL% + %ORIGIN_POS_Y%
+    REM echo start CopterSim
+    start /realtime CopterSim.exe 1 %cntr% %CLASS_3D_ID% %DLLModel% %SimMode% %UE4_MAP% %IS_BROADCAST% %PosXX% %PosYY% %ORIGIN_YAW% %subStr%:%BaudRate% %UDPSIMMODE%
+    choice /t 2 /d y /n >nul
+    set /a cntr=%cntr%+1
+    
+    REM TIMEOUT /T 1
+if not "%string%"=="" goto split1
+
+REM QGCPath
+tasklist|find /i "QGroundControl.exe" || start %PSP_PATH%\QGroundControl\QGroundControl.exe -noComPix
+ECHO Start QGroundControl
+
+pause
+
+REM kill all applications when press a key
+tasklist|find /i "CopterSim.exe" && taskkill /im "CopterSim.exe"
+tasklist|find /i "QGroundControl.exe" && taskkill /f /im "QGroundControl.exe"
+tasklist|find /i "RflySim3D.exe" && taskkill /f /im "RflySim3D.exe"
+tasklist|find /i "python.exe" && taskkill /f /im "python.exe"
+tasklist|find /i "cmd.exe" && taskkill /f /im "cmd.exe"
+
+ECHO Start End.

人工智能/e3.双目视觉人脸识别实验/MultiCameraDemo/MultiCameraDemoSITL.bat

@@ -0,0 +1,163 @@
+@ECHO OFF
+
+REM Run script as administrator
+%1 mshta vbscript:CreateObject("Shell.Application").ShellExecute("cmd.exe","/c ""%~s0"" ::","","runas",1)(window.close)&&exit
+
+
+REM The text start with 'REM' is annotation, the following options are corresponding to Options on CopterSim
+
+REM Start index of vehicle number (should larger than 0)
+REM This option is useful for simulation with multi-computers
+SET /a START_INDEX=1
+
+
+REM Set the vehicleType/ClassID of vehicle 3D display in RflySim3D
+SET /a CLASS_3D_ID=-1
+
+REM Set use DLL model name or not, use number index or name string
+REM This option is useful for simulation with other types of vehicles instead of multicopters
+set DLLModel=0
+
+REM Set the simulation mode on CopterSim, use number index or name string
+REM e.g., SimMode=2 equals to  SimMode=PX4_SITL_RFLY
+set SimMode=2
+
+REM Set the vehicle-model (airframe) of PX4 SITL simulation, the default airframe is a quadcopter: iris
+REM Check folder Firmware\ROMFS\px4fmu_common\init.d-posix for supported airframes (Note: You can also create your airframe file here)
+REM E.g., fixed-wing aircraft: PX4SitlFrame=plane; small cars: PX4SitlFrame=rover
+set PX4SitlFrame=iris
+
+
+REM Set the map, use index or name of the map on CopterSim
+REM e.g., UE4_MAP=1 equals to UE4_MAP=Grasslands
+SET UE4_MAP=Grasslands
+
+REM Set the origin x,y position (m) and yaw angle (degree) at the map
+SET /a ORIGIN_POS_X=0
+SET /a ORIGIN_POS_Y=0
+SET /a ORIGIN_YAW=0
+
+REM Set the interval between two vehicle, unit:m 
+SET /a VEHICLE_INTERVAL=2
+
+
+REM Set broadcast to other computer; 0: only this computer, 1: broadcast; or use IP address to increase speed
+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
+SET IS_BROADCAST=0
+
+REM Set UDP data mode; 0: UDP_FULL, 1:UDP_Simple, 2: Mavlink_Full, 3: Mavlink_simple. input number or string
+REM 4:Mavlink_NoSend, 5:Mavlink_NoGPS, 6:Mavlink_Vision (NoGPS and set PX4 EKF)
+SET UDPSIMMODE=2
+
+REM Set the path of the RflySim tools
+if not defined PSP_PATH (
+    SET PSP_PATH=C:\PX4PSP
+    SET PSP_PATH_LINUX=/mnt/c/PX4PSP
+)
+
+:Top
+ECHO.
+ECHO ---------------------------------------
+REM Max vehicle number 50
+SET /a MAX_VEHICLE=50
+REM SET /P VehicleNum=Please input UAV swarm number:
+SET /A VehicleNum=2
+SET /A Evaluated=VehicleNum
+if %Evaluated% EQU %VehicleNum% (
+    IF %VehicleNum% GTR 0 (
+        IF %VehicleNum% GTR %MAX_VEHICLE% (
+            ECHO The vehicle number is too large, which may cause a crash
+            pause
+        )
+        GOTO StartSim
+    )
+    ECHO Not a positive integer
+    GOTO Top
+) ELSE (
+    ECHO Not a integer
+    GOTO Top
+)
+:StartSim
+
+SET /A VehicleTotalNum=%VehicleNum% + %START_INDEX% - 1
+if not defined TOTOAL_COPTER (
+    SET /A TOTOAL_COPTER=%VehicleTotalNum%
+)
+
+set /a sqrtNum=1
+set /a squareNum=1
+:loopSqrt
+set /a squareNum=%sqrtNum% * %sqrtNum%
+if %squareNum% EQU %TOTOAL_COPTER% (
+    goto loopSqrtEnd
+)
+if %squareNum% GTR %TOTOAL_COPTER% (
+    goto loopSqrtEnd
+)
+set /a sqrtNum=%sqrtNum%+1
+goto loopSqrt
+:loopSqrtEnd
+
+
+REM QGCPath
+tasklist|find /i "QGroundControl.exe" || start %PSP_PATH%\QGroundControl\QGroundControl.exe -noComPix
+ECHO Start QGroundControl
+
+REM UE4Path
+cd /d %PSP_PATH%\RflySim3D
+tasklist|find /i "RflySim3D.exe" || start %PSP_PATH%\RflySim3D\RflySim3D.exe
+start %PSP_PATH%\RflySim3D\RflySim3D.exe
+choice /t 5 /d y /n >nul
+
+
+tasklist|find /i "CopterSim.exe" && taskkill /im "CopterSim.exe"
+ECHO Kill all CopterSims
+
+
+REM CptSmPath
+cd /d %PSP_PATH%\CopterSim
+
+
+set /a cntr=%START_INDEX%
+set /a endNum=%VehicleTotalNum%+1
+
+:loopBegin
+set /a PosXX=((%cntr%-1) / %sqrtNum%)*%VEHICLE_INTERVAL% + %ORIGIN_POS_X%
+set /a PosYY=((%cntr%-1) %% %sqrtNum%)*%VEHICLE_INTERVAL% + %ORIGIN_POS_Y%
+start /realtime CopterSim.exe 1 %cntr% %CLASS_3D_ID% %DLLModel% %SimMode% %UE4_MAP% %IS_BROADCAST% %PosXX% %PosYY% %ORIGIN_YAW% 1 %UDPSIMMODE%
+choice /t 1 /d y /n >nul
+set /a cntr=%cntr%+1
+
+if %cntr% EQU %endNum% goto loopEnd
+goto loopBegin
+:loopEnd
+
+REM Set ToolChainType 1:Win10WSL 3:Cygwin
+SET /a ToolChainType=1
+
+if "%IS_BROADCAST%" == "0" (
+    SET IS_BROADCAST=0
+) else (
+    SET IS_BROADCAST=1
+)
+
+SET WINDOWSPATH=%PATH%
+if %ToolChainType% EQU 1 (
+    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
+) else (
+    REM CYGPath
+    cd /d %PSP_PATH%\CygwinToolchain
+    CALL setPX4Env.bat
+    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;'
+)
+SET PATH=%WINDOWSPATH%
+
+
+REM kill all applications when press a key
+tasklist|find /i "CopterSim.exe" && taskkill /im "CopterSim.exe"
+tasklist|find /i "QGroundControl.exe" && taskkill /f /im "QGroundControl.exe"
+tasklist|find /i "RflySim3D.exe" && taskkill /f /im "RflySim3D.exe"
+tasklist|find /i "python.exe" && taskkill /f /im "python.exe"
+tasklist|find /i "cmd.exe" && taskkill /f /im "cmd.exe"
+
+ECHO Start End.

人工智能/e3.双目视觉人脸识别实验/Python38Run.bat

@@ -0,0 +1,5 @@
+if not defined PSP_PATH (
+    SET PSP_PATH=C:\PX4PSP
+    SET PSP_PATH_LINUX=/mnt/c/PX4PSP
+)
+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%"

人工智能/e3.双目视觉人脸识别实验/WinWSL.bat

@@ -0,0 +1,12 @@
+@echo off
+REM Set the path of the RflySim tools
+if not defined PSP_PATH (
+    SET PSP_PATH=C:\PX4PSP
+    SET PSP_PATH_LINUX=/mnt/c/PX4PSP
+)
+cd /d %PSP_PATH%\VcXsrv
+tasklist|find /i "vcxsrv.exe" >nul || Xlaunch.exe -run config1.xlaunch
+
+cd /d %~dp0
+wsl -d RflySim-20.04 
+

人工智能/e3.双目视觉人脸识别实验/WslGUI.bat

@@ -0,0 +1,20 @@
+@echo off
+
+REM Set the path of the RflySim tools
+if not defined PSP_PATH (
+    SET PSP_PATH=C:\PX4PSP
+    SET PSP_PATH_LINUX=/mnt/c/PX4PSP
+)
+
+tasklist|find /i "vcxsrv.exe" >nul && taskkill /f /IM "vcxsrv.exe" >nul
+tasklist|find /i "vcxsrv.exe" >nul && taskkill /f /IM "vcxsrv.exe" >nul
+
+cd /d %PSP_PATH%\VcXsrv
+Xlaunch.exe -run config.xlaunch
+
+choice /t 1 /d y /n >nul
+
+cd /d %~dp0
+wsl -d RflySim-20.04 ~/StartUI.sh
+choice /t 1 /d y /n >nul
+tasklist|find /i "vcxsrv.exe" && taskkill /f /IM "vcxsrv.exe"