105 lines
2.2 KiB
Go
105 lines
2.2 KiB
Go
//go:build example
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// +build example
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//
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// Do not build by default.
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/*
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You must have ffmpeg and OpenCV installed in order to run this code. It will connect to the Tello
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and then open a window using OpenCV showing the streaming video.
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How to run
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go run examples/tello_opencv.go
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*/
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package main
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import (
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"fmt"
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"io"
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"os/exec"
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"strconv"
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"time"
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"gobot.io/x/gobot/v2"
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"gobot.io/x/gobot/v2/platforms/dji/tello"
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"gocv.io/x/gocv"
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)
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const (
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frameX = 960
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frameY = 720
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frameSize = frameX * frameY * 3
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)
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func main() {
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drone := tello.NewDriver("8890")
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window := gocv.NewWindow("Tello")
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ffmpeg := exec.Command("ffmpeg", "-hwaccel", "auto", "-hwaccel_device", "opencl", "-i", "pipe:0",
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"-pix_fmt", "bgr24", "-s", strconv.Itoa(frameX)+"x"+strconv.Itoa(frameY), "-f", "rawvideo", "pipe:1")
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ffmpegIn, _ := ffmpeg.StdinPipe()
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ffmpegOut, _ := ffmpeg.StdoutPipe()
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work := func() {
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if err := ffmpeg.Start(); err != nil {
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fmt.Println(err)
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return
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}
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_ = drone.On(tello.ConnectedEvent, func(data interface{}) {
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fmt.Println("Connected")
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if err := drone.StartVideo(); err != nil {
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fmt.Println(err)
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}
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if err := drone.SetVideoEncoderRate(tello.VideoBitRateAuto); err != nil {
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fmt.Println(err)
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}
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if err := drone.SetExposure(0); err != nil {
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fmt.Println(err)
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}
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gobot.Every(100*time.Millisecond, func() {
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if err := drone.StartVideo(); err != nil {
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fmt.Println(err)
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}
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})
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})
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_ = drone.On(tello.VideoFrameEvent, func(data interface{}) {
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pkt := data.([]byte)
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if _, err := ffmpegIn.Write(pkt); err != nil {
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fmt.Println(err)
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}
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})
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}
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robot := gobot.NewRobot("tello",
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[]gobot.Connection{},
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[]gobot.Device{drone},
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work,
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)
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// calling Start(false) lets the Start routine return immediately without an additional blocking goroutine
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robot.Start(false)
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// now handle video frames from ffmpeg stream in main thread, to be macOS/Windows friendly
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for {
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buf := make([]byte, frameSize)
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if _, err := io.ReadFull(ffmpegOut, buf); err != nil {
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fmt.Println(err)
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continue
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}
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img, _ := gocv.NewMatFromBytes(frameY, frameX, gocv.MatTypeCV8UC3, buf)
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if img.Empty() {
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continue
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}
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window.IMShow(img)
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if window.WaitKey(1) >= 0 {
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break
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}
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}
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}
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