tello-鍵盤控制+實時鏡頭+一鍵拍照

先在pycharm設置裡安裝所須的函式庫

需要用的幾個庫如下:

• djitellopy2 DJITelloPy庫
• pygame 獲取鍵盤按鍵
• opencv-python 獲取無人機的攝像頭視頻

然後在keyboardModule.py的檔裡寫調用的程式碼

這個程式碼是用於建立一個調控窗並能判斷任何按鍵

被按下的狀態

import pygame
import pygame.event


def init():
    pygame.init()
    win = pygame.display.set_mode((400, 400))
def getKey(keyName):
    s = False
    for event in pygame.event.get():
        if event.type == pygame.QUIT:
            pass
    mykey = pygame.key.get_pressed()
    keyName = getattr(pygame, "K_{}".format(keyName))
    if mykey[keyName]:
        s = True
    pygame.display.update()
    return s

if __name__ == "__main__":
    init()

在keyboardControl.py裡貼上以下程式

import keyboardModule as kb
from djitellopy import tello
from time import sleep
import cv2, time

mytello = tello.Tello()
mytello.connect()
print("目前電池電量: {}%".format(mytello.get_battery()))
mytello.streamon()
kb.init()

def getKeyboardInput():
    lr, fb, ud, yv = 0, 0, 0, 0
    speed = 30
    if kb.getKey("q"):
        mytello.land()
    elif kb.getKey("z"):
        mytello.takeoff()

    if kb.getKey("LEFT"):
        print(kb.getKey("LEFT"))
        lr = speed
    elif kb.getKey("RIGHT"):
        print(kb.getKey("RIGHT"))
        lr = -speed

    if kb.getKey("UP"):
        print(kb.getKey("UP"))
        fb = speed
    elif kb.getKey("DOWN"):
        print(kb.getKey("DOWN"))
        fb = -speed

    if kb.getKey("w"):
        print(kb.getKey("w"))
        ud = speed
    elif kb.getKey("s"):
        print(kb.getKey("s"))
        ud = -speed

    if kb.getKey("a"):
        print(kb.getKey("a"))
        yv = speed
    elif kb.getKey("d"):
        print(kb.getKey("d"))
        yv = -speed

    if kb.getKey("p"):
        cv2.imwrite(r"saveImg/{}.jpg".format(time.time()), img)
        sleep(0.5)
    return [lr, fb, ud, yv]

while True:
    val = getKeyboardInput()
    print(val)
    lr, fb, ud, yv = val[0], val[1], val[2], val[3]
    mytello.send_rc_control(lr, fb, ud, yv)
    img = mytello.get_frame_read().frame
    img = cv2.resize(img, (360, 240))
    cv2.imshow("Mytello", img)
    cv2.waitKey(1)
    sleep(0.05)