Python ALProxy.setResolution方法代码示例

# 需要导入模块: from naoqi import ALProxy [as 别名]
# 或者: from naoqi.ALProxy import setResolution [as 别名]
class DeviceVision(Vision):

    # Initialization of NAO proxies
    def __init__(self, parameters):

        self.nao_ip = parameters["nao_ip"]
        self.nao_port = int(parameters["nao_port"])

        # Intializing NAOQi proxies
        self.photo = ALProxy("ALPhotoCapture", self.nao_ip, self.nao_port)
        self.video = ALProxy("ALVideoDevice", self.nao_ip, self.nao_port)

    # Assistive function to return errors
    def ret_exc(self, text):
        print text
        return {'error': text}

    # Captures a photo and stores it LOCALLY in NAO.
    # The filepath must be absolute (not relative)
    # The camera_id must be one of ['front', 'front_down']. If it is anything
    # else the 'front' camera is assumed, which is the default value.
    # Resolution must be one of '40x30', '80x60', '160x120', '320x240', '640x480'
    # and '1280x960'. If it is anything else '640x480 is assumed, being the
    # default value.
    def capturePhoto(self, filepath, camera_id = 'front', resolution = '640x480'): 

        if '/home/nao/' not in filepath:
            return self.ret_exc('vision.capturePhoto: Erroneous filepath')

        head, tail = os.path.split(filepath)
        cam_id = 0
        if camera_id not in ['front', 'front_down']:
            cam_id = 0
        if camera_id == "front_down":
            cam_id = 1
        l_resolution = resolution
        if resolution not in ['40x30', '80x60', '160x120', '320x240', \
                '640x480', '1280x960']:
            l_resolution = '640x480'

        resol = {}
        resol['40x30'] = 8
        resol['80x60'] = 7
        resol['160x120'] = 0
        resol['320x240'] = 1
        resol['640x480'] = 2
        resol['1280x960'] = 3

        try:
            self.photo.setCameraID(cam_id)
            self.photo.setResolution(resol[l_resolution])
            self.photo.takePicture(head, tail)
        except Exception as e:
            return self.ret_exc("vision.capturePhoto: Unrecognized exception: " + \
                e.message)

        return {'error': None}

# 需要导入模块: from naoqi import ALProxy [as 别名]
# 或者: from naoqi.ALProxy import setResolution [as 别名]
def store(filename,imagetype):	
	 
  try:
	photoCaptureProxy = ALProxy("ALPhotoCapture", "127.0.0.1", 9559)
	photoCaptureProxy.setResolution(2)
	photoCaptureProxy.setPictureFormat(imagetype)  #jpg png etc..
	photoCaptureProxy.takePictures(1,"/orbital/media/", filename)

  except Exception, e:

  	print " *** Error: vision.py ,  when creating ALPhotoCapture proxy:"
  	print str(e)

# 需要导入模块: from naoqi import ALProxy [as 别名]
# 或者: from naoqi.ALProxy import setResolution [as 别名]
def take_pic():
    """remove and permute old pic, save the new one."""
    os.remove("./pics/2.png")
    os.rename("./pics/1.png", "./pics/2.png")
    os.rename("./pics/0.png", "./pics/1.png")
    photoCaptureProxy = ALProxy("ALPhotoCapture", "192.168.1.8", 9559)
    photoCaptureProxy.setResolution(2)
    photoCaptureProxy.setPictureFormat("png")
    photoCaptureProxy.takePictures(1, "/home/nao/NaoAccueil/www/Modules/python/pics", "_0")
    img = Image.open("./pics/_0.png")
    resultat = img.rotate(90, expand=1)
    resultat.save("./pics/0.png")
    return send_file("./pics/0.png", mimetype='image/png')

# 需要导入模块: from naoqi import ALProxy [as 别名]
# 或者: from naoqi.ALProxy import setResolution [as 别名]
 def takePicture(self):
     absoluteFilename = tempfile.mktemp()
     directoryName = "/" + absoluteFilename.split('/')[1]
     filename = absoluteFilename[-1]
     photoCapture = ALProxy("ALPhotoCapture")
     photoCapture.setResolution(3)
     photoCapture.setPictureFormat('jpg')
     theFilename = photoCapture.takePicture(directoryName, filename)
     img_bin = ''
     with open(theFilename[0], "rb") as f:
         img_bin = f.read()
     os.unlink(theFilename[0])
     reactions = ["That's a fantastic picture!",
                  "Great photo!",
                  "Nice one!"]
     self.leds.on("FaceLeds")
     self.tts.say(random.choice(reactions))
     self.motion.setStiffnesses("Arms", 0.0)
     if self.onCompleteCallback:
         self.onCompleteCallback()
     return img_bin

# 需要导入模块: from naoqi import ALProxy [as 别名]
# 或者: from naoqi.ALProxy import setResolution [as 别名]

#.........这里部分代码省略.........
        # checkboxes for sonar and tactile sensors readings
        frame_checkboxes = tk.Frame(self)
        frame_checkboxes.pack(fill=tk.X)
        tk.Checkbutton(frame_checkboxes, text="Record tactile sensors",
                       variable=self.recordTactile).pack(side=tk.RIGHT, padx=5, pady=5)
        tk.Checkbutton(frame_checkboxes, text="Record sonar readings",
                       variable=self.recordSonar).pack(side=tk.RIGHT, padx=5, pady=5)

        # frame for record and stop buttons
        frame_buttons = tk.Frame(self)
        frame_buttons.pack(fill=tk.X)
        start_button = tk.Button(frame_buttons, text='Start recording', command=self.start)
        stop_button = tk.Button(frame_buttons, text='Stop recording', command=self.stop)
        close_button = tk.Button(frame_buttons, text='Close', command=self.close, width=10)
        close_button.grid(row=0, column=2, padx=5, pady=5)
        stop_button.grid(row=0, column=1, padx=5, pady=5)
        start_button.grid(row=0, column=0, padx=5, pady=5)

        # frame for status display
        frame_label = tk.Frame(self)
        frame_label.pack(fill=tk.X)
        self.label = tk.Label(frame_label, text="Not connected")
        self.label.pack(fill=tk.X)

    def clear_label(self):
        """ Clears label for the video """
        self.video_label.set("")
        
    def connect(self):
        """ Connect with the robot """
        # try to establish a connection
        try:        
            self.videoRecorderProxy = ALProxy("ALVideoRecorder", self.ip.get(), self.port.get())
            self.videoRecorderProxy.setResolution(2)
            self.videoRecorderProxy.setFrameRate(30)
            self.videoRecorderProxy.setVideoFormat("MJPG")
            self.videoRecorderProxy.setCameraID(0)
            self.audioRecorderProxy = ALProxy("ALAudioDevice", self.ip.get(), self.port.get())
            self.memoryProxy = ALProxy("ALMemory", self.ip.get(), self.port.get())
            self.sonarProxy = ALProxy("ALSonar", self.ip.get(), self.port.get())
            self.isConnected = True
            self.label.config(text='Ready')
        # connecting with robot failed
        except:
            self.isConnected = False
            self.label.config(text='Not connected')

    def switch_camera(self):
        """ Change the recording device on the robot """
        # switch camera if connected
        if self.isConnected and not self.isRecordingVideo:
            self.videoRecorderProxy.setCameraID(1 - self.videoRecorderProxy.getCameraID())
            self.camera_label.config(text=self.camera_dict[self.videoRecorderProxy.getCameraID()])

    def switch_audio(self):
        """ Change the format of audio recording
            .ogg is a single channel recording from the front microphone
            .wav (default) is a 4-channel recording from all microphones
        """
        if not self.isRecordingAudio:
            self.audio_id = 1 - self.audio_id
            self.audio_label.config(text=self.audio_dict[self.audio_id])

    def start(self):
        """ Start recording if connected """
        if not self.isConnected:

# 需要导入模块: from naoqi import ALProxy [as 别名]
# 或者: from naoqi.ALProxy import setResolution [as 别名]
import sys
import time
from naoqi import ALProxy

IP = "nao.local"
PORT = 9559


videoRecorderProxy = ALProxy("ALVideoRecorder", IP, PORT)

# This records a 320*240 MJPG video at 10 fps.
# Note MJPG can't be recorded with a framerate lower than 3 fps.
videoRecorderProxy.setResolution(1)
videoRecorderProxy.setFrameRate(10)
videoRecorderProxy.setVideoFormat("MJPG")
videoRecorderProxy.startVideoRecord("/home/nao/recordings/cameras", "myvideo")

time.sleep(5)

# Video file is saved on the robot in the
# /home/nao/recordings/cameras/ folder.
videoInfo = videoRecorderProxy.stopVideoRecord()

print "Video was saved on the robot: ", videoInfo[1]
print "Num frames: ", videoInfo[0]

# 需要导入模块: from naoqi import ALProxy [as 别名]
# 或者: from naoqi.ALProxy import setResolution [as 别名]
fps = 30

nameId = camProxy.register("python_GVM", resolution, colorSpace, fps)
print nameId

print 'getting direct raw images in local'
for i in range(0, 50):
  camProxy.getDirectRawImageLocal(nameId)
  camProxy.releaseDirectRawImage(nameId)

print 'getting direct raw images in remote'
for i in range(0, 50):
  camProxy.getDirectRawImageRemote(nameId)

resolution = 2       #kVGA
camProxy.setResolution(nameId, resolution)

print 'getting images in local'
for i in range(0, 50):
  camProxy.getImageLocal(nameId)
  camProxy.releaseImage(nameId)

print 'getting images in remote'
for i in range(0, 50):
  camProxy.getImageRemote(nameId)


camProxy.unRegister(nameId)


print 'end of gvm_getImageLocal python script'

# 需要导入模块: from naoqi import ALProxy [as 别名]
# 或者: from naoqi.ALProxy import setResolution [as 别名]
    
    # From sensors_getInertialValues.py
    # Get the Compute Torso Angle in radian
#    TorsoAngleX = memoryProxy.getData("Device/SubDeviceList/InertialSensor/AngleX/Sensor/Value")
#    TorsoAngleY = memoryProxy.getData("Device/SubDeviceList/InertialSensor/AngleY/Sensor/Value")
#    print ("Torso Angles [radian] X: %.3f, Y: %.3f" % (TorsoAngleX, TorsoAngleY))  
    
    
    try:
        videoRecorderProxy = ALProxy("ALVideoRecorder", robotIP, PORT)
    except Exception, e:
        print "Could not create proxy to ALVideoRecorder; error was: ", e
        
    # This records a 320*240 MJPG video at 10 fps. (CHANGED)
    # Note MJPG can't be recorded with a framerate lower than 3 fps.
    videoRecorderProxy.setResolution(2)  # 640x480; 3 = 1280*960
    videoRecorderProxy.setFrameRate(20)  # Max 30
    videoRecorderProxy.setVideoFormat("MJPG")
    videoRecorderProxy.startRecording("/home/nao/recordings/cameras", "videoN10m")#+str(time.time()) )
    
    
    #for i in xrange(0,10):
#    n = raw_input("Type 'stop' to stop recording\n")
#    while n.strip() != "stop":
#        time.sleep(1)
#        n = raw_input("Type 'stop' to stop recording")
    
    raw_input("Recording started. Press Enter when done...")
    
    # Video file is saved on the robot in the
    # /home/nao/recordings/cameras/ folder.

# 需要导入模块: from naoqi import ALProxy [as 别名]
# 或者: from naoqi.ALProxy import setResolution [as 别名]

#.........这里部分代码省略.........
                #CameraIndex= 0(Top), 1(Bottom)
                #Resolution= 0(160*120), 1(320*240), VGA=2(640*480), 3(1280*960)
                #ColorSpace= AL::kYuvColorSpace (index=0, channels=1), AL::kYUV422ColorSpace (index=9,channels=3),
                #AL::kRGBColorSpace RGB (index=11, channels=3), AL::kBGRColorSpace BGR (to use in OpenCV) (index=13, channels=3)
                #Fps= OV7670 VGA camera can only run at 30, 15, 10 and 5fps. The MT9M114 HD camera run from 1 to 30fps.
                #Settings for resolution 1 (320x240)
                resolution_type = 1
                fps=15
                cam_w = 320
                cam_h = 240
                #Settigns for resolution 2 (320x240)
                #resolution_type = 2
                #fps = 15
                #cam_w = 640
                #cam_h = 480
                camera_name_id = _al_video_proxy.subscribeCamera("Test_Video", 0, resolution_type, 13, fps)
                print("[STATE " + str(STATE) + "] " + "Connected to the camera with resolution: " + str(cam_w) + "x" + str(cam_h) + "\n")
            except BaseException, err:
                print("[ERROR] connectToCamera: catching error " + str(err))
                return
            #Adding to the speech recognition proxy a vocabulary
            #_al_speechrecognition_proxy.setLanguage("English")
            #vocabulary = ["good", "bad", "nao"]
            #_al_speechrecognition_proxy.setVocabulary(vocabulary, False)
            #_al_speechrecognition_proxy.setVocabulary(vocabulary, False) #If you want to enable word spotting
            #_al_speechrecognition_proxy.subscribe("Test_ASR")

            #Initialise the OpenCV video recorder
            if(RECORD_VIDEO == True):
                print("[STATE " + str(STATE) + "] " + "Starting the video recorder..." + "\n")
                fourcc = cv2.cv.CV_FOURCC(*'XVID')
                video_out = cv2.VideoWriter("./output.avi", fourcc, 20.0, (cam_w,cam_h))
                #Record also the NAO session
                _al_video_rec_proxy.setResolution(2) #Resolution VGA  640*480
		_al_video_rec_proxy.setFrameRate(30)
		#_al_video_rec_proxy.setVideoFormat("MJPG")
		#self._video_proxy.startVideoRecord(complete_path)
		_al_video_rec_proxy.startRecording("/home/nao/recordings/cameras", "last_session", True) #It worked saving in this path!

            #Save all the sentences inside the NAO memory
            #it is usefull if you want a clean audio
            #to present in a video.
            if(RECORD_VOICE == True):
                print("[STATE " + str(STATE) + "] " + "Saving the voice in '/home/nao/recordings/microphones'" + "\n")
                _al_tts_proxy.sayToFile("Hello world!", "/home/nao/recordings/microphones/hello_wolrd.wav")
                _al_tts_proxy.sayToFile("I see only one object! It's a " , "/home/nao/recordings/microphones/i_see_only_one.wav")
                _al_tts_proxy.sayToFile("One object here! It's a " , "/home/nao/recordings/microphones/one_object.wav")
                _al_tts_proxy.sayToFile("There is one object! It's a " , "/home/nao/recordings/microphones/there_is_one.wav")
                _al_tts_proxy.sayToFile("I am sorry, I don't see any object!", "/home/nao/recordings/microphones/i_dont_see_any.wav")
                _al_tts_proxy.sayToFile("No objects here!", "/home/nao/recordings/microphones/no_objects.wav")
                _al_tts_proxy.sayToFile("There is nothing around!", "/home/nao/recordings/microphones/there_is_nothing.wav")
                _al_tts_proxy.sayToFile("I am doing better!", "/home/nao/recordings/microphones/im_doing_better.wav")
                _al_tts_proxy.sayToFile("Very good!", "/home/nao/recordings/microphones/very_good.wav")
                _al_tts_proxy.sayToFile("Catch it!", "/home/nao/recordings/microphones/catch_it.wav")
                _al_tts_proxy.sayToFile("I will do better nex time!", "/home/nao/recordings/microphones/i_will_do_better.wav")
                _al_tts_proxy.sayToFile("Sorry, I'm still learning.", "/home/nao/recordings/microphones/still_learning.wav")
                _al_tts_proxy.sayToFile("I miss it!", "/home/nao/recordings/microphones/miss_it.wav")

            #Wake up the robot
            print("[STATE " + str(STATE) + "] " + "Waking up the NAO..." + "\n")
            _al_motion_proxy.wakeUp()
            #_al_motion_proxy.rest()
            time.sleep(2)
            print("[STATE " + str(STATE) + "] " + "Go to Crouch Pose..." + "\n")
            _al_posture_proxy.goToPosture("Crouch", 0.5)
            #_al_posture_proxy.goToPosture("StandZero", 0.5)