tello控制

src/TelloControl/Pass.py

@@ -0,0 +1,93 @@
+import cv2
+import socket
+import threading
+import matplotlib.pyplot as plt
+import matplotlib.animation as animation
+import numpy as np
+
+class VideoCaptureTransfer:
+    def __init__(self, source=0, dest_ip='127.0.0.1', dest_port=8000):
+        self.capture = cv2.VideoCapture(source)
+
+        self.dest_ip = dest_ip
+        self.dest_port = dest_port
+
+        self.frame = None
+        self.save_video = False
+
+        self.lock = threading.Lock()
+
+        self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+
+        self.thread = threading.Thread(target=self._capture_send)
+        self.thread.start()
+
+    def _capture_send(self):
+        while self.capture.isOpened():
+            ret, frame = self.capture.read()
+            if not ret:
+                break
+
+            frame = cv2.resize(frame, (640, 480))
+
+            if self.save_video:
+                self.output.write(frame)
+
+            with self.lock:
+                self.frame = frame.copy()
+
+            _, data = cv2.imencode('.jpg', frame, [int(cv2.IMWRITE_JPEG_QUALITY), 50])
+
+            self.sock.sendto(data.tobytes(), (self.dest_ip, self.dest_port))
+
+        self.capture.release()
+        cv2.destroyAllWindows()
+        self.output.release()
+
+    def start_recording(self, filename="output.avi", fmt="XVID"):
+        fourcc = cv2.VideoWriter_fourcc(*fmt)
+        fps = int(self.capture.get(cv2.CAP_PROP_FPS))
+        frame_size = (int(self.capture.get(cv2.CAP_PROP_FRAME_WIDTH)), int(self.capture.get(cv2.CAP_PROP_FRAME_HEIGHT)))
+        self.output = cv2.VideoWriter(filename, fourcc, fps, frame_size)
+        self.save_video = True
+
+    def stop_recording(self):
+        self.save_video = False
+
+    def read(self):
+        with self.lock:
+            return self.frame
+
+    def release(self):
+        self.thread.join()
+        self.sock.close()
+
+if __name__ == '__main__':
+    vct = VideoCaptureTransfer(0,"192.168.43.18",9999)
+
+    def on_key_press(event):
+        if event.key == ' ':
+            if not vct.save_video:
+                vct.start_recording()
+
+    def on_key_release(event):
+        if event.key == ' ':
+            if vct.save_video:
+                vct.stop_recording()
+
+    fig, ax = plt.subplots()
+    im = ax.imshow(np.zeros((480, 640, 3), dtype=np.uint8))
+
+    def update_frame(_):
+        frame = vct.read()
+        im.set_data(frame)
+        return [im]
+
+    ani = animation.FuncAnimation(fig, update_frame, interval=50, blit=True)
+
+    fig.canvas.mpl_connect('key_press_event', on_key_press)
+    fig.canvas.mpl_connect('key_release_event', on_key_release)
+
+    plt.show()
+
+    vct.release()