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• Streaming Anki Vector's camera

  25 novembre 2023, par Brendan Goode

  I am trying to stream my robot to Remo.tv with my Vector robot. The website recognizes I am going live but does not stream what the robots camera is seeing. I have confirmed the camera works by a local application that runs the SDK. The very end of the code is what is giving issues, it appears somebody ripped code from Cozmo and attempted to paste it into a Vector file. The problem is it seems like the camera is taking pictures and we reach the point where it attempts to send photo but fails ?

  


  # This is a dummy file to allow the automatic loading of modules without error on none.
import anki_vector
import atexit
import time
import _thread as thread
import logging
import networking

log = logging.getLogger('RemoTV.vector')
vector = None
reserve_control = None
robotKey = None
volume = 100 #this is stupid, but who cares
annotated = False

def connect():
    global vector
    global reserve_control

    log.debug("Connecting to Vector")
    vector = anki_vector.AsyncRobot()
    vector.connect()
    #reserve_control = anki_vector.behavior.ReserveBehaviorControl()
    
    atexit.register(exit)

    return(vector)

def exit():
    log.debug("Vector exiting")
    vector.disconnect()
    
def setup(robot_config):
    global forward_speed
    global turn_speed
    global volume
    global vector
    global charge_high
    global charge_low
    global stay_on_dock

    global robotKey
    global server
    global no_mic
    global no_camera
    global ffmpeg_location
    global v4l2_ctl_location
    global x_res
    global y_res
    
    robotKey = robot_config.get('robot', 'robot_key')

    if robot_config.has_option('misc', 'video_server'):
        server = robot_config.get('misc', 'video_server')
    else:
        server = robot_config.get('misc', 'server')
 
    no_mic = robot_config.getboolean('camera', 'no_mic')
    no_camera = robot_config.getboolean('camera', 'no_camera')

    ffmpeg_location = robot_config.get('ffmpeg', 'ffmpeg_location')
    v4l2_ctl_location = robot_config.get('ffmpeg', 'v4l2-ctl_location')

    x_res = robot_config.getint('camera', 'x_res')
    y_res = robot_config.getint('camera', 'y_res')


    if vector == None:
        vector = connect()

    #x  mod_utils.repeat_task(30, check_battery, coz)

    if robot_config.has_section('cozmo'):
        forward_speed = robot_config.getint('cozmo', 'forward_speed')
        turn_speed = robot_config.getint('cozmo', 'turn_speed')
        volume = robot_config.getint('cozmo', 'volume')
        charge_high = robot_config.getfloat('cozmo', 'charge_high')
        charge_low = robot_config.getfloat('cozmo', 'charge_low')
        stay_on_dock = robot_config.getboolean('cozmo', 'stay_on_dock')

#    if robot_config.getboolean('tts', 'ext_chat'): #ext_chat enabled, add motor commands
#        extended_command.add_command('.anim', play_anim)
#        extended_command.add_command('.forward_speed', set_forward_speed)
#        extended_command.add_command('.turn_speed', set_turn_speed)
#        extended_command.add_command('.vol', set_volume)
#        extended_command.add_command('.charge', set_charging)
#        extended_command.add_command('.stay', set_stay_on_dock)

    vector.audio.set_master_volume(volume) # set volume

    return
    
def move(args):
    global charging
    global low_battery
    command = args['button']['command']

    try:
        if vector.status.is_on_charger and not charging:
            if low_battery:
                print("Started Charging")
                charging = 1
            else:
                if not stay_on_dock:
                    vector.drive_off_charger_contacts().wait_for_completed()

        if command == 'f':
            vector.behavior.say_text("Moving {}".format(command))

            #causes delays #coz.drive_straight(distance_mm(10), speed_mmps(50), False, True).wait_for_completed()
            vector.motors.set_wheel_motors(forward_speed, forward_speed, forward_speed*4, forward_speed*4 )
            time.sleep(0.7)
            vector.motors.set_wheel_motors(0, 0)
        elif command == 'b':
            #causes delays #coz.drive_straight(distance_mm(-10), speed_mmps(50), False, True).wait_for_completed()
            vector.motors.set_wheel_motors(-forward_speed, -forward_speed, -forward_speed*4, -forward_speed*4 )
            time.sleep(0.7)
            vector.motors.set_wheel_motors(0, 0)
        elif command == 'l':
            #causes delays #coz.turn_in_place(degrees(15), False).wait_for_completed()
            vector.motors.set_wheel_motors(-turn_speed, turn_speed, -turn_speed*4, turn_speed*4 )
            time.sleep(0.5)
            vector.motors.set_wheel_motors(0, 0)
        elif command == 'r':
            #causes delays #coz.turn_in_place(degrees(-15), False).wait_for_completed()
            vector.motors.set_wheel_motors(turn_speed, -turn_speed, turn_speed*4, -turn_speed*4 )
            time.sleep(0.5)
            vector.motors.set_wheel_motors(0, 0)

        #move lift
        elif command == 'w':
            vector.behavior.say_text("w")
            vector.set_lift_height(height=1).wait_for_completed()
        elif command == 's':
            vector.behavior.say_text("s")
            vector.set_lift_height(height=0).wait_for_completed()

        #look up down
        #-25 (down) to 44.5 degrees (up)
        elif command == 'q':
            #head_angle_action = coz.set_head_angle(degrees(0))
            #clamped_head_angle = head_angle_action.angle.degrees
            #head_angle_action.wait_for_completed()
            vector.behaviour.set_head_angle(45)
            time.sleep(0.35)
            vector.behaviour.set_head_angle(0)
        elif command == 'a':
            #head_angle_action = coz.set_head_angle(degrees(44.5))
            #clamped_head_angle = head_angle_action.angle.degrees
            #head_angle_action.wait_for_completed()
            vector.behaviour.set_head_angle(-22.0)
            time.sleep(0.35)
            vector.behaviour.set_head_angle(0)
   
        #things to say with TTS disabled
        elif command == 'sayhi':
            tts.say( "hi! I'm cozmo!" )
        elif command == 'saywatch':
            tts.say( "watch this" )
        elif command == 'saylove':
            tts.say( "i love you" )
        elif command == 'saybye':
            tts.say( "bye" )
        elif command == 'sayhappy':
            tts.say( "I'm happy" )
        elif command == 'saysad':
            tts.say( "I'm sad" )
        elif command == 'sayhowru':
            tts.say( "how are you?" )
    except:
        return(False)
    return

def start():
    log.debug("Starting Vector Video Process")
    try:
        thread.start_new_thread(video, ())
    except KeyboardInterrupt as e:
        pass        
    return
    
def video():
    global vector
    # Turn on image receiving by the camera
    vector.camera.init_camera_feed()

    vector.behavior.say_text("hey everyone, lets robot!")

    while True:
        time.sleep(0.25)

        from subprocess import Popen, PIPE
        from sys import platform

        log.debug("ffmpeg location : {}".format(ffmpeg_location))

#        import os
#        if not os.path.isfile(ffmpeg_location):
#        print("Error: cannot find " + str(ffmpeg_location) + " check ffmpeg is installed. Terminating controller")
#        thread.interrupt_main()
#        thread.exit()

        while not networking.authenticated:
            time.sleep(1)

        p = Popen([ffmpeg_location, '-y', '-f', 'image2pipe', '-vcodec', 'png', '-r', '25', '-i', '-', '-vcodec', 'mpeg1video', '-r', '25', "-f", "mpegts", "-headers", "\"Authorization: Bearer {}\"".format(robotKey), "http://{}:1567/transmit?name={}-video".format(server, networking.channel_id)], stdin=PIPE)
        #p = Popen([ffmpeg_location, '-nostats', '-y', '-f', 'image2pipe', '-vcodec', 'png', '-r', '25', '-i', '-', '-vcodec', 'mpeg1video', '-r', '25','-b:v', '400k', "-f","mpegts", "-headers", "\"Authorization: Bearer {}\"".format(robotKey), "http://{}/transmit?name=rbot-390ddbe0-f1cc-4710-b3f1-9f477f4875f9-video".format(server)], stdin=PIPE)
        #p = Popen([ffmpeg_location, '-y', '-f', 'image2pipe', '-vcodec', 'png', '-r', '25', '-i', '-', '-vcodec', 'mpeg1video', '-r', '25', "-f", "mpegts", "-headers", "\"Authorization: Bearer {}\"".format(robotKey), "http://{}/transmit?name=rbot-390ddbe0-f1cc-4710-b3f1-9f477f4875f9-video".format(server, networking.channel_id)], stdin=PIPE)
        print(vector)
        image = vector.camera.latest_image
        image.raw_image.save("test.png", 'PNG')
        try:
            while True:
                if vector:
                    image = vector.camera.latest_image
                    if image:
                        if annotated:
                            image = image.annotate_image()
                        else:
                            image = image.raw_image
                        print("attempting to write image")
                        image.save(p.stdin, 'PNG')

                else:
                    time.sleep(.1)
            log.debug("Lost Vector object, terminating video stream")
            p.stdin.close()
            p.wait()
        except Exception as e:
            log.debug("Vector Video Exception! {}".format(e))
            p.stdin.close()
            p.wait()
            pass               
    


  


  Here is the error we get

  


  [vost#0:0/mpeg1video @ 000001c7153c1cc0] Error submitting a packet to the muxer: Error number -10053 occurred
[out#0/mpegts @ 000001c713448480] Error muxing a packet
[out#0/mpegts @ 000001c713448480] Error writing trailer: Error number -10053 occurred
[http @ 000001c7134cab00] URL read error: Error number -10053 occurred
[out#0/mpegts @ 000001c713448480] Error closing file: Error number -10053 occurred
[out#0/mpegts @ 000001c713448480] video:56kB audio:0kB subtitle:0kB other streams:0kB global headers:0kB muxing overhead: unknown
frame=   25 fps=0.0 q=2.0 Lsize=      53kB time=00:00:01.32 bitrate= 325.9kbits/s speed=7.05x
Conversion failed!

attempting to write image


  


  You can see our attempts to fix by commented out code in the #p section at the bottom.

  


• How to insert an image in between a video ?

  10 février 2019, par robinson george

  I want to make an android app in which user can insert a images in a video. I tried drawing video over the photo(selected by user) with replacing green colour in video using ffmpeg library. But the results are not very satisfying and it’s take around 4-5 seconds to encode a video of around 15 seconds. There are already many apps present in play store but i was wondering how they achieved this effect in so much lesser time(like < 1 sec to encode 15 sec video).
  For reference - https://play.google.com/store/apps/details?id=com.yy.biu
  https://play.google.com/store/apps/details?id=com.newbiz.mvmaster

  You can have a look at the result output file here- http://www.yourfilelink.com/get.php?fid=1881360

• How can I concatenate these two video files that are in different formats with ffmpeg ?

  11 juin 2018, par jaybers

  File s.mp4 is created from a photo and a silent audio track was added in.
  File r.mp4 was created using the built in video record on an android tablet.

  I would like to try to match s.mp4 to r.mp4 so that they can concatenate (s then r). Right now, the time base seems off and it plays audio from the r.mp4 but never shows the video. It it always shows the video from s.mp4. I was able to match the tbn of 90k by using -video_track_timescale 90k but I did not know how to match the tbc. It is 180k on one and 59.94 on the other.

  Probe for s.mp4

  ./ffprobe s.mp4 
  
  ffprobe version 4.0-tessus Copyright (c) 2007-2018 the FFmpeg developers
  
    built with Apple LLVM version 9.1.0 (clang-902.0.39.1)
  
    configuration: --cc=/usr/bin/clang --prefix=/opt/ffmpeg --extra-version=tessus --enable-avisynth --enable-fontconfig --enable-gpl --enable-libass --enable-libbluray --enable-libfreetype --enable-libgsm --enable-libmodplug --enable-libmp3lame --enable-libopencore-amrnb --enable-libopencore-amrwb --enable-libopus --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libtheora --enable-libvidstab --enable-libvo-amrwbenc --enable-libvorbis --enable-libvpx --enable-libwavpack --enable-libx264 --enable-libx265 --enable-libxavs --enable-libxvid --enable-libzimg --enable-libzmq --enable-libzvbi --enable-version3 --pkg-config-flags=--static --disable-ffplay
  
    libavutil      56. 14.100 / 56. 14.100
  
    libavcodec     58. 18.100 / 58. 18.100
  
    libavformat    58. 12.100 / 58. 12.100
  
    libavdevice    58.  3.100 / 58.  3.100
  
    libavfilter     7. 16.100 /  7. 16.100
  
    libswscale      5.  1.100 /  5.  1.100
  
    libswresample   3.  1.100 /  3.  1.100
  
    libpostproc    55.  1.100 / 55.  1.100
  
  Input #0, mov,mp4,m4a,3gp,3g2,mj2, from 's.mp4':
  
    Metadata:
  
      major_brand     : isom
  
      minor_version   : 512
  
      compatible_brands: isomiso2avc1mp41
  
      encoder         : Lavf57.25.100
  
    Duration: 00:00:05.04, start: 0.000000, bitrate: 296 kb/s
  
      Stream #0:0(und): Video: h264 (Constrained Baseline) (avc1 / 0x31637661), yuv420p, 1920x1080 [SAR 1:1 DAR 16:9], 286 kb/s, 29.97 fps, 29.97 tbr, 90k tbn, 59.94 tbc (default)
  
      Metadata:
  
        handler_name    : VideoHandler
  
      Stream #0:1(und): Audio: aac (LC) (mp4a / 0x6134706D), 48000 Hz, stereo, fltp, 2 kb/s (default)
  
      Metadata:
  
        handler_name    : SoundHandler

  Probe for r.mp4

  ./ffprobe r.mp4 
  
  ffprobe version 4.0-tessus Copyright (c) 2007-2018 the FFmpeg developers
  
    built with Apple LLVM version 9.1.0 (clang-902.0.39.1)
  
    configuration: --cc=/usr/bin/clang --prefix=/opt/ffmpeg --extra-version=tessus --enable-avisynth --enable-fontconfig --enable-gpl --enable-libass --enable-libbluray --enable-libfreetype --enable-libgsm --enable-libmodplug --enable-libmp3lame --enable-libopencore-amrnb --enable-libopencore-amrwb --enable-libopus --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libtheora --enable-libvidstab --enable-libvo-amrwbenc --enable-libvorbis --enable-libvpx --enable-libwavpack --enable-libx264 --enable-libx265 --enable-libxavs --enable-libxvid --enable-libzimg --enable-libzmq --enable-libzvbi --enable-version3 --pkg-config-flags=--static --disable-ffplay
  
    libavutil      56. 14.100 / 56. 14.100
  
    libavcodec     58. 18.100 / 58. 18.100
  
    libavformat    58. 12.100 / 58. 12.100
  
    libavdevice    58.  3.100 / 58.  3.100
  
    libavfilter     7. 16.100 /  7. 16.100
  
    libswscale      5.  1.100 /  5.  1.100
  
    libswresample   3.  1.100 /  3.  1.100
  
    libpostproc    55.  1.100 / 55.  1.100
  
  Input #0, mov,mp4,m4a,3gp,3g2,mj2, from 'r.mp4':
  
    Metadata:
  
      major_brand     : mp42
  
      minor_version   : 0
  
      compatible_brands: isommp42
  
      creation_time   : 2018-06-11T20:12:03.000000Z
  
      com.android.version: 7.0
  
    Duration: 00:00:10.89, start: 0.000000, bitrate: 17087 kb/s
  
      Stream #0:0(eng): Video: h264 (High) (avc1 / 0x31637661), yuv420p(tv, bt709/bt709/smpte170m), 1920x1080, 16810 kb/s, SAR 1:1 DAR 16:9, 30 fps, 30 tbr, 90k tbn, 180k tbc (default)
  
      Metadata:
  
        creation_time   : 2018-06-11T20:12:03.000000Z
  
        handler_name    : VideoHandle
  
      Stream #0:1(eng): Audio: aac (LC) (mp4a / 0x6134706D), 48000 Hz, stereo, fltp, 256 kb/s (default)
  
      Metadata:
  
        creation_time   : 2018-06-11T20:12:03.000000Z
  
        handler_name    : SoundHandle