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102 lines
2.9 KiB
Python
102 lines
2.9 KiB
Python
"""
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Demo of the Bebop vision using DroneVisionGUI (relies on libVLC). It is a different
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multi-threaded approach than DroneVision
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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.DroneVisionGUI import DroneVisionGUI
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import threading
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import cv2
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import time
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from PyQt5.QtGui import QImage
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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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# limiting the pictures to the first 10 just to limit the demo from writing out a ton of files
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if (img is not None and self.index <= 10):
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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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def draw_current_photo():
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"""
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Quick demo of returning an image to show in the user window. Clearly one would want to make this a dynamic image
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"""
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image = cv2.imread('test_image_000001.png')
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if (image is not None):
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if len(image.shape) < 3 or image.shape[2] == 1:
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image = cv2.cvtColor(image, cv2.COLOR_GRAY2RGB)
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else:
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image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
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height, width, byteValue = image.shape
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byteValue = byteValue * width
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qimage = QImage(image, width, height, byteValue, QImage.Format_RGB888)
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return qimage
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else:
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return None
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def demo_user_code_after_vision_opened(bebopVision, args):
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bebop = args[0]
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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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# takeoff
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# bebop.safe_takeoff(5)
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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(15)
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if (bebopVision.vision_running):
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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(5)
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# land
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bebop.safe_land(5)
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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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print("disconnecting")
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bebop.disconnect()
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if __name__ == "__main__":
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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 = DroneVisionGUI(bebop, is_bebop=True, user_code_to_run=demo_user_code_after_vision_opened,
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user_args=(bebop, ), user_draw_window_fn=draw_current_photo)
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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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bebopVision.open_video()
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else:
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print("Error connecting to bebop. Retry")
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