#Coding4Fun – How to control your #drone with 20 lines of code! (18/N)

Coding4Fun Drone 🚁 posts

Hi !

Today I’ll step back a couple of posts, and add 2 simple lines to allow me to save a video file from the Drone camera. This is a request, and it’s makes a lot of sense to have recorded a file with the drone camera.

The video will later contains detected objects and more, so let’s go with the code. All the magic happens here:

Lines 97-103. Open the drone camera stream, and also opens a video output stream to save the video file.
Lines 123-124. Display the camera feed and add the camera frame into the output video file.
Lines 136-139. Dispose objects, and close the video output file.

	# Bruno Capuano
	# enable drone video camera
	# display video camera using OpenCV
	# display FPS

	import socket
	import time
	import threading
	import cv2

	def receiveData():
	global response
	while True:
	try:
	response, _ = clientSocket.recvfrom(1024)
	except:
	break

	def readStates():
	global battery
	while True:
	try:
	response_state, _ = stateSocket.recvfrom(256)
	if response_state != 'ok':
	response_state = response_state.decode('ASCII')
	list = response_state.replace(';', ':').split(':')
	battery = int(list[21])
	except:
	break

	def sendCommand(command):
	global response
	timestamp = int(time.time() * 1000)

	clientSocket.sendto(command.encode('utf-8'), address)

	while response is None:
	if (time.time() * 1000) – timestamp > 5 * 1000:
	return False

	return response


	def sendReadCommand(command):
	response = sendCommand(command)
	try:
	response = str(response)
	except:
	pass
	return response

	def sendControlCommand(command):
	response = None
	for i in range(0, 5):
	response = sendCommand(command)
	if response == 'OK' or response == 'ok':
	return True
	return False

	# ———————————————–
	# Main program
	# ———————————————–

	# connection info
	UDP_IP = '192.168.10.1'
	UDP_PORT = 8889
	last_received_command = time.time()
	STATE_UDP_PORT = 8890

	address = (UDP_IP, UDP_PORT)
	response = None
	response_state = None

	clientSocket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
	clientSocket.bind(('', UDP_PORT))
	stateSocket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
	stateSocket.bind(('', STATE_UDP_PORT))

	# start threads
	recThread = threading.Thread(target=receiveData)
	recThread.daemon = True
	recThread.start()

	stateThread = threading.Thread(target=readStates)
	stateThread.daemon = True
	stateThread.start()

	# connect to drone
	response = sendControlCommand("command")
	print(f'command response: {response}')
	response = sendControlCommand("streamon")
	print(f'streamon response: {response}')

	# drone information
	battery = 0

	# open UDP
	print(f'opening UDP video feed, wait 2 seconds ')
	videoUDP = 'udp://192.168.10.1:11111'
	cap = cv2.VideoCapture(videoUDP)
	time.sleep(2)
	vid_cod = cv2.VideoWriter_fourcc(*'XVID')
	vid_output = cv2.VideoWriter("videos/cam_video.mp4", vid_cod, 20.0, (640,480))

	# open
	i = 0
	while True:
	i = i + 1
	start_time = time.time()

	sendReadCommand('battery?')
	print(f'battery: {battery} % – i: {i}')

	try:
	ret, frame = cap.read()
	img = cv2.resize(frame, (640, 480))

	if (time.time() – start_time ) > 0:
	fpsInfo = "FPS: " + str(1.0 / (time.time() – start_time)) # FPS = 1 / time to process loop
	font = cv2.FONT_HERSHEY_DUPLEX
	cv2.putText(img, fpsInfo, (10, 20), font, 0.4, (255, 255, 255), 1)

	cv2.imshow('@elbruno – DJI Tello Camera', img)
	vid_output.write(img)
	except Exception as e:
	print(f'exc: {e}')
	pass

	if cv2.waitKey(1) & 0xFF == ord('q'):
	break


	response = sendControlCommand("streamoff")
	print(f'streamon response: {response}')

	# close the already opened camera, and the video file
	cap.release()
	vid_output.release()
	cv2.destroyAllWindows()

view raw DjiTelloCameraStreamSaveVideoFile.py hosted with ❤ by GitHub

Happy coding!

Greetings

El Bruno

Coding4Fun Drone 🚁 posts

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