from tello import tello
import cv2.cv2 as cv2
import time
from time import sleep
import numpy
def main():
drone = tello.Tello()
try:
container = drone.streamon()
frame_skip = 300
while True:
for frame in container.decode(video=0):
if 0 < frame_skip:
frame_skip = frame_skip - 1
continue
start_time = time.time()
image = cv2.cvtColor(numpy.array(frame.to_image()), cv2.COLOR_RGB2BGR)
cv2.imshow('Original', image)
# cv2.imshow('Canny', cv2.Canny(image, 100, 200))
if cv2.waitKey(1) & 0xFF == ord('q'):
cv2.destroyWindow(image)
drone.land()
sleep(1)
if cv2.waitKey(1) & 0xFF == ord('l'):
drone.land()
sleep(2)
if cv2.waitKey(1) & 0xFF == ord('w'):
drone.forward(10)
sleep(1)
if cv2.waitKey(1) & 0xFF == ord('a'):
drone.left(10)
sleep(1)
if cv2.waitKey(1) & 0xFF == ord('d'):
drone.right(10)
sleep(1)
if cv2.waitKey(1) & 0xFF == ord('t'):
drone.takeoff()
sleep(2)
if cv2.waitKey(1) & 0xFF == ord('u'):
drone.up(10)
sleep(1)
if cv2.waitKey(1) & 0xFF == ord('n'):
drone.down(10)
sleep(1)
frame_skip = int((time.time() - start_time)/frame.time_base)
except Exception as ex:
# exc_type, exc_value, exc_traceback = sys.exc_info()
# traceback.print_exception(exc_type, exc_value, exc_traceback)
print(ex)
finally:
drone.quit()
cv2.destroyAllWindows()
if __name__ == '__main__':
main()
参考
https://github.com/RobertGCNiu/UAV-Gesture-Control_Python/blob/master/Simple-Control/test
