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65 lines
2.2 KiB
65 lines
2.2 KiB
import tellopy
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import av
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import cv2
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import time
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import numpy
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import threading
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class myTello(tellopy.Tello):
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def __init__(self):
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super(myTello, self).__init__()
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#建立连接
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self.connect()
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self.wait_for_connection(60.0)
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self.Tello_frame = '' # 存储Tello传回来的图像
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try:
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self.container = av.open(self.get_video_stream()) # 解码视频流的容器
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except:
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self.Tello_frame = 'decode error' #解码失败的返回值
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self.video_process_thread = threading.Thread(target=self.__Video_process) #启动视频流处理线程
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# self.video_process_thread.setDaemon(True)
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self.vid_stream = self.container.streams.video[0]
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self.height = self.vid_stream.height
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self.width = self.vid_stream.width
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self.date_fmt = '%Y-%m-%d_%H%M%S' # 日期格式
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self.video_process_thread.start()
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def send(self,message):
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"""自己发送指令的函数"""
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try:
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self.sock.sendto(message.encode(), self.tello_addr)
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print("你输入的指令是: " + message)
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return True
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except Exception as e:
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print("传输错误: " + str(e))
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return False
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def get_video_frame(self):
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'''返回当前的Tello图像'''
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return self.Tello_frame
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def __Video_process(self):
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'''单独线程，一直解码并处理来自无人机的视频流'''
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frame_skip = 300 #跳过前300帧
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while True:
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for frame in self.container.decode(video=0):
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if 0 < frame_skip:
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frame_skip = frame_skip - 1
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continue
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start_time = time.time()
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# self.Tello_frame = cv2.cvtColor(numpy.array(frame.to_image()), cv2.COLOR_RGB2BGR)
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self.Tello_frame =numpy.array(frame.to_image()) #不需要色彩空间转换
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cv2.waitKey(20)
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if frame.time_base < 1.0 / 60:
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time_base = 1.0 / 60
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else:
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time_base = frame.time_base
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frame_skip = int((time.time() - start_time) / time_base)
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