modify gui

control/gui/plotcanvas.py

@@ -8,8 +8,8 @@ class PlotCanvas(FigureCanvas):
 
     def __init__(self, parent=None, map='indoor1'):
         #fig = Figure()
-        self.Image_PreProcessing(map)
-        img = plt.imread('/home/calt01-1302/xtdrone_pyqt5/images/open.jpg')
+        #self.Image_PreProcessing(map)
+        img = plt.imread('./images/open.jpg')
         self.fig, self.ax = plt.subplots()
         self.ax.imshow(img, extent=[-50, 100, -50, 50])
         height, width, channels = img.shape
@@ -22,15 +22,9 @@ class PlotCanvas(FigureCanvas):
         FigureCanvas.__init__(self, self.fig)
         self.setParent(parent)
 
-        FigureCanvas.setSizePolicy(self,
-                                QSizePolicy.Expanding,
-                                QSizePolicy.Expanding)
+        FigureCanvas.setSizePolicy(self,  QSizePolicy.Expanding, QSizePolicy.Expanding)
         FigureCanvas.updateGeometry(self)
 
-    def Image_PreProcessing(self,map):
-        if map == 'robocup':
-            im = Image.open('/home/calt01-1302//xtdrone_pyqt5/images/robocup_world.jpg')
-        else:
-            im = Image.open('/home/calt01-1302//xtdrone_pyqt5/images/xt.jpg')
-            imBackground = im.resize((876, 587))  #701 470 840 564
-            imBackground.save('/home/calt01-1302//xtdrone_pyqt5/images/open.jpg')
+    #def Image_PreProcessing(self,map):
+    #    if map == 'robocup':
+    #        im = Image.open('/home/calt01-1302//xtdrone_pyqt5/images/robocup_world.jpg')

control/gui/xt_ui.py

@@ -52,7 +52,7 @@ class Ui_MainWindow(object):
         MainWindow.setMaximumSize(QtCore.QSize(16777215, 16777215))
         MainWindow.setSizeIncrement(QtCore.QSize(1, 1))
         icon = QtGui.QIcon()
-        icon.addPixmap(QtGui.QPixmap("/home/calt01-1302/xtdrone_pyqt5/images/xt.ico"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
+        icon.addPixmap(QtGui.QPixmap("images/xt.ico"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
         MainWindow.setWindowIcon(icon)
         MainWindow.setIconSize(QtCore.QSize(32, 32))
         MainWindow.setToolButtonStyle(QtCore.Qt.ToolButtonIconOnly)

coordination/formation_demo/follower.py

@@ -174,13 +174,11 @@ class Follower:
                     return True            
             else:      
                 self.slack_right[j]=min(gap,self.slack_right[j])          
-        #print('1',slack_right)
         return False 
 
     def KM(self):  
 
         for i in range(self.uav_num-1):   
-            #print(i)
             self.slack_right = numpy.array([100]*(self.uav_num-1))      
             while True:        
                 self.visit_left = numpy.array([0]*(self.uav_num-1))                
@@ -188,11 +186,9 @@ class Follower:
                 if self.find_path(i):    
                     break       
                 d = numpy.inf
-                #print ('2',slack_right)
                 for j, slack in enumerate(self.slack_right):         
                     if not self.visit_right[j] :           
-                        d = min(d,slack)
-                        #print(d)  
+                        d = min(d,slack)  
                 for k in range(self.uav_num-1):          
                     if self.visit_left[k]: 
                         self.label_left[k] -= d                 
@@ -208,7 +204,6 @@ class Follower:
         new_formation=numpy.zeros((3,self.uav_num-1))
         position=numpy.zeros((3,self.uav_num-1))
         change_id=[i + 1 for i in change_id] 
-        #print (change_id)
         for i in range(0,self.uav_num-1):
             position[:,i]=change_formation[:,i]
 

coordination/formation_demo/follower_consensus.py

@@ -108,8 +108,6 @@ class Follower:
                             self.L_matrix = self.get_L_matrix(self.new_formation)
                             #self.L_matrix = self.get_L_central_matrix()
                             self.orig_formation=self.new_formation
-                    if self.id == 3:
-                        print(self.L_matrix)
                     self.following_ids = numpy.argwhere(self.L_matrix[self.id,:] == 1)
                     self.following_count = 0
                     for i in range(self.uav_num):