zenloger/autopilot
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fix: reduce error

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russian_proger
2025-10-06 17:14:22 +03:00
parent 15a013d85e
commit 520a333812
6 changed files with 177 additions and 68 deletions
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33
main.py
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@@ -13,7 +13,7 @@ import autopilot
def make_global_photo(filename):
yandexMap = YandexMap()
yandexMap.save_photo()
yandexMap.save_photo(filename)
yandexMap.destroy()
def get_trajectory_points(bg_img: str) -> list[(float, float)]:
@@ -28,28 +28,28 @@ def main():
# make_global_photo('map.jpg')
# Получаем траекторию от пользователя
# points = get_trajectory_points('map.jpg')
# print(points)
points = get_trajectory_points('map.jpg')
print(points)
# points = [np.float64(0.5443937502226799), np.float64(0.4030424838774785)], [np.float64(0.18517133490120316), np.float64(0.4586935604608052)], [np.float64(0.1641887171838272), np.float64(0.5586383510594329)], [np.float64(0.587198290366127),
# np.float64(0.5699957136274587)]
points = [[np.float64(0.481445897070552), np.float64(0.49958006570569835)], [np.float64(0.5485902737661552), np.float64(0.4325716265543457)], [np.float64(0.5376793125531197), np.float64(0.6052035375883389)], [np.float64(0.34044270600978543), np.float64(0.6052035375883389)], [np.float64(0.34044270600978543), np.float64(0.3689703961734008)], [np.float64(0.6333600493443542), np.float64(0.3224052096444948)], [np.float64(0.6686108471095458), np.float64(0.5518239335186174)]]
# points = [[np.float64(0.4931961629922826), np.float64(0.4439289891223716)], [np.float64(0.5099822571661834), np.float64(0.44165751660876645)], [np.float64(0.5083036477487933), np.float64(0.4564220879472001)], [np.float64(0.525089741922694), np.float64(0.4586935604608052)]]
# Для каждой точки сделаем приближенный снимок
yandexMap = YandexMap()
keypoints: list[(any, any)] = []
# plt.ion()
# for i in range(len(points)):
# point = points[i]
# yandexMap.scroll(point[0], point[1], 5, True)
# sleep(1)
# img = yandexMap.make_screenshot(point[0], point[1], 0.2, 0.2)
# Path('chunks').mkdir(exist_ok=True)
# cv2.imwrite(Path('.') / 'chunks' / f'chunk_{i}.png', img)
# plt.subplot(1, len(points), i+1)
# plt.imshow(img)
# plt.pause(0.25)
# yandexMap.scroll(point[0], point[1], 5, False)
plt.ion()
for i in range(len(points)):
point = points[i]
yandexMap.scroll(point[0], point[1], 5, True)
sleep(1)
img = yandexMap.make_screenshot(point[0], point[1], 0.2, 0.2)
Path('chunks').mkdir(exist_ok=True)
cv2.imwrite(Path('.') / 'chunks' / f'chunk_{i}.png', img)
plt.subplot(1, len(points), i+1)
plt.imshow(img)
plt.pause(0.25)
yandexMap.scroll(point[0], point[1], 5, False)
plt.tight_layout()
@@ -87,6 +87,7 @@ def main():
vis_manager = VisualizationManager()
width, height = yandexMap.get_size()
print(width, height)
points_coords = np.array(list(map(lambda p: [
(p[0] - points[0][0]) * width, (points[0][1] - p[1]) * height
], points)))