Video recording!

pykick/imagereaders.py

@@ -16,10 +16,12 @@ class NaoImageReader(object):
         3: (960, 1280)
     }
 
-    def __init__(self, ip, port=9559, res=1, fps=30, cam_id=0):
+    def __init__(self, ip, port=9559, res=1, fps=30, cam_id=0, video_file=None):
         ip = bytes(ip)
         self.res_id = res
+        self.recording = []
         self.res = self.RESOLUTIONS[res]
+        self.video_file = video_file
         self.cam_id=cam_id
         self.fps = fps
         self.vd = ALProxy('ALVideoDevice', ip, port)
@@ -46,15 +48,25 @@ class NaoImageReader(object):
             raise RuntimeError(self.sub + " couldn't capture")
         else:
             height, width = self.res
-            return np.frombuffer(result[6], dtype=np.uint8).reshape(
+            frame = np.frombuffer(result[6], dtype=np.uint8).reshape(
                 height, width, 3
             )
+            if self.video_file is not None:
+                self.recording.append(frame)
+            return frame
 
     def close(self):
         self.vd.unsubscribe(self.sub)
+        if self.video_file is not None:
+            vf = cv2.VideoWriter(self.video_file,
+                                 cv2.cv.FOURCC('X', 'V', 'I', 'D'),
+                                 5,
+                                 (self.res[1], self.res[0]))
+            for frame in self.recording:
+                vf.write(frame)
 
     def restart(self):
-        self.close()
+        self.vd.unsubscribe(self.sub)
         self.sub = self.vd.subscribeCamera(
             self.sub, self.cam_id, self.res_id, 13, self.fps
         )

pykick/striker.py

@@ -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,
+        self.upper_camera = NaoImageReader(
-                                           fps=30, cam_id=0)
+            nao_ip, port=nao_port, res=res, fps=30, cam_id=0,
-        self.lower_camera = NaoImageReader(nao_ip, port=nao_port, res=res,
+            video_file='cam0_' + self.run_id + '.mpg'
-                                           fps=30, cam_id=1)
+        )
+        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
+                # break
-                # state = 'ball_approach'
+                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:

pykick/video_recorder.py

@@ -1,43 +0,0 @@
-# This test demonstrates how to use the ALVideoRecorder module.
-# Note that you might not have this module depending on your distribution
-import os
-import sys
-import time
-from naoqi import ALProxy
-
-# Replace this with your robot's IP address
-IP = "192.168.0.11"
-PORT = 9559
-
-# Create a proxy to ALVideoRecorder
-try:
-  videoRecorderProxy = ALProxy("ALVideoRecorder", IP, PORT)
-except Exception, e:
-  print "Error when creating ALVideoRecorder proxy:"
-  print str(e)
-  exit(1)
-
-videoRecorderProxy.setFrameRate(30.0)
-videoRecorderProxy.setResolution(2) # Set resolution to VGA (640 x 480)
-videoRecorderProxy.setCameraID(0)
-
-
-
-
-# storage folder of the recording and the file name
-videoRecorderProxy.startRecording("/home/nao/recordings/cameras", "camera1")
-
-print "Video record started."
-
-try:
-	# set recording duration
-    while True:
-        pass
-
-finally:
-	videoInfo = videoRecorderProxy.stopRecording()
-    
-	#print "Video was saved on the robot: ", videoInfo[1]
-	#print "Total number of frames: ", videoInfo[0]
-
-