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The run from the videos

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Pavel Lutskov
2018-06-30 16:16:19 +02:00
parent 9b400c0a62
commit 6d9d522692
2 changed files with 8 additions and 6 deletions
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5
pykick/__main__.py
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@@ -63,7 +63,7 @@ if __name__ == '__main__':
elif state == 'tracking': elif state == 'tracking':
# start ball approach when ball is visible # start ball approach when ball is visible
print('Soll angle') print('Soll angle')
striker.ball_tracking(tol=0.05) striker.ball_tracking(tol=0.15)
# break # break
if approach_steps < 2: if approach_steps < 2:
state = 'ball_approach' state = 'ball_approach'
@@ -74,7 +74,7 @@ if __name__ == '__main__':
bil = striker.get_ball_angles_from_camera( bil = striker.get_ball_angles_from_camera(
striker.lower_camera striker.lower_camera
) # Ball in lower ) # Ball in lower
print(bil) print('Ball in lower!', bil)
if bil is not None and bil[1] > 0.15: if bil is not None and bil[1] > 0.15:
striker.speak('Ball is close enough, stop approach') striker.speak('Ball is close enough, stop approach')
striker.mover.stop_moving() striker.mover.stop_moving()
@@ -161,6 +161,7 @@ if __name__ == '__main__':
striker.mover.kick(fancy=True, foot='L') striker.mover.kick(fancy=True, foot='L')
##striker.speak("Nice kick. Let's do a dance") ##striker.speak("Nice kick. Let's do a dance")
#striker.mover.dance() #striker.mover.dance()
sleep(2)
break break
finally: finally:
striker.close() striker.close()

9
pykick/striker.py
View File

@@ -29,17 +29,17 @@ class Striker(object):
nao_ip, port=nao_port, res=res, fps=10, cam_id=0, nao_ip, port=nao_port, res=res, fps=10, cam_id=0,
) )
self.lower_camera = NaoImageReader( self.lower_camera = NaoImageReader(
nao_ip, port=nao_port, res=res, fps=10, cam_id=1, nao_ip, port=nao_port, res=1, fps=10, cam_id=1,
) )
# POV # POV
self.upper_pov = NaoImageReader( self.upper_pov = NaoImageReader(
nao_ip, port=nao_port, res=1, fps=15, cam_id=0, nao_ip, port=nao_port, res=1, fps=10, cam_id=0,
video_file='./cam0_' + self.run_id + '.avi' video_file='./cam0_' + self.run_id + '.avi'
) )
self.lower_pov = NaoImageReader( self.lower_pov = NaoImageReader(
nao_ip, port=nao_port, res=1, fps=15, cam_id=1, nao_ip, port=nao_port, res=1, fps=10, cam_id=1,
video_file='./cam1_' + self.run_id + '.avi' video_file='./cam1_' + self.run_id + '.avi'
) )
self.pov_thread = Thread(target=self._pov) self.pov_thread = Thread(target=self._pov)
@@ -81,13 +81,14 @@ class Striker(object):
while not self.is_over: while not self.is_over:
while self.speach_queue: while self.speach_queue:
self.speaker.say(self.speach_queue.pop()) self.speaker.say(self.speach_queue.pop())
sleep(0.1) sleep(0.5)
def _pov(self): def _pov(self):
while not self.is_over: while not self.is_over:
try: try:
self.upper_pov.get_frame() self.upper_pov.get_frame()
self.lower_pov.get_frame() self.lower_pov.get_frame()
sleep(0.1)
except RuntimeError as e: except RuntimeError as e:
print(e) print(e)
continue continue