justImageProcess

#!/usr/bin/env python
# -*- coding: utf-8 -*-
from __future__ import print_function
import threading
import logging
import dronekit_sitl
from dronekit import connect, VehicleMode, LocationGlobalRelative, Command, LocationGlobal
import numpy as np
import cv2
from picamera import PiCamera
from picamera.array import PiRGBArray
import math
import time
from pymavlink import mavutil

#print('Connecting to vehicle on: %s' % connection_string)
#vehicle = connect(connection_string, wait_ready=True)
vehicle = connect('127.0.0.1:14550', wait_ready = True)

def arm_and_takeoff(aTargetAltitude):
    """
    Arms vehicle and fly to aTargetAltitude.
    """

    print("Basic pre-arm checks")
    # Don't try to arm until autopilot is ready
    while not vehicle.is_armable:
        print(" Waiting for vehicle to initialise...")
        time.sleep(1)

    print("Arming motors")
    # Copter should arm in GUIDED mode
    vehicle.mode = VehicleMode("GUIDED")
    vehicle.armed = True

    # Confirm vehicle armed before attempting to take off
    while not vehicle.armed:
        print(" Waiting for arming...")
        time.sleep(1)

    print("Taking off!")
    vehicle.simple_takeoff(aTargetAltitude)  # Take off to target altitude

    # Wait until the vehicle reaches a safe height before processing the goto
    #  (otherwise the command after Vehicle.simple_takeoff will execute
    #   immediately).
    while True:
        print(" Altitude: ", vehicle.location.global_relative_frame.alt)
        # Break and return from function just below target altitude.
        if vehicle.location.global_relative_frame.alt >= aTargetAltitude * 0.95:
            print("Reached target altitude")
            break
        time.sleep(1)


arm_and_takeoff(5)
time.sleep(1)

print("Set default/target airspeed to 10")
vehicle.airspeed = 10
def go(p):
    vehicle.simple_goto(p , 5)



class Velocity():
    def set_velocity_body(self,vehicle, vx, vy, vz, duration):
        """ Remember: vz is positive downward!!!
        http://ardupilot.org/dev/docs/copter-commands-in-guided-mode.html

        Bitmask to indicate which dimensions should be ignored by the vehicle
        (a value of 0b0000000000000000 or 0b0000001000000000 indicates that
        none of the setpoint dimensions should be ignored). Mapping:
        bit 1: x,  bit 2: y,  bit 3: z,
        bit 4: vx, bit 5: vy, bit 6: vz,
        bit 7: ax, bit 8: ay, bit 9:


        """
        msg = vehicle.message_factory.set_position_target_local_ned_encode(
            0,
            0, 0,
            mavutil.mavlink.MAV_FRAME_BODY_NED,
            0b0000111111000111,  # -- BITMASK -> Consider only the velocities
            0, 0, 0,  # -- POSITION
            vx, vy, vz,  # -- VELOCITY
            0, 0, 0,  # -- ACCELERATIONS
            0, 0)
        for x in range(0, duration):
            vehicle.send_mavlink(msg)
            vehicle.flush()


p = LocationGlobalRelative(39.8720857, 32.7320695, 5)
go(p)

merkez = False

def ironmaiden(x, y, w, h, frame, t, color, a):
    cv2.putText(frame, color + str(t), (int(x), int(y + 20)), cv2.FONT_HERSHEY_SIMPLEX, 0.75, (0, 255, 255))
    M = cv2.moments(a)
    ax = int(M["m10"] / M["m00"])
    ay = int(M["m01"] / M["m00"])
    cv2.circle(frame, (ax, ay), 3, (255, 255, 255), -1)
    cv2.putText(frame, "center", (ax - 20, ay - 20), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (255, 255, 255), 1)
    return (ax, ay)


def moving(ax, ay):
    v2 = Velocity()
    if ax > 240:
        #-y
        v2.set_velocity_body(vehicle, 0, -0.2, 0, 3)
    elif ax < 240:
        v2.set_velocity_body(vehicle, 0, 0.2, 0, 3)
    elif ay > 240:
        v2.set_velocity_body(vehicle, 0.2, 0, 0, 3)
    elif ay < 240:
        v2.set_velocity_body(vehicle, -0.2, 0, 0, 3)

camera = PiCamera()
camera.resolution = (480, 480)
camera.framerate = 32
rawCapture = PiRGBArray(camera, size=(480, 480))
lower_red = np.array([130, 150, 150])
upper_red = np.array([200, 255, 255])
time.sleep(0.1)

for frame in camera.capture_continuous(rawCapture, format="bgr", use_video_port=True):
    t = 0
    shot = frame.array
    cv2.circle(shot, (240, 240, 3, (255, 255, 255), -1))
    blur = cv2.GaussianBlur(shot, (11, 11), 0)
    hsv = cv2.cvtColor(blur, cv2.COLOR_BGR2HSV)
    j = 0
    mask = cv2.inRange(hsv, lower_red, upper_red)
    kernelOPen = np.ones((20, 20))
    mask = cv2.dilate(mask, kernelOPen, iterations=5)

    __, countours, hierarchy = cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
    if j == 0:
        for a in countours:
            peri = 0.01 * cv2.arcLength(a, True)
            approx = cv2.approxPolyDP(a, peri, True)
            if len(approx) >= 3:
                if (cv2.contourArea(a) > 100):
                    x, y, w, h = cv2.boundingRect(a)
                    color = "Fire"
                    ax, ay = ironmaiden(x, y, w, h, shot, t, color, a)
                    moving(ax, ay)


    cv2.imshow('cam', shot)
    cv2.imshow('mask', mask)
    rawCapture.truncate(0)
    if ( 220<=ax<=240  and  220<=ay<=240):
        merkez = True
    if (merkez == True):
        break