Fixes and converts picamera to BGR for preview

Author: bluejaycoder

src/cameras/picamera.py

@@ -1,6 +1,7 @@
 from numpy import float32
 from .camerainterface import CameraInterface
 from picamera2 import Picamera2
+import cv2
 
 try:
     from libcamera import Transform
@@ -35,7 +36,9 @@ def capture(self):
         float_array = value.astype(float32)
         float_array /= 255.0
 
-        return float_array, value
+        image = cv2.cvtColor(value, cv2.COLOR_RGB2BGR)
+
+        return float_array, image
 
     def stop_camera(self):
         super().stop_camera()

src/detect.py

@@ -25,7 +25,7 @@ def object_detection_loop(camera: CameraInterface, model: ModelInterface, args):
             "--out",
             args.output,
             "--out",
-            "udpout:127.0.0.1:14550",
+            "udpout:0.0.0.0:14550",
             "--baudrate",
             str(args.baud),
         ],
@@ -53,7 +53,7 @@ def object_detection_loop(camera: CameraInterface, model: ModelInterface, args):
                 print("MAVProxy process terminated unexpectedly.")
                 break
 
-    stream = Stream("picam", size=(640, 640), fps=3, quality=100)
+    stream = Stream("picam", fps=1)
     server = MjpegServer("0.0.0.0", 8080)
     server.add_stream(stream)
     server.start()
@@ -103,35 +103,6 @@ def run_object_detection(
 
     no_person_detected = all(res.name != "person" for res in results)
 
-    # Only run this code if a MAVLink connection exists
-    if master:
-        msg = master.recv_match(
-            type="HEARTBEAT", blocking=True
-        )  # pulls heartbeat message
-        mode = mavutil.mode_string_v10(msg)  # pulls flight mode from heartbeat message
-        # print(f"Current flight mode: {mode}")
-
-        if no_person_detected:
-            if mode != "LOITER":
-                # print("✅ No person detected") removed so this is not constantly printed, is return the correct thing to put next?
-                return
-
-            else:  # meaning the drone is currently in loiter mode
-                print("✅ No person detected")
-                # change mode to auto because no person detected
-                master.mav.set_mode_send(master.target_system, mavutil.mavlink.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED, master.mode_mapping()['AUTO'])
-
-        else:  # person is detected
-            if mode != "LOITER":
-                print("🚨 Human detected! Halting drone for 5 seconds... 🚨")
-                # change mode to loiter because person detected
-                master.mav.set_mode_send(master.target_system, mavutil.mavlink.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED, master.mode_mapping()['LOITER'])
-                time.sleep(5)  # wait 5 seconds
-
-            else:  # drone already in loiter mode
-                print("🚨 Human detected! Halting drone for 5 seconds... 🚨")
-                time.sleep(5)  # wait 5 seconds
-
     # Loop through all results and draw boxes and labels for them
     for result in results:
         # Detection box
@@ -166,4 +137,34 @@ def run_object_detection(
             2,
         )
 
+    # Only run this code if a MAVLink connection exists
+    if master:
+        msg = master.recv_match(
+            type="HEARTBEAT", blocking=True
+        )  # pulls heartbeat message
+        mode = mavutil.mode_string_v10(msg)  # pulls flight mode from heartbeat message
+        # print(f"Current flight mode: {mode}")
+
+        if no_person_detected:
+            if mode != "LOITER":
+                # print("✅ No person detected") removed so this is not constantly printed, is return the correct thing to put next?
+                return image
+
+            else:  # meaning the drone is currently in loiter mode
+                print("✅ No person detected")
+                # change mode to auto because no person detected
+                master.mav.set_mode_send(master.target_system, mavutil.mavlink.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED, master.mode_mapping()['AUTO'])
+
+        else:  # person is detected
+            if mode != "LOITER":
+                print("🚨 Human detected! Halting drone for 5 seconds... 🚨")
+                # change mode to loiter because person detected
+                master.mav.set_mode_send(master.target_system, mavutil.mavlink.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED, master.mode_mapping()['LOITER'])
+                time.sleep(5)  # wait 5 seconds
+
+            else:  # drone already in loiter mode
+                print("🚨 Human detected! Halting drone for 5 seconds... 🚨")
+                time.sleep(5)  # wait 5 seconds
+
+
     return image