class VideoLogger:
def __init__(self):
self.wr = WindowRecorder(window_names=("RViz*", "RViz"),
name_suffix="rviz",
frame_rate=30.0,
save_dir=cfg.VIDEO_DIR)
def __enter__(self):
logger.info("Start recording videos")
srv_name = "video_recorder"
rospy.wait_for_service(srv_name)
self.srv_video = rospy.ServiceProxy(srv_name, TriggerVideoRecording)
self.srv_video(
os.path.join(
cfg.VIDEO_DIR, '{}_robot.mp4'.format(
datetime.now().strftime('%Y_%m_%d_%H_%M_%S'))), True, 3600)
self.wr.__enter__()
return self
def __exit__(self, exc_type, exc_val, exc_tb):
logger.info("Stop recording videos")
# stop logging video
self.wr.__exit__()
if self.srv_video is not None:
self.srv_video('{}.mp4'.format(time.time()), False, 3600)
def make_live_cheezit_video_1():
scene = get_scene('live_cheezit')
trial = lookup_trial('YCB')
with WindowRecorder([
"live_shape_completion.rviz* - RViz",
"live_shape_completion.rviz - RViz"
],
frame_rate=30.0,
name_suffix="rviz",
save_dir=rviz_capture_path):
with CameraRecorder(filename=f'{rviz_capture_path}/live_cheezit.mp4'):
contact_shape_completer = ContactShapeCompleter(
scene, trial, store_request=False)
contact_shape_completer.get_visible_vg()
contact_shape_completer.compute_known_occ()
print("Up and running")
rospy.spin()
def make_aab_video_1():
# tf.random.set_seed(20210108) # Okay, but initial free space measurement does not affect any particles
tf.random.set_seed(20210111)
scene = get_scene('cheezit_01')
trial = lookup_trial('AAB')
with WindowRecorder([
"live_shape_completion.rviz* - RViz",
"live_shape_completion.rviz - RViz"
],
frame_rate=30.0,
name_suffix="rviz",
save_dir=rviz_capture_path):
contact_shape_completer = ContactShapeCompleter(scene,
trial,
store_request=False,
completion_density=1)
contact_shape_completer.get_visible_vg()
contact_shape_completer.compute_known_occ()
print("Up and running")
rospy.spin()
#! /usr/bin/env python
from window_recorder.recorder import WindowRecorder
import time
print("hello")
if __name__ == "__main__":
with WindowRecorder(["RViz*"],
frame_rate=30.0,
name_suffix="rviz_demo",
save_dir="/home/bradsaund/tmp"):
while True:
time.sleep(1)
def __init__(self):
self.wr = WindowRecorder(window_names=("RViz*", "RViz"),
name_suffix="rviz",
frame_rate=30.0,
save_dir=cfg.VIDEO_DIR)
from window_recorder.recorder import WindowRecorder
import time
import logging
ch = logging.StreamHandler()
logging.basicConfig(
level=logging.DEBUG,
format='[%(levelname)s %(asctime)s %(pathname)s:%(lineno)d] %(message)s',
datefmt='%m-%d %H:%M:%S',
handlers=[ch])
with WindowRecorder():
start = time.time()
i = 1
while time.time() - start < 2:
i += 1
time.sleep(0.1)