drone.py

from robomaster import robot
from robomaster import flight
from robomaster import camera
import time
import numpy as np
import pyzbar.pyzbar as pyzbar
import cv2 as cv
import threading
from robomaster import media

tl_drone = robot.Drone()
tl_drone.initialize()
tl_flight = tl_drone.flight
tl_camera = tl_drone.camera
print(f"Finished inializing drone with SDK version {tl_drone.get_sdk_version()}; battery is at {tl_drone.battery.get_battery()}%")

def move(x:int, y:int, z:int):
    tl_flight.go(x,y,z).wait_for_completed()

def initVideo():
    tl_camera.start_video_stream(display=False)
    tl_camera.set_fps("high")
    tl_camera.set_resolution("high")
    tl_camera.set_bitrate(6)

def checkQR():
    returnedCodes = []
    clahe = cv.createCLAHE(clipLimit=2.0, tileGridSize=(8,8))
    img = tl_camera.read_video_frame(strategy="newest")
    grayImg = clahe.apply(cv.cvtColor(img, cv.COLOR_BGR2GRAY))
    decoded = pyzbar.decode(grayImg)
    for code in decoded:
        polygon = np.array([list(code.polygon[0]), list(code.polygon[1]), list(code.polygon[2]), list(code.polygon[3])], np.int32).reshape((-1, 1, 2))
        cv.polylines(img, [polygon], True, (0, 255,0),2)
        center = (int((code.polygon[0].x+code.polygon[1].x+code.polygon[2].x+code.polygon[3].x)/4),int((code.polygon[0].y+code.polygon[1].y+code.polygon[2].y+code.polygon[3].y)/4))
        returnedCodes.append((code.data.decode('utf-8'), center))
    return returnedCodes

def videoThread():
    initVideo()
    clahe = cv.createCLAHE(clipLimit=2.0, tileGridSize=(8,8))
    img = tl_camera.read_video_frame(strategy="newest")
    while True:
        grayImg = clahe.apply(cv.cvtColor(img, cv.COLOR_BGR2GRAY))
        try:
            decoded = pyzbar.decode(grayImg)
            for code in decoded:
                print(code.data.decode('utf-8'))
                polygon = np.array([list(code.polygon[0]), list(code.polygon[1]), list(code.polygon[2]), list(code.polygon[3])], np.int32).reshape((-1, 1, 2))
                center = (int((code.polygon[0].x+code.polygon[1].x+code.polygon[2].x+code.polygon[3].x)/4),int((code.polygon[0].y+code.polygon[1].y+code.polygon[2].y+code.polygon[3].y)/4))
                cv.circle(img, center, 5, (0, 0, 255), 3)
                cv.polylines(img, [polygon], True, (0,255,0), 2)
            cv.imshow("img", img)
            cv.waitKey(33)
        except Exception as e:
            print(e)
        img = tl_camera.read_video_frame(strategy="newest")

def close_connection():
    tl_drone.close()