fix：新增例程

2025-07-25 17:58:16 +08:00
parent 637343d716
commit b6d7e968bd
28 changed files with 325223 additions and 0 deletions
--- a/人工智能/e3.双目视觉人脸识别实验/MultiCameraDemo/Config.json
+++ b/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]
+        }
+    ]
+}
--- a/人工智能/e3.双目视觉人脸识别实验/MultiCameraDemo/MultiCameraDemo.py
+++ b/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    
+    
+
--- a/人工智能/e3.双目视觉人脸识别实验/MultiCameraDemo/MultiCameraDemoHITL.bat
+++ b/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.
--- a/人工智能/e3.双目视觉人脸识别实验/MultiCameraDemo/MultiCameraDemoSITL.bat
+++ b/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.