def exportMotion(self, viewer, configurations, filename): em.exportStates(viewer, self.client.basic.robot, configurations, filename)
## ffmpeg commands
ffmpeg -r 50 -i capture_0_%d.png -r 25 -vcodec libx264 video.mp4
x=0; for i in *png; do counter=$(printf %04d $x); ln "$i" new"$counter".png; x=$(($x+1)); done
ffmpeg -r 50 -i new%04d.png -r 25 -vcodec libx264 video.mp4
mencoder video.mp4 -channels 6 -ovc xvid -xvidencopts fixed_quant=4 -vf harddup -oac pcm -o video.avi
ffmpeg -i untitled.mp4 -vcodec libx264 -crf 24 video.mp4
# --------------------------------------------------------------------#
## Export to Blender ##
r.client.gui.writeNodeFile(0, 'scene.osg')
# osgconvd -O NoExtras scene.osg scene.dae
from hpp.gepetto.blender.exportmotion import exportStates, exportPath
exportPath(r, cl.robot, cl.problem, 0, 1, 'path2.txt')
exportStates(r, cl.robot, q11, 'configs.txt')
from gepettoimport import loadmotion
loadmotion('/local/mcampana/devel/hpp/videos/path2.txt') # and rename first node manually ...
# --------------------------------------------------------------------#
## DEBUG commands
cl.obstacle.getObstaclePosition('decor_base')
robot.isConfigValid(q1)
robot.setCurrentConfig(q1)
res=robot.distancesToCollision()
r( ps.configAtParam(0,5) )
ps.optimizePath (0)
ps.clearRoadmap ()
ps.resetGoalConfigs ()
from numpy import *
argmin(robot.distancesToCollision()[0])
