camera.py

from __future__ import print_function
from dronekit import connect, VehicleMode, LocationGlobal, LocationGlobalRelative
import time
import math
from pymavlink import mavutil #
import cv2

import argparse
parser = argparse.ArgumentParser(description='Print out vehicle state information. Connects to SITL on local PC by default.')
parser.add_argument('--connect',
                   help="vehicle connection target string. If not specified, SITL automatically started and used.")
args = parser.parse_args()

connection_string = args.connect
sitl = None


if not connection_string:
    import dronekit_sitl
    sitl = dronekit_sitl.start_default()
    connection_string = sitl.connection_string()

print("\nConnecting to vehicle on: ,s" , connection_string)
vehicle = connect(connection_string, wait_ready=True)
vehicle.wait_ready('autopilot_version')
print("\nGet all vehicle attribute values:")


camera_port = 0
a=0
initial_alt=0.0
final_alt=0.0

while True:

    final_alt=float(vehicle.location.global_relative_frame.alt)
    if (final_alt-initial_alt)>= 5:
        camera = cv2.VideoCapture(camera_port)
        camera_capture = camera.read()[1]
        file = "image_"+str(a)+".jpg"
        cv2.imwrite(file, img=camera_capture)
        a=a+1
        print("captured at: ",final_alt)
        initial_alt=final_alt
        del (camera)