From f7fcc42cf89bf1ae65ff485a9eead9ece1cd0108 Mon Sep 17 00:00:00 2001
From: Jonas <ge69jum@mytum.de>
Date: Thu, 31 May 2018 09:10:59 +0200
Subject: [PATCH] added photo_caputure script

---
 scripts/photo_capture.py | 50 ++++++++++++++++++++++++++++++++++++++++
 1 file changed, 50 insertions(+)
 create mode 100644 scripts/photo_capture.py

diff --git a/scripts/photo_capture.py b/scripts/photo_capture.py
new file mode 100644
index 0000000..464a85e
--- /dev/null
+++ b/scripts/photo_capture.py
@@ -0,0 +1,50 @@
+import numpy as np
+import cv2
+from naoqi import ALProxy
+from datetime import datetime
+
+nao_ip = '192.168.0.11'
+nao_port = 9559
+res = (3, (960, 1280))  # NAOQi code and acutal resolution
+fps = 1
+
+# get NAOqi module proxy
+
+# select camer
+# 0: Top
+# 1: Bottom
+camera=0
+
+videoDevice = ALProxy('ALVideoDevice', nao_ip, nao_port)
+subscriber = videoDevice.subscribeCamera(
+    "tester", camera, res[0], 13, fps
+)
+# create image
+image = np.zeros((res[1][0], res[1][1], 3), np.uint8)
+
+for k in range(2):
+
+    result = videoDevice.getImageRemote(subscriber)
+    videoDevice.releaseImage(subscriber)
+
+    now = datetime.now().strftime('%Y%m%d%H%M%S')
+    if result == None:
+        print 'cannot capture.'
+    elif result[6] == None:
+        print 'no image data string.'
+    else:
+        values = map(ord, list(result[6]))
+        i = 0
+        for y in range(res[1][0]):
+            for x in range(res[1][1]):
+                image.itemset((y, x, 0), values[i + 0])
+                image.itemset((y, x, 1), values[i + 1])
+                image.itemset((y, x, 2), values[i + 2])
+                i += 3
+    if camera==0:
+        cv2.imwrite('top' + now + '.jpg', image)
+    else:
+        cv2.imwrite('bottom' + now + '.jpg',image)
+    
+
+videoDevice.unsubscribe(subscriber)