automatically download SDKs

scripts/live_recognition.py

@@ -70,13 +70,14 @@ def find_colored_ball(frame, hsv_lower, hsv_upper, min_radius):
         return None
 
     M = cv2.moments(c)
-    center = (M["m10"] // M["m00"], M["m01"] // M["m00"])
+    center = (int(M["m10"] / M["m00"]),int(M["m01"] // M["m00"]))
-    return center, radius
+    return center, int(radius)
 
 
 def draw_ball_markers(frame, center, radius, history):
     # draw the enclosing circle and ball's centroid on the frame,
-    cv2.circle(frame, center, radius, (0, 255, 255), 1)
+    if center is not None and radius is not None:
+        cv2.circle(frame, center, radius, (255, 255, 0), 1)
         cv2.circle(frame, center, 5, (0, 255, 0), -1)
 
     # loop over the set of tracked points
@@ -87,7 +88,7 @@ def draw_ball_markers(frame, center, radius, history):
         # otherwise, compute the thickness of the line and
         # draw the connecting lines
         thickness = int(np.sqrt(64 / float(i + 1)) * 2.5)
-        cv2.line(frame, history[i - 1], history[i], (0, 0, 255), thickness)
+        cv2.line(frame, history[i - 1], history[i], (0, 255, 0), thickness)
 
     return frame
 
@@ -112,11 +113,11 @@ def nao_demo():
                 center, radius = find_colored_ball(
                     frame, red_lower, red_upper, min_radius
                 )
-            except TypeError:  # No red ball found and function returned None
-                history.appendleft(None)
-                continue
                 history.appendleft(center)
                 draw_ball_markers(frame, center, radius, history)
+            except TypeError:  # No red ball found and function returned None
+                history.appendleft(None)
+                draw_ball_markers(frame, None, None, history)
 
             # show the frame to screen
             cv2.imshow("Frame", frame)
@@ -124,6 +125,7 @@ def nao_demo():
 
     finally:
         vd_proxy.unsubscribe(cam_subscriber)
+        cv2.destroyAllWindows()
 
 
 if __name__ == '__main__':

setup/install_nao_ros.sh

@@ -1,64 +1,35 @@
-#!/bin/sh
+#!/bin/bash
 
-echo "make naqui dir"
+# Exit immediately if something fails
-mkdir ~/naoqi
+set -e
 
-sleep 1
+# opt is better that $HOME imho
+naoqi_root='/opt/naoqi'
+pynaoqi='pynaoqi-python2.7-2.1.4.13-linux32'
+cppnaoqi='naoqi-sdk-2.1.4.13-linux32'
 
-echo "copy the files into the naoqi folder"
+echo "Make NAOQi root dir"
-#cp naoqi-sdk-2.1.4.13-linux32.tar.gz pynaoqi-python2.7-2.1.4.13-linux32.tar.gz ~/naoqi
+sudo mkdir ${naoqi_root}
-cp pynaoqi-python2.7-2.1.4.13-linux32.tar.gz ~/naoqi
+cd ${naoqi_root}
-cd ~/naoqi
 
-sleep 1
+echo "Get the SDKs"
+sudo wget \
+    'https://drive.google.com/uc?export=download&id=1cZYzD_kK-Ty3n7cqYcX1M7XMOSAs899O' \
+    -O "pynaoqi.tar.gz"
 
-echo "Extract them"
+sudo wget \
-#tar xzf naoqi-sdk-2.1.4.13-linux32.tar.gz
+    'https://drive.google.com/uc?export=download&id=1qmT2GiRJ5icZkWScjKqCIErIevu8fLkF' \
-tar xzf pynaoqi-python2.7-2.1.4.13-linux32.tar.gz
+    -O "cppnaoqi.tar.gz"
+
+sudo tar xzf cppnaoqi.tar.gz && sudo rm cppnaoqi.tar.gz
+sudo tar xzf pynaoqi.tar.gz && sudo rm pynaoqi.tar.gz
 
 echo "Add the NAOqi library path to PYTHONPATH"
-export PYTHONPATH=~/naoqi/pynaoqi-python2.7-2.1.4.13-linux32:$PYTHONPATH
+export PYTHONPATH="${naoqi_root}/${pynaoqi}:$PYTHONPATH"
 
-echo "make this permanently available for every future terminal"
+echo "Make this permanently available for every future terminal"
-echo 'export PYTHONPATH=~/naoqi/pynaoqi-python2.7-2.1.4.13-linux32:$PYTHONPATH' >> ~/.bashrc
+echo 'export PYTHONPATH="'"${naoqi_root}/${pynaoqi}"':$PYTHONPATH"' \
+    >>${HOME}/.profile
 
-echo "install ros packages for nao"
+echo "Install ROS packages for Nao"
 sudo apt-get install ros-indigo-nao-robot
-
-
-
-'''
-echo "Setting up sources.list"
-sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
-sleep 1
-echo "Set up your keys"
-sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
-sleep 1
-
-echo "Doing apt update"
-sudo apt update
-sleep 1
-
-echo "installing ros"
-#sudo apt-get install ros-indigo-desktop-full
-sudo apt-get install ros-indigo-desktop 
-sleep 1
-
-echo "Initialize rosdep"
-sudo rosdep init
-sleep 1
-rosdep update
-sleep 1
-
-echo "Environment setup"
-echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
-sleep 1
-source ~/.bashrc
-
-sleep 1
-echo "getting rosinstall"
-sudo apt install python-rosinstall 
-'''
-
-
-exit 0

setup/install_ros.sh

@@ -1,35 +1,31 @@
-#!/bin/sh
+#!/bin/bash
+
+# Exit if something fails
+set -e
+
 echo "Setting up sources.list"
-sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+sudo bash -c \
-sleep 1
+    'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" \
-echo "Set up your keys"
+>/etc/apt/sources.list.d/ros-latest.list'
-sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
-sleep 1
 
-echo "Doing apt update"
+echo "Set up repository keys"
-sudo apt update
+sudo apt-key adv \
-sleep 1
+    --keyserver hkp://ha.pool.sks-keyservers.net:80 \
+    --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
 
-echo "installing ros"
+echo "Update packages list"
-#sudo apt-get install ros-indigo-desktop-full
+sudo apt-get update
+
+echo "Install ROS"
 sudo apt-get install ros-indigo-desktop
-sleep 1
 
 echo "Initialize rosdep"
 sudo rosdep init
-sleep 1
 rosdep update
-sleep 1
 
 echo "Environment setup"
-echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
+echo "source /opt/ros/indigo/setup.bash" >>${HOME}/.bashrc
-sleep 1
+source ${HOME}/.bashrc
-source ~/.bashrc
 
-sleep 1
+echo "Get rosinstall"
-echo "getting rosinstall"
+sudo apt-get install python-rosinstall
-sudo apt install python-rosinstall 
-
-
-
-exit 0