modify gui
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@ -8,8 +8,8 @@ class PlotCanvas(FigureCanvas):
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def __init__(self, parent=None, map='indoor1'):
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#fig = Figure()
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self.Image_PreProcessing(map)
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img = plt.imread('/home/calt01-1302/xtdrone_pyqt5/images/open.jpg')
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#self.Image_PreProcessing(map)
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img = plt.imread('./images/open.jpg')
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self.fig, self.ax = plt.subplots()
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self.ax.imshow(img, extent=[-50, 100, -50, 50])
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height, width, channels = img.shape
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@ -22,15 +22,9 @@ class PlotCanvas(FigureCanvas):
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FigureCanvas.__init__(self, self.fig)
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self.setParent(parent)
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FigureCanvas.setSizePolicy(self,
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QSizePolicy.Expanding,
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QSizePolicy.Expanding)
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FigureCanvas.setSizePolicy(self, QSizePolicy.Expanding, QSizePolicy.Expanding)
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FigureCanvas.updateGeometry(self)
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def Image_PreProcessing(self,map):
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if map == 'robocup':
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im = Image.open('/home/calt01-1302//xtdrone_pyqt5/images/robocup_world.jpg')
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else:
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im = Image.open('/home/calt01-1302//xtdrone_pyqt5/images/xt.jpg')
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imBackground = im.resize((876, 587)) #701 470 840 564
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imBackground.save('/home/calt01-1302//xtdrone_pyqt5/images/open.jpg')
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#def Image_PreProcessing(self,map):
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# if map == 'robocup':
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# im = Image.open('/home/calt01-1302//xtdrone_pyqt5/images/robocup_world.jpg')
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@ -52,7 +52,7 @@ class Ui_MainWindow(object):
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MainWindow.setMaximumSize(QtCore.QSize(16777215, 16777215))
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MainWindow.setSizeIncrement(QtCore.QSize(1, 1))
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icon = QtGui.QIcon()
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icon.addPixmap(QtGui.QPixmap("/home/calt01-1302/xtdrone_pyqt5/images/xt.ico"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
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icon.addPixmap(QtGui.QPixmap("images/xt.ico"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
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MainWindow.setWindowIcon(icon)
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MainWindow.setIconSize(QtCore.QSize(32, 32))
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MainWindow.setToolButtonStyle(QtCore.Qt.ToolButtonIconOnly)
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@ -174,13 +174,11 @@ class Follower:
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return True
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else:
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self.slack_right[j]=min(gap,self.slack_right[j])
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#print('1',slack_right)
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return False
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def KM(self):
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for i in range(self.uav_num-1):
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#print(i)
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self.slack_right = numpy.array([100]*(self.uav_num-1))
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while True:
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self.visit_left = numpy.array([0]*(self.uav_num-1))
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@ -188,11 +186,9 @@ class Follower:
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if self.find_path(i):
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break
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d = numpy.inf
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#print ('2',slack_right)
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for j, slack in enumerate(self.slack_right):
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if not self.visit_right[j] :
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d = min(d,slack)
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#print(d)
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for k in range(self.uav_num-1):
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if self.visit_left[k]:
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self.label_left[k] -= d
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@ -208,7 +204,6 @@ class Follower:
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new_formation=numpy.zeros((3,self.uav_num-1))
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position=numpy.zeros((3,self.uav_num-1))
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change_id=[i + 1 for i in change_id]
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#print (change_id)
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for i in range(0,self.uav_num-1):
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position[:,i]=change_formation[:,i]
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@ -108,8 +108,6 @@ class Follower:
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self.L_matrix = self.get_L_matrix(self.new_formation)
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#self.L_matrix = self.get_L_central_matrix()
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self.orig_formation=self.new_formation
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if self.id == 3:
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print(self.L_matrix)
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self.following_ids = numpy.argwhere(self.L_matrix[self.id,:] == 1)
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self.following_count = 0
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for i in range(self.uav_num):
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