diff options
| -rw-r--r-- | server.py | 37 |
1 files changed, 35 insertions, 2 deletions
@@ -1,3 +1,5 @@ +import libardrone.libardrone as libardrone +import pygame import cv2 import os import socket @@ -61,17 +63,48 @@ sock.bind(server_address) sock.listen(1) +try: + pygame.init() + pygame.joystick.init() + js=pygame.joystick.Joystick(0) + js.init() + js_angle_shift = 0.0 +except: + print "meeeeh" + + +drone = libardrone.ARDrone(True, True) +drone.reset() + + serverthread=ServerThread() lock=threading.Lock() cap = cv2.VideoCapture("/home/flo/kruschkram/out2.avi") status, frame = cap.read() + +writer = cv2.VideoWriter("flight.avi",cv2.VideoWriter_fourcc(*'MP42'),25,(1280,720),1) +logfile = open("flight.log", "w") + + + + serverthread.start() while True: print "hello world :)" - time.sleep(1) lock.acquire() - status, frame = cap.read() + rawimg = drone.get_image() + frame = cv2.cvtColor(rawimg, cv2.COLOR_BGR2RGB) + phi = drone.navdata.get(0, dict()).get('phi',1337) + theta = drone.navdata.get(0, dict()).get('theta',1337) + psi = drone.navdata.get(0, dict()).get('psi',1337) lock.release() + cv2.imshow("frame", frame) + writer.write(frame) + logfile.write(str(phi)+"\t"+str(theta)+"\t"+str(psi)+"\n") + print phi,theta,psi + + cv2.waitKey(50) + |