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Video recording!

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This commit is contained in:
Pavel Lutskov
2018-06-29 18:51:18 +02:00
parent e50c2f973d
commit e37bb67b40
3 changed files with 25 additions and 71 deletions
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35
pykick/striker.py
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@@ -15,24 +15,25 @@ from naoqi import ALProxy
class Striker(object):
VIDEO_FOLDER = '/home/nao/recordings/'
def __init__(self, nao_ip, nao_port, res, ball_hsv, goal_hsv, field_hsv,
ball_min_radius):
self.run_id = strftime('%Y%m%d%H%M%S')
self.mover = NaoMover(nao_ip=nao_ip, nao_port=nao_port)
self.mover.stand_up()
self.upper_camera = NaoImageReader(nao_ip, port=nao_port, res=res,
fps=30, cam_id=0)
self.lower_camera = NaoImageReader(nao_ip, port=nao_port, res=res,
fps=30, cam_id=1)
self.upper_camera = NaoImageReader(
nao_ip, port=nao_port, res=res, fps=30, cam_id=0,
video_file='cam0_' + self.run_id + '.mpg'
)
self.lower_camera = NaoImageReader(
nao_ip, port=nao_port, res=res, fps=30, cam_id=1,
video_file='cam1_' + self.run_id + '.mpg'
)
self.ball_finder = BallFinder(tuple(ball_hsv[0]), tuple(ball_hsv[1]),
ball_min_radius)
self.field_finder = FieldFinder(tuple(field_hsv[0]),
tuple(field_hsv[1]))
self.goal_finder = GoalFinder(tuple(goal_hsv[0]), tuple(goal_hsv[1]))
self.speaker = ALProxy('ALTextToSpeech', bytes(nao_ip), nao_port)
self.recorder = ALProxy('ALVideoRecorder', bytes(nao_ip), nao_port)
self.is_over = False
@@ -52,17 +53,6 @@ class Striker(object):
self.speaker.say(self.speach_queue.pop())
sleep(0.1)
def start_record(self, cam_id):
if self.recorder.isRecording():
print('Already recording. Please stop first')
return
self.recorder.setCameraID(cam_id)
self.recorder.startRecording(self.VIDEO_FOLDER,
'cam' + str(cam_id) + self.run_id)
def stop_record(self):
self.recorder.stopRecording()
def speak(self, text):
self.speach_queue.appendleft(text)
@@ -317,8 +307,6 @@ class Striker(object):
self.is_over = True
if self.tts_thread.isAlive():
self.tts_thread.join()
if self.recorder.isRecording():
self.stop_record()
self.upper_camera.close()
self.lower_camera.close()
self.mover.stop_moving()
@@ -418,7 +406,6 @@ if __name__ == '__main__':
print('State:', state)
if state == 'init':
striker.start_record(0)
striker.mover.set_head_angles(0, 0)
striker.ball_tracking(tol=0.05)
# goal_center = striker.goal_search()
@@ -430,8 +417,8 @@ if __name__ == '__main__':
# start ball approach when ball is visible
print('Soll angle')
striker.ball_tracking(tol=0.05)
break
# state = 'ball_approach'
# break
state = 'align'
elif state == 'ball_approach':
# bil = striker.get_ball_angles_from_camera(
@@ -463,8 +450,6 @@ if __name__ == '__main__':
state = 'tracking'
elif state == 'align':
striker.stop_record()
striker.start_record(1)
striker.mover.set_head_angles(0, 0.25, 0.3)
sleep(0.5)
try: