Merge branch 'master' of gitlab.lrz.de:robocupss18-blue3/kick-it

scripts/colorpicker.py

@@ -3,7 +3,7 @@ from __future__ import print_function
 import json
 import argparse
 import cv2
-from imagereaders import VideoReader, NaoImageReader
+from imagereaders import VideoReader, NaoImageReader, PictureReader
 # import imutils
 
 class Colorpicker(object):
@@ -89,6 +89,10 @@ if __name__ == '__main__':
         '--video-file',
         help='video file to use'
     )
+    parser.add_argument(
+        '--image-file',
+        help='image to use'
+    )
     parser.add_argument(
         '--still',
         help='only take one image from video stream',
@@ -110,6 +114,8 @@ if __name__ == '__main__':
         cp.load(args.input_config)
     if args.video_file:
         rdr = VideoReader(args.video_file, loop=True)
+    elif args.image_file:
+        rdr = PictureReader(args.image_file)
     elif args.nao_ip:
         rdr = NaoImageReader(
             args.nao_ip,

scripts/imagereaders.py

@@ -1,6 +1,9 @@
 import numpy as np
 import cv2
+try:
     from naoqi import ALProxy
+except:
+    ALProxy = None
 
 
 class NaoImageReader(object):
@@ -54,3 +57,16 @@ class VideoReader(object):
 
     def close(self):
         self.cap.release()
+
+
+class PictureReader(object):
+    "Dummy class for maybe convenience."
+
+    def __init__(self, filename):
+        self.frame = cv2.imread(filename)
+
+    def get_frame(self):
+        return self.frame.copy()
+
+    def close(self):
+        pass

scripts/photo_capture.py

@@ -1,50 +1,22 @@
-import numpy as np
 import cv2
-from naoqi import ALProxy
 from datetime import datetime
+from imagereaders import NaoImageReader
+import argparse
 
-nao_ip = '192.168.0.11'
-nao_port = 9559
-res = (3, (960, 1280))  # NAOQi code and acutal resolution
-fps = 1
 
-# get NAOqi module proxy
+if __name__ == '__main__':
-
+    parser = argparse.ArgumentParser()
-# select camer
+    parser.add_argument('--res', type=int, choices=(1, 2, 3),
-# 0: Top
+                        default=3)
-# 1: Bottom
+    parser.add_argument('--cam-id', type=int, choices=(0, 1),
-camera=0
+                        default=0)
-
+    args = parser.parse_args()
-videoDevice = ALProxy('ALVideoDevice', nao_ip, nao_port)
-subscriber = videoDevice.subscribeCamera(
-    "tester", camera, res[0], 13, fps
-)
-# create image
-image = np.zeros((res[1][0], res[1][1], 3), np.uint8)
-
-for k in range(1):
-
-    result = videoDevice.getImageRemote(subscriber)
-    videoDevice.releaseImage(subscriber)
 
+    video = NaoImageReader('192.168.0.11', res=args.res, cam_id=args.cam_id,
+                           fps=1)
+    frame = video.get_frame()
+    video.close()
     now = datetime.now().strftime('%Y%m%d%H%M%S')
-    if result == None:
-        print 'cannot capture.'
-    elif result[6] == None:
-        print 'no image data string.'
-    else:
-        values = map(ord, list(result[6]))
-        i = 0
-        for y in range(res[1][0]):
-            for x in range(res[1][1]):
-                image.itemset((y, x, 0), values[i + 0])
-                image.itemset((y, x, 1), values[i + 1])
-                image.itemset((y, x, 2), values[i + 2])
-                i += 3
-    if camera==0:
-        cv2.imwrite('top' + now + '.jpg', image)
-    else:
-        cv2.imwrite('bottom' + now + '.jpg',image)
 
-
+    prefix = 'bottom' if args.cam_id else 'bottom'
-videoDevice.unsubscribe(subscriber)
+    cv2.imwrite(prefix + now + '.jpg', frame)