无人机仪器读数可视化¶

using CSV

# Читаем данные из файла data.csv
df_read = CSV.read("$(@__DIR__)/data_drone.csv", DataFrame)

# Проверка первых строк
first(df_read, 5)

max_idx = 350;
t = df_read.Время[1:max_idx]
heights = df_read.Высота[1:max_idx]
angles = df_read.Угол[1:max_idx]

H = plot(t, heights, title="Высота")
A = plot(t, angles, title="Угол наклона")
plot(H, A, layout=(2, 1), legend=false)

max_y_h = maximum(heights)+10

# Уравнение единичной окружности
θ = range(0, 2π, length=100)
x_circle = cos.(θ)
y_circle = sin.(θ)
x = [-1, 1]

using Images
# Загрузка изображения дрона
drone_img = load("$(@__DIR__)/drone.jpg") 

@gif for i in 1:length(t)
    ti = t[i]
    ai = angles[i]
    hi = heights[i]
    
    # Высота
    h_plt = scatter([ti], [hi], 
        markershape=:circle, markersize=15, markercolor=:red, framestyle=:box, 
        xlims = (ti-10, ti+10), ylims = (0, max_y_h), 
        legend=false, grid=false, 
        title="Высота: $hi m $((i == 1 || heights[i] > heights[i-1]) ? "↑" : "↓")")

    # Тангаж
    tang = plot([x_circle, (cosd(-ai) .* x)], [y_circle, (sind(-ai) .* x)], 
        linewidth=3, color=:black, framestyle=:none, 
        title="Отклонение: $(ai)°")
    
    # Дрон
    sx,sy = size(drone_img) .÷ 3;
    mini_drone = imresize( drone_img, sx, sy );
    rotated_array = channelview(Gray.(imrotate(mini_drone, π*(ai+90)/ 180, fillvalue=oneunit(eltype(mini_drone)), axes(mini_drone))));
    
    dron = plot(framestyle=:none, grid=false, title = "Время: $(t[i])sec")
    # Отображаем повернутое изображение дрона
    heatmap!(
        1:size(rotated_array, 2), 1:size(rotated_array, 1),
        permutedims(rotated_array, (2, 1)),
        colorbar=false, c=:grays
    )
    Tng_Dr = plot(dron, tang, layout = grid(2, 1, heights=[0.8, 0.2]))
    grup = plot(Tng_Dr, h_plt, layout= grid(1, 2, width = [0.75, 0.25]), legend=false)
end

[ Info: Saved animation to /user/start/examples/image_processing/dron/tmp.gif

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