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64 lines
1.7 KiB
Python
64 lines
1.7 KiB
Python
"""
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Demo of the Bebop ffmpeg based vision code (basically flies around and saves out photos as it flies)
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Author: Amy McGovern
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"""
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from pyparrot.Bebop import Bebop
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from pyparrot.DroneVision import DroneVision
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import threading
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import cv2
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import time
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isAlive = False
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class UserVision:
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def __init__(self, vision):
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self.index = 0
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self.vision = vision
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def save_pictures(self, args):
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#print("saving picture")
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img = self.vision.get_latest_valid_picture()
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if (img is not None):
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filename = "test_image_%06d.png" % self.index
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#cv2.imwrite(filename, img)
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self.index +=1
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# make my bebop object
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bebop = Bebop()
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# connect to the bebop
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success = bebop.connect(5)
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if (success):
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# start up the video
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bebopVision = DroneVision(bebop, is_bebop=True)
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userVision = UserVision(bebopVision)
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bebopVision.set_user_callback_function(userVision.save_pictures, user_callback_args=None)
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success = bebopVision.open_video()
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if (success):
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print("Vision successfully started!")
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#removed the user call to this function (it now happens in open_video())
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#bebopVision.start_video_buffering()
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# skipping actually flying for safety purposes indoors - if you want
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# different pictures, move the bebop around by hand
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print("Fly me around by hand!")
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bebop.smart_sleep(5)
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print("Moving the camera using velocity")
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bebop.pan_tilt_camera_velocity(pan_velocity=0, tilt_velocity=-2, duration=4)
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bebop.smart_sleep(25)
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print("Finishing demo and stopping vision")
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bebopVision.close_video()
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# disconnect nicely so we don't need a reboot
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bebop.disconnect()
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else:
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print("Error connecting to bebop. Retry")
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