90 lines
1.7 KiB
Go
90 lines
1.7 KiB
Go
// +build example
|
|
//
|
|
// Do not build by default.
|
|
|
|
/*
|
|
You must have ffmpeg and OpenCV installed in order to run this code. It will connect to the Tello
|
|
and then open a window using OpenCV showing the streaming video.
|
|
|
|
How to run
|
|
|
|
go run examples/tello_opencv.go
|
|
*/
|
|
|
|
package main
|
|
|
|
import (
|
|
"fmt"
|
|
"io"
|
|
"os/exec"
|
|
"time"
|
|
|
|
"gobot.io/x/gobot"
|
|
"gobot.io/x/gobot/platforms/dji/tello"
|
|
"gobot.io/x/gobot/platforms/opencv"
|
|
"gocv.io/x/gocv"
|
|
)
|
|
|
|
const (
|
|
frameSize = 960 * 720 * 3
|
|
)
|
|
|
|
func main() {
|
|
drone := tello.NewDriver("8890")
|
|
window := opencv.NewWindowDriver()
|
|
|
|
work := func() {
|
|
ffmpeg := exec.Command("ffmpeg", "-i", "pipe:0", "-pix_fmt", "bgr24", "-vcodec", "rawvideo",
|
|
"-an", "-sn", "-s", "960x720", "-f", "rawvideo", "pipe:1")
|
|
ffmpegIn, _ := ffmpeg.StdinPipe()
|
|
ffmpegOut, _ := ffmpeg.StdoutPipe()
|
|
if err := ffmpeg.Start(); err != nil {
|
|
fmt.Println(err)
|
|
return
|
|
}
|
|
|
|
go func() {
|
|
for {
|
|
buf := make([]byte, frameSize)
|
|
if _, err := io.ReadFull(ffmpegOut, buf); err != nil {
|
|
fmt.Println(err)
|
|
continue
|
|
}
|
|
|
|
img := gocv.NewMatFromBytes(720, 960, gocv.MatTypeCV8UC3, buf)
|
|
if img.Empty() {
|
|
continue
|
|
}
|
|
window.ShowImage(img)
|
|
window.WaitKey(1)
|
|
}
|
|
}()
|
|
|
|
drone.On(tello.ConnectedEvent, func(data interface{}) {
|
|
fmt.Println("Connected")
|
|
drone.StartVideo()
|
|
drone.SetVideoEncoderRate(tello.VideoBitRateAuto)
|
|
drone.SetExposure(0)
|
|
|
|
gobot.Every(100*time.Millisecond, func() {
|
|
drone.StartVideo()
|
|
})
|
|
})
|
|
|
|
drone.On(tello.VideoFrameEvent, func(data interface{}) {
|
|
pkt := data.([]byte)
|
|
if _, err := ffmpegIn.Write(pkt); err != nil {
|
|
fmt.Println(err)
|
|
}
|
|
})
|
|
}
|
|
|
|
robot := gobot.NewRobot("tello",
|
|
[]gobot.Connection{},
|
|
[]gobot.Device{drone, window},
|
|
work,
|
|
)
|
|
|
|
robot.Start()
|
|
}
|