How to control my Drone with OpenCV?

smilebean

This post is deleted!

smilebean

When I use pycharm, I have the same problem(Key_Control).
And the FPV transfer to PC have delay 3000~4000ms. Is it normal?

robolink_wes

@robolink_arnold or @robolink_whoseop, can you take a look at this? Looks like we haven't gotten back to @smilebean yet.

smilebean

The FPV transfer to PC have delay 3000~4000ms. Is it normal?
I can use the Key_Control example thank you!
Can you show me how to use OpenCV to control CoDrone?

robolink_arnold

@smilebean So 4000ms and 3000ms delay is not normal, what code are you running? Do you have the BLE module driver installed on your computer? the SiLabs Driver? Also can you post the code you are trying to run here? Thank you!

smilebean

I install drivers you say. About the delay, maybe it happened when I use pycharm and anaconda in the same time. I want to know how to do about this. I mean control the Drone with OpenCV. Is it Opencv image recognition?
About this code,I can't save the video I catch with CoDrone, but computer camera can.

smilebean

@robolink_arnold About the delay , this is my code. Today I try the code, it happened. Maybe 1/10 , the delay above 2000ms.
from time import sleep
from petrone.drone import *
from petrone.protocol import *
from petrone.system import *
import cv2

def eventUpdateInformation(data):
print("eventUpdateInformation() / {0} / {1} / {2} / Ver:{3} / 20{4:02}.{5}.{6}".format(data.modeUpdate,
data.deviceType,
data.imageType, data.version,
data.year, data.month,
data.day))

cap = cv2.VideoCapture('rtsp://192.168.100.1/cam1/mpeg4')
#cap = cv2.VideoCapture(0)
fourcc = cv2.VideoWriter_fourcc(*'XVID')
out = cv2.VideoWriter('outputVideo.avi',fourcc, 20.0, (640,480))

drone = Drone(True, True, True, True, True)

drone.connect()
sleep(1)

drone.sendTakeOff()
sleep(1)

while (cap.isOpened()):

ret, frame = cap.read()

out.write(frame)

cv2.imshow('frame', frame)

key = cv2.waitKey(1) & 0xFF

if key == ord("W"):
    drone.sendControl(0, 0, 0, 70)
    print("T 60")

if key == ord("S"):
    drone.sendControl(0, 0, 0, -70)
    print("T -60")

if key == ord("A"):
    drone.sendControl(0, 0, 50, 0)
    print("Y 100")

if key == ord("D"):
    drone.sendControl(0, 0, -50, 0)
    print("Y -100")

if key == ord("i"):
    drone.sendControl(0, 50, 0, 0)
    print("P 100")

if key == ord("k"):
    drone.sendControl(0, -50, 0, 0)
    print("P -100")

if key == ord("j"):
    drone.sendControl(-50, 0, 0, 0)
    print("R 100")

if key == ord("l"):
    drone.sendControl(50, 0, 0, 0)
    print("R -100")

if key == ord("z"):
    drone.sendControl(0,0,0,0)
    print("hover")
sleep(0.05)

if key == ord("q"):
    drone.sendLanding()
    print("LANDING")
    cap.release()
    cv2.destroyAllWindows()
    sleep(2)
    drone.close()
    print("CLOSE")
    break

if key == ord("x"):
    drone.sendStop()
    print("STOP")
    cap.release()
    cv2.destroyAllWindows()
    sleep(2)
    drone.close()
    print("CLOSE")
    break

print("Disconnecting device.")
drone.sendLinkDisconnect()
sleep(0.2)
drone.close()

cap.release()
out.release()

cv2.destroyAllWindows()

robolink_arnold

@smilebean said in How to control my Drone with OpenCV?:

this
You may need to change the size at which you are saving the video at. First find out what the size of the output video is.

robolink_arnold

@smilebean You should not be getting a delay of 2000ms. I know however if you send a bunch of commands one after another the CoDrone will keep a buffer of all the commands therefore doing things you told it before. When using the keys you should not hold them down but instead tap them.

smilebean

@robolink_arnold
Thank you! If I have any questions about openCV , i will ask for help.