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Better video saving + successful goal

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This commit is contained in:
Pavel Lutskov
2018-06-30 14:54:27 +02:00
parent 5c4cfa0842
commit 784560753d
3 changed files with 25 additions and 5 deletions
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21
pykick/__main__.py
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@@ -116,7 +116,22 @@ if __name__ == '__main__':
if approach_steps < 2: if approach_steps < 2:
state = 'ball_approach' state = 'ball_approach'
else: else:
state = 'straight_approach'
elif state == 'straight_approach':
bil = striker.get_ball_angles_from_camera(
striker.lower_camera
) # Ball in lower
print(bil)
if bil is not None and bil[1] > 0.15:
striker.speak('Ball is close enough, stop approach')
striker.mover.stop_moving()
striker.speak('Align to goal')
state = 'goal_align' state = 'goal_align'
else:
striker.speak('Continue running')
striker.run_to_ball(1)
state = 'tracking'
elif state == 'ball_approach': elif state == 'ball_approach':
bil = striker.get_ball_angles_from_camera( bil = striker.get_ball_angles_from_camera(
@@ -127,8 +142,9 @@ if __name__ == '__main__':
d = striker.distance_to_ball() d = striker.distance_to_ball()
except ValueError: except ValueError:
if bil is not None: if bil is not None:
state = 'goal_align' state = 'straight_approach'
striker.speak('Ball is close. Align to. Goal') striker.speak('Ball is close. ' +
'But not close enough maybe')
else: else:
state = 'tracking' state = 'tracking'
continue continue
@@ -143,6 +159,7 @@ if __name__ == '__main__':
striker.mover.move_to(0, 0, angle) striker.mover.move_to(0, 0, angle)
striker.mover.wait() striker.mover.wait()
striker.run_to_ball(d_run) striker.run_to_ball(d_run)
striker.mover.wait()
striker.speak("I think I have reached the ball. " + striker.speak("I think I have reached the ball. " +
"I will start rotating") "I will start rotating")
approach_steps += 1 approach_steps += 1

3
pykick/imagereaders.py
View File

@@ -58,13 +58,16 @@ class NaoImageReader(object):
def close(self): def close(self):
self.vd.unsubscribe(self.sub) self.vd.unsubscribe(self.sub)
print(self.sub + 'captured %s frames' % len(self.recording)) print(self.sub + 'captured %s frames' % len(self.recording))
print('Writing to', self.video_file)
if self.video_file is not None: if self.video_file is not None:
vf = cv2.VideoWriter(self.video_file, vf = cv2.VideoWriter(self.video_file,
cv2.cv.FOURCC('X', 'V', 'I', 'D'), cv2.cv.FOURCC('X', 'V', 'I', 'D'),
self.fps, self.fps,
(self.res[1], self.res[0])) (self.res[1], self.res[0]))
for frame in self.recording: for frame in self.recording:
print('.')
vf.write(frame) vf.write(frame)
vf.release()
def restart(self): def restart(self):
self.vd.unsubscribe(self.sub) self.vd.unsubscribe(self.sub)

6
pykick/striker.py
View File

@@ -35,12 +35,12 @@ class Striker(object):
# POV # POV
self.upper_pov = NaoImageReader( self.upper_pov = NaoImageReader(
nao_ip, port=nao_port, res=0, fps=15, cam_id=0, nao_ip, port=nao_port, res=0, fps=15, cam_id=0,
video_file='cam0_' + self.run_id + '.mpg' video_file='./cam0_' + self.run_id + '.avi'
) )
self.lower_pov = NaoImageReader( self.lower_pov = NaoImageReader(
nao_ip, port=nao_port, res=0, fps=15, cam_id=1, nao_ip, port=nao_port, res=0, fps=15, cam_id=1,
video_file='cam1_' + self.run_id + '.mpg' video_file='./cam1_' + self.run_id + '.avi'
) )
self.pov_thread = Thread(target=self._pov) self.pov_thread = Thread(target=self._pov)
self.pov_thread.start() self.pov_thread.start()
@@ -217,7 +217,7 @@ class Striker(object):
def run_to_ball(self, d): def run_to_ball(self, d):
self.mover.move_to(d, 0, 0) self.mover.move_to(d, 0, 0)
self.mover.wait() # self.mover.wait()
def turn_to_ball(self, ball_x, ball_y, tol=0.15, soll=0): def turn_to_ball(self, ball_x, ball_y, tol=0.15, soll=0):
"""Align robot to the ball. """Align robot to the ball.