CLI-based controllers for Tello

controller.py

from easytello import tello
import cv2
import numpy as np
import time

# TELLO = False
TELLO = True
STEP = 50

d = tello.Tello()
d.takeoff()
time.sleep(2)

# d.up(400)
# time.sleep(2)

# Do NOT use streamon() because it automatically takes control of the video stream (look at the source code)
# d.streamon()
d.send_command('streamon')  
time.sleep(2)

stop_thres = 0.30

cap = cv2.VideoCapture('udp://0.0.0.0:11111')

cv2.namedWindow("square")

fw = cap.get(cv2.CAP_PROP_FRAME_WIDTH)
fh = cap.get(cv2.CAP_PROP_FRAME_HEIGHT)

print(fw, fh)

while True:
  ret, frame = cap.read()

  if not ret:
    print('empty frame')
    continue

  cv2.imshow('frame', frame)

  key = cv2.waitKey(0) & 0xff

  if key == ord('q'):
    d.land()
    break

  if key == ord('w'):
    d.forward(STEP)
  
  if key == ord('a'):
    d.left(STEP)

  if key == ord('s'):
    d.back(STEP)
  
  if key == ord('d'):
    d.right(STEP)

  if key == ord('e'):
    d.ccw(45)

  if key == ord('r'):
    d.cw(45)

cap.release()
cv2.destroyAllWindows()

端末ではなく、OpenCVのウィンドウを選択した状態でキーを打たないとダメっぽい