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Tried to fix 'Cannot capture'

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Pavel Lutskov
2018-06-24 12:33:30 +02:00
parent 0e6d8a1acb
commit 0e84a98abe
1 changed files with 10 additions and 1 deletions
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11
pykick/imagereaders.py
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@@ -18,8 +18,10 @@ class NaoImageReader(object):
def __init__(self, ip, port=9559, res=1, fps=30, cam_id=0): def __init__(self, ip, port=9559, res=1, fps=30, cam_id=0):
ip = bytes(ip) ip = bytes(ip)
self.res_id = res
self.res = self.RESOLUTIONS[res] self.res = self.RESOLUTIONS[res]
self.cam_id=cam_id self.cam_id=cam_id
self.fps = fps
self.vd = ALProxy('ALVideoDevice', ip, port) self.vd = ALProxy('ALVideoDevice', ip, port)
streamer_name = '_'.join(['lower' if cam_id else 'upper', str(res)]) streamer_name = '_'.join(['lower' if cam_id else 'upper', str(res)])
self.sub = self.vd.subscribeCamera( self.sub = self.vd.subscribeCamera(
@@ -39,7 +41,8 @@ class NaoImageReader(object):
result = self.vd.getImageRemote(self.sub) result = self.vd.getImageRemote(self.sub)
self.vd.releaseImage(self.sub) self.vd.releaseImage(self.sub)
if result is None or result[6] is None: if result is None or result[6] is None:
raise RuntimeError("Couldn't capture") self.restart()
raise RuntimeError(self.sub + " couldn't capture")
else: else:
height, width = self.res height, width = self.res
return np.frombuffer(result[6], dtype=np.uint8).reshape( return np.frombuffer(result[6], dtype=np.uint8).reshape(
@@ -49,6 +52,12 @@ class NaoImageReader(object):
def close(self): def close(self):
self.vd.unsubscribe(self.sub) self.vd.unsubscribe(self.sub)
def restart(self):
self.close()
self.sub = self.vd.subscribeCamera(
self.sub, self.cam_id, self.res_id, 13, self.fps
)
class VideoReader(object): class VideoReader(object):