def AttachCamera():
RDK = Robolink()
item2station_pose = eye(4)
view_pose_last = eye(4)
last_item = None
RDK.Render()
run = RunApplication()
while run.Run():
# Retrieve user selection
selected_items = RDK.Selection()
if len(selected_items) <= 0:
last_item = None
continue
# Use the first selected item to attach the camera
item = selected_items[0]
# Prevent selecting programs or instructions or anything that doesn't move
if item.type == ITEM_TYPE_ROBOT or item.type == ITEM_TYPE_TOOL or item.type == ITEM_TYPE_FRAME or item.type == ITEM_TYPE_OBJECT or item.type == ITEM_TYPE_TARGET:
item_pose = item.PoseAbs(
) # Selected item pose with respect to the station reference
item2station_pose = item_pose.inv()
if last_item != item:
# If it is the first time we select this item: update the relationship camera 2 item pose
view_pose = RDK.ViewPose(
) # View Pose (camera pose with respect to the station reference)
camera2item_pose = (item2station_pose * view_pose.inv()).inv()
msg = 'Camera attached to %s' % item.Name()
print(msg)
RDK.ShowMessage(msg, False)
last_item = item
else:
# calculate the new view pose and udpate it
view_pose = camera2item_pose * item2station_pose
# Only update if the view pose changed
if view_pose != view_pose_last:
view_pose_last = view_pose
RDK.setViewPose(view_pose)
RDK.Render()
def RecordProgram():
# Define the frames per second:
FRAMES_PER_SECOND = 24
# Define the video extension (you may need to change the codec)
#VIDEO_EXTENSION = ".avi"
VIDEO_EXTENSION = ".mp4"
# Choose the codec (mp4v, XVID or DIVX)
#FOURCC = cv2.VideoWriter_fourcc(*'DIVX') # good quality (avi)
#FOURCC = cv2.VideoWriter_fourcc(*'XVID') # low quality (avi)
FOURCC = cv2.VideoWriter_fourcc(*'mp4v') # good quality (mp4)
# Default screenshot style:
SNAPSHOT_STYLE = "Snapshot"
# Other snapshot styles are not recommended, otherwise it will create a delay and a lot of flickering
# Instead, change the appearance of RoboDK in the menu Tools-Options-Display
#SNAPSHOT_STYLE = "SnapshotWhite"
#SNAPSHOT_STYLE = "SnapshotWhiteNoText"
#SNAPSHOT_STYLE = "SnapshotNoTextNoFrames"
PREFER_SOCKET = True # If available, prefer socket (usually faster) over temporary file to retrieve the image
#-------------------------------------------------------------------
# Use a temporary folder
with tempfile.TemporaryDirectory(prefix='Record_') as td:
RDK = Robolink()
file_video_temp = os.path.join(td, 'RoboDK_Video' + VIDEO_EXTENSION)
video = None
frame = None
use_socket = PREFER_SOCKET
render_time_last = 0
time_per_frame = 1 / FRAMES_PER_SECOND
app = RunApplication()
while app.Run():
tic()
# There's no need to get a new image if no render as occurred.
render_time = int(RDK.Command("LastRender"))
if (render_time_last != render_time):
render_time_last = render_time
def getSnapshot(use_socket, tempdir):
fallback = False
if use_socket:
# Socket method. Added in version 5.3.2
try:
bytes_img = RDK.Cam2D_Snapshot('', None) # None means station and will throw before version 5.3.2
if isinstance(bytes_img, bytes) and bytes_img != b'':
return True, cv2.imdecode(np.frombuffer(bytes_img, np.uint8), cv2.IMREAD_UNCHANGED)
except Exception:
fallback = True
pass
# Fallback to tempfile method
tf = tempdir + '/temp.png'
if RDK.Command(SNAPSHOT_STYLE, tf) == 'OK':
return not fallback, cv2.imread(tf)
return False, None
# Get the station snapshot
success, frame = getSnapshot(use_socket, td)
if not success:
if use_socket:
use_socket = False
else:
RDK.ShowMessage("Problems retrieving the RoboDK image buffer", False)
break
# Write the frame to the video file
if video is None:
# Requires at least one frame to extract the frame size.
height, width = frame.shape[:2]
video = cv2.VideoWriter(file_video_temp, FOURCC, FRAMES_PER_SECOND, (width, height))
video.write(frame)
# Wait some time, if necessary, to have accurate frame rate
elapsed = toc()
if elapsed < time_per_frame:
t_sleep = time_per_frame - elapsed
print("Waiting for next frame: " + str(t_sleep))
pause(t_sleep)
print("Done recording")
# Check if nothing was saved
if video is None:
quit()
video.release()
# Save the file
msg_str = "Saving video recording... "
print(msg_str)
RDK.ShowMessage(msg_str, False)
# Create a suggested file name
print("Saving video...")
date_str = datetime.datetime.now().strftime("%Y-%m-%d-%H-%M-%S")
path_rdk = RDK.getParam('PATH_DESKTOP') # or path_rdk = RDK.getParam('PATH_OPENSTATION')
file_name = "RoboDK-Video-" + date_str + VIDEO_EXTENSION
# Ask the user to provide a file to save
file_path = getSaveFileName(path_preference=path_rdk, strfile=file_name, defaultextension=VIDEO_EXTENSION, filetypes=[("Video file", "*" + VIDEO_EXTENSION)])
if not file_path:
quit()
# Save the file
print("Saving video to: " + file_path)
if os.path.exists(file_path):
print("Deleting existing file: " + file_path)
os.remove(file_path)
# Move the file
os.rename(file_video_temp, file_path)
# Done
msg_str = "Video recording saved: " + file_path
print(msg_str)
RDK.ShowMessage(msg_str, False)
