添加注释

src/UAV_navigation_system/drone_main.py

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+"""
+无人机视觉导航系统 - 简化版
+可以立即运行测试
+"""
+
+import os
+import sys
+import time
+import cv2
+import numpy as np
+
+# 添加项目路径，让Python能找到src模块
+sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
+
+
+def ensure_directories():
+    """确保所有目录都存在"""
+    dirs = ['data/images', 'data/videos', 'data/logs', 'data/config']
+    for d in dirs:
+        os.makedirs(d, exist_ok=True)
+        print(f"✓ 目录已就绪: {d}")
+
+
+class SimpleDroneCamera:
+    """简单的无人机摄像头类"""
+
+    def __init__(self, camera_id=0):
+        self.camera_id = camera_id
+        self.cap = None
+
+    def open(self):
+        """打开摄像头"""
+        print(f"尝试打开摄像头 {self.camera_id}...")
+        self.cap = cv2.VideoCapture(self.camera_id)
+
+        if not self.cap.isOpened():
+            print("⚠️  无法打开物理摄像头，使用模拟模式")
+            return False
+        else:
+            print("✓ 摄像头已连接")
+            return True
+
+    def read_frame(self):
+        """读取一帧"""
+        if self.cap and self.cap.isOpened():
+            ret, frame = self.cap.read()
+            if ret:
+                return frame
+
+        # 如果没有摄像头或读取失败，返回模拟图像
+        return self.simulate_frame()
+
+    def simulate_frame(self):
+        """生成模拟图像"""
+        width, height = 640, 480
+        frame = np.zeros((height, width, 3), dtype=np.uint8)
+
+        # 添加一些图形
+        cv2.putText(frame, "无人机模拟视图", (50, 50),
+                    cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 2)
+        cv2.rectangle(frame, (100, 100), (300, 300), (255, 0, 0), 2)
+        cv2.circle(frame, (400, 200), 50, (0, 0, 255), -1)
+
+        return frame
+
+    def release(self):
+        """释放摄像头"""
+        if self.cap:
+            self.cap.release()
+            print("摄像头已释放")
+
+
+def analyze_scene_simple(frame):
+    """简单场景分析（基于颜色）"""
+    if frame is None:
+        return "未知", 0.5
+
+    # 转换为HSV
+    hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
+
+    # 检测绿色（植被）
+    green_mask = cv2.inRange(hsv, (35, 40, 40), (85, 255, 255))
+    green_pct = np.sum(green_mask > 0) / green_mask.size
+
+    # 检测蓝色（水域）
+    blue_mask = cv2.inRange(hsv, (100, 40, 40), (140, 255, 255))
+    blue_pct = np.sum(blue_mask > 0) / blue_mask.size
+
+    # 判断场景
+    if green_pct > 0.3:
+        return "森林/草地", green_pct
+    elif blue_pct > 0.2:
+        return "水域", blue_pct
+    else:
+        return "城市/建筑", max(green_pct, blue_pct)
+
+
+def get_decision(scene_type, confidence):
+    """根据场景类型做出决策"""
+    decisions = {
+        "森林/草地": "✓ 安全区域，继续飞行",
+        "水域": "⚠️  接近水域，提高飞行高度",
+        "城市/建筑": "⚠️  城市区域，降低速度并避让",
+        "未知": "? 无法识别，保持警戒"
+    }
+    return decisions.get(scene_type, "保持当前状态")
+
+
+def main():
+    """主函数"""
+    print("=" * 50)
+    print("无人机视觉导航系统")
+    print("版本: 1.0.0")
+    print("按 'q' 键退出，按 's' 键保存图像")
+    print("=" * 50)
+
+    # 确保目录存在
+    ensure_directories()
+
+    # 创建无人机摄像头
+    drone_cam = SimpleDroneCamera(camera_id=0)
+    drone_cam.open()
+
+    # 初始化状态
+    battery = 100
+    flight_time = 0
+    frame_count = 0
+    start_time = time.time()
+
+    print("\n开始飞行...")
+
+    while True:
+        # 读取帧
+        frame = drone_cam.read_frame()
+        frame_count += 1
+
+        # 分析场景
+        scene_type, confidence = analyze_scene_simple(frame)
+
+        # 获取决策
+        decision = get_decision(scene_type, confidence)
+
+        # 更新状态
+        flight_time = time.time() - start_time
+        battery = max(0, battery - 0.05)  # 慢慢消耗电池
+
+        # 在图像上显示信息
+        info_lines = [
+            f"场景: {scene_type} ({confidence:.1%})",
+            f"决策: {decision}",
+            f"飞行时间: {flight_time:.1f}s",
+            f"电池: {battery:.1f}%",
+            f"帧数: {frame_count}"
+        ]
+
+        y_offset = 30
+        for line in info_lines:
+            cv2.putText(frame, line, (10, y_offset),
+                        cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 255), 1)
+            y_offset += 25
+
+        # 显示图像
+        cv2.imshow('无人机视觉导航', frame)
+
+        # 检查按键
+        key = cv2.waitKey(1) & 0xFF
+        if key == ord('q'):  # 按 q 退出
+            break
+        elif key == ord('s'):  # 按 s 保存图像
+            filename = f"data/images/capture_{frame_count}.jpg"
+            cv2.imwrite(filename, frame)
+            print(f"✓ 保存图像: {filename}")
+
+        # 检查电池
+        if battery <= 0:
+            print("\n⚠️  电池耗尽！紧急降落...")
+            break
+
+        # 限制运行时间（可选）
+        if flight_time > 60:  # 60秒后自动停止
+            print("\n⏰ 飞行时间到，安全降落...")
+            break
+
+    # 清理
+    drone_cam.release()
+    cv2.destroyAllWindows()
+
+    # 显示统计信息
+    print("\n" + "=" * 50)
+    print("飞行统计:")
+    print(f"- 总飞行时间: {flight_time:.1f} 秒")
+    print(f"- 处理帧数: {frame_count}")
+    print(f"- 平均帧率: {frame_count / flight_time:.1f} FPS" if flight_time > 0 else "- 平均帧率: N/A")
+    print(f"- 最终电池: {battery:.1f}%")
+    print("=" * 50)
+
+    print("\n飞行结束！")
+    return 0
+
+
+if __name__ == "__main__":
+    try:
+        exit_code = main()
+    except KeyboardInterrupt:
+        print("\n程序被用户中断")
+        exit_code = 0
+    except Exception as e:
+        print(f"\n程序出错: {e}")
+        exit_code = 1
+
+    input("\n按 Enter 键退出...")
+    sys.exit(exit_code)