def read_all_patches_from_log(fileName, type=0):
# initialize the parser
my_parser = Parser()
# register the protobuf message name for the 'ImageTop'
my_parser.register("ImageTop", "Image")
my_parser.register("BallCandidatesTop", "BallCandidates")
my_parser.register("CameraMatrixTop", "CameraMatrix")
# get all the images from the logfile
# images = map(getPatches, LogReader(fileName, my_parser))
camera_index = []
patches = []
for frame in LogReader(fileName, my_parser):
ball_candidates = frame["BallCandidates"]
for p in ball_candidates.patches:
if p.type == type:
data = numpy.fromstring(p.data, dtype=numpy.uint8)
patches.append(data)
camera_index.append([0])
ball_candidates_top = frame["BallCandidatesTop"]
for p in ball_candidates_top.patches:
if p.type == type:
data = numpy.fromstring(p.data, dtype=numpy.uint8)
patches.append(data)
camera_index.append([1])
return patches, camera_index
def parse(self, name, data):
self.current_options = {}
if name == 'BehaviorStateComplete':
message = Parser.parse(self, name, data)
# process options
self.options = message.options
# process symbols
for s in message.inputSymbolList.decimal:
self.symbols.values[s.name] = s.value
self.symbols.decimalIdToName[s.id] = s.name
for s in message.inputSymbolList.boolean:
self.symbols.values[s.name] = s.value
self.symbols.booleanIdToName[s.id] = s.name
for s in message.inputSymbolList.enumerated:
self.symbols.values[s.name] = s.value
self.symbols.enumIdToName[s.id] = s.name
return self.symbols.values, self.current_options
elif name == 'BehaviorStateSparse':
message = Parser.parse(self, name, data)
symbols_values = self.symbols.values.copy()
# process active options
for o in message.activeRootActions:
self.parseOption(o)
# process symbols
for s in message.inputSymbolList.decimal:
name = self.symbols.decimalIdToName[s.id]
symbols_values[name] = s.value
for s in message.inputSymbolList.boolean:
name = self.symbols.booleanIdToName[s.id]
symbols_values[name] = s.value
for s in message.inputSymbolList.enumerated:
name = self.symbols.enumIdToName[s.id]
symbols_values[name] = s.value
return symbols_values, self.current_options
else:
return Parser.parse(self, name, data)
edgelsPlot = [
plt.scatter([], [], point_size),
plt.scatter([], [], point_size)
]
ax = fig.add_subplot(1, 2, 2, aspect='equal')
ax.set_xlim([-10000, 10000])
ax.set_ylim([-10000, 10000])
projectedEdgelsPlot = [
plt.scatter([], [], point_size, color='black'),
plt.scatter([], [], point_size, color='orange')
]
linePlot = LinePlot(ax, (-10000, 10000), (-10000, 10000))
# init parser
logParser = Parser()
logParser.register("ScanLineEdgelPerceptTop", "ScanLineEdgelPercept")
logParser.register("CameraMatrixTop", "CameraMatrix")
log = iter(LogReader(args.logfile, logParser, getEdgels))
# start animation
ani = animation.FuncAnimation(fig,
animate,
frames=100,
fargs=(log, edgelsPlotTop, linePlot, edgelsPlot,
projectedEdgelsPlot),
interval=66)
plt.show()
#!/usr/bin/python
from naoth.LogReader import LogReader
from naoth.LogReader import Parser
def get_camera_matrix(frame):
cm_bottom = frame["CameraMatrix"]
cm_top = frame["CameraMatrixTop"]
return [frame.number, cm_bottom, cm_top]
def get_edgels(frame):
edgel_percepts = frame["ScanLineEdgelPercept"]
return [frame.number, edgel_percepts]
if __name__ == "__main__":
myParser = Parser()
myParser.register("CameraMatrixTop", "CameraMatrix")
for msg in LogReader("./game.log", myParser, get_edgels):
print(msg)
#!/usr/bin/python
from naoth.LogReader import LogReader
from naoth.LogReader import Parser
def get_audio(frame):
return frame["AudioData"]
if __name__ == "__main__":
myParser = Parser()
newFile = open("audio.raw", "wb")
timestamp = 0
for s in LogReader("./test_new_recorder.log", myParser, get_audio):
if s.timestamp > timestamp:
timestamp = s.timestamp
#print (type(s.samples))
print (timestamp)
newFile.write(s.samples)
newFile.close()
def __init__(self):
Parser.__init__(self)
self.symbols = XABSLSymbols()
self.options = []
self.current_options = {}