Tello无人机视频流延时(Python)

Question

我目前在python和OpenCV上遇到了很高的视频流延迟。我已经设置了视频流，但延迟(约800ms)很难处理时，手动控制的无人机与pygame。我知道它不是无人机，因为当我使用Tello应用程序时，延迟是不可察觉的。有没有人有过使用Tello无人机的视频流的经验？

Answer 1

我在Windows10中使用了以下代码，可以毫无延迟地显示来自无人机的视频流。但是，请注意，这使用了tellopy库。

   def video_thread():
        global drone
        global run_video_thread
        global av
        print('START Video thread')
        drone.start_video()
        try:                                                                                                                            
            container = av.open(drone.get_video_stream())
            frame_count = 0
            while True:
                for frame in container.decode(video=0):
                    frame_count = frame_count + 1
                    image = cv2.cvtColor(numpy.array(frame.to_image()), cv2.COLOR_RGB2BGR)
                    cv2.imshow('Original', image)
                    cv2.waitKey(1)
            cv2.destroyWindow('Original')
        except KeyboardInterrupt as e:
            print('KEYBOARD INTERRUPT Video thread ' + e)
        except Exception as e:
            exc_type, exc_value, exc_traceback = sys.exc_info()
            print('EXCEPTION Video thread ' + e)
    
    def main():    
        global drone
        drone = tellopy.Tello()
        drone.connect()
        
        try:
            threading.Thread(target=video_thread).start()
    
        except e:
            print(str(e))
        finally:
            print('Shutting down connection to drone...')        
            drone.quit()
            exit(1)
    
    if __name__ == '__main__':
        main()