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
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
import os
import os.path
from naoth.LogReader import LogReader
import json
if __name__ == "__main__":
index = {}
for dirpath, dirnames, filenames in os.walk("."):
for filename in [f for f in filenames if f.endswith(".log")]:
f = os.path.join(dirpath, filename)
try:
reader = LogReader(f)
except:
print('scanning ', f, ' failed')
else:
for rep in reader.names:
if (rep in index.keys()):
index[rep].append(f)
else:
index[rep] = [f]
with open('index.json', 'w') as index_file:
json.dump(index, index_file, indent=4, sort_keys=True)
#!/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()
meta.add_text("roll", str(roll))
img.save(target_dir + "/" + str(j) + ".png", pnginfo=meta)
if __name__ == "__main__":
fileName, target_dir = parse_arguments(sys.argv[1:])
# initialize the parser
myParser = Parser()
# register the protobuf message name for the 'ImageTop'
myParser.register("ImageTop", "Image")
myParser.register("CameraMatrixTop", "CameraMatrix")
# get all the images from the logfile
images = map(get_images, LogReader(fileName, myParser))
for i, imgB, imgT, cmB, cmT in images:
imgB = imgB.convert('RGB')
imgT = imgT.convert('RGB')
if target_dir is not None:
targetTop = target_dir + "/top"
targetBottom = target_dir + "/bottom"
if not os.path.exists(targetTop):
os.makedirs(targetTop)
if not os.path.exists(targetBottom):
os.makedirs(targetBottom)
try:
if "BehaviorStateComplete" in frame.messages:
m, o = frame["BehaviorStateComplete"]
else:
m, o = frame["BehaviorStateSparse"]
return [m["robot_pose.x"], m["robot_pose.y"], m["fall_down_state"]]
except KeyError as k:
raise StopIteration
if __name__ == "__main__":
parser = BehaviorParser()
fileName = "./game.log"
log = LogReader(fileName, parser) # , filter=headYaw)
# we want only the frames which contain BehaviorState
b = [
behavior(f) for f in log if "BehaviorStateComplete" in f.messages
or "BehaviorStateSparse" in f.messages
]
upright = filter(lambda m: m[2] == 1, b)
fall = filter(lambda m: m[2] != 1, b)
print "step 2"
du = zip(*upright)
df = zip(*fall)
pyplot.plot(du[0], du[1], '.')
from naoth.LogReader import LogReader
from naoth.LogReader import Parser
def get_whistle_percept(frame):
percept = None
try:
percept = frame["WhistlePercept"]
except:
pass
if percept:
return [frame.number, percept]
else:
return None
if __name__ == "__main__":
myParser = Parser()
for msg in LogReader(
"\\\\nao\\rc17\\go18\\game_logs\\2018-04-28_GO_nomadz_half2\\090917-0100-Nao0225\\game.log",
myParser, get_whistle_percept):
if msg:
print(msg)