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MyRobotLab · Oct 16, 2023 · da541c4 · da541c4
1 parent 84a0367
commit da541c4
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Showing 3 changed files with 63 additions and 8 deletions.
diff --git a/src/main/java/org/myrobotlab/service/OpenCV.java b/src/main/java/org/myrobotlab/service/OpenCV.java
@@ -55,6 +55,8 @@
 import javax.imageio.ImageIO;
 import javax.imageio.stream.MemoryCacheImageOutputStream;
 
+import org.bytedeco.ffmpeg.global.avcodec;
+import org.bytedeco.javacpp.avutil;
 import org.bytedeco.javacv.CanvasFrame;
 import org.bytedeco.javacv.FFmpegFrameRecorder;
 import org.bytedeco.javacv.Frame;
@@ -148,6 +150,8 @@ public class OpenCV extends AbstractComputerVision<OpenCVConfig> implements Imag
   int vpId = 0;
 
   transient CanvasFrame canvasFrame = null;
+
+  transient FFmpegFrameRecorder recorder = null;
 
   class VideoProcessor implements Runnable {
 
@@ -168,6 +172,44 @@ synchronized public void run() {
         lengthInTime = grabber.getLengthInTime();
         log.info("grabber {} started - length time {} length frames {}", grabberType, lengthInTime, lengthInFrames);
 
+        // create recorder
+        recorder = new FFmpegFrameRecorder("output.flv", grabber.getImageWidth(), grabber.getImageHeight());
+        // recorder.setFormat("mp4");
+        recorder.setFormat("flv");
+
+//        recorder.setFormat("ogg"); // Set the output format to Ogg
+//        recorder.setVideoCodec(avcodec.AV_CODEC_ID_THEORA); // Set the video codec to Theora
+//        recorder.setPixelFormat(avutil.AV_PIX_FMT_YUV420P); // Set pixel format
+//        
+//        recorder.setVideoCodec(avcodec.AV_CODEC_ID_THEORA); // Set the video codec to Theora
+//        recorder.setPixelFormat(avutil.AV_PIX_FMT_YUV420P); // Set pixel format
+//        recorder.start();
+//        
+//        recorder.start();
+
+// h264        
+//        recorder.setFormat("mp4");
+//        recorder.setVideoQuality(10);
+//        recorder.setFrameRate(grabber1.getFrameRate());
+//        recorder.setVideoCodec(avcodec.AV_CODEC_ID_H264);
+
+
+
+
+         // webm
+//         recorder.setVideoCodecName("libvpx-vp9");
+//         recorder.setFormat("webm");
+//         recorder.setPixelFormat(org.bytedeco.javacv.Frame.DEPTH_UBYTE);
+         // recorder.setFrameRate(frameRate);
+
+
+        // not sure what this is .. but it works
+        // recorder.setFormat("ffm");
+
+
+        recorder.start();
+
+
         // Wait for the Kinect to heat up.
         int loops = 0;
         while (grabber.getClass() == OpenKinectFrameGrabber.class && lengthInFrames == 0 && loops < 200) {
@@ -197,6 +239,8 @@ synchronized public void run() {
           ++frameIndex;
 
           data = new OpenCVData(getName(), frameStartTs, frameIndex, newFrame);
+
+          recorder.record(newFrame);
 
           if (grabber.getClass().equals(OpenKinectFrameGrabber.class)) {
             // by default this framegrabber returns video
@@ -1214,6 +1258,7 @@ private void processVideo(OpenCVData data) throws org.bytedeco.javacv.FrameGrabb
         BufferedImage b = data.getDisplay();
         SerializableImage si = new SerializableImage(b, displayFilter, frameIndex);
         invoke("publishDisplay", si);
+        // sleep(1000);
 
         if (webViewer) {
           // broadcast(???)
@@ -2085,8 +2130,8 @@ public static void main(String[] args) throws Exception {
       // Runtime.start("python", "Python");
       OpenCV cv = (OpenCV) Runtime.start("cv", "OpenCV");
 
-      OpenCVFilter fr = new OpenCVFilterFaceRecognizer("fr");
-      cv.addFilter(fr);
+//      OpenCVFilter fr = new OpenCVFilterFaceRecognizer("fr");
+//       cv.addFilter(fr);
       // OpenCVFilterTracker tracker = new OpenCVFilterTracker("tracker");
       // cv.addFilter(tracker);
       // OpenCVFilterLKOpticalTrack lk = new OpenCVFilterLKOpticalTrack("lk");

diff --git a/src/main/java/org/myrobotlab/service/ServoMixer.java b/src/main/java/org/myrobotlab/service/ServoMixer.java
@@ -676,14 +676,24 @@ public void stopService() {
   public static void main(String[] args) throws Exception {
 
     try {
+      LoggingFactory.init("WARN");
+
+      WebGui webgui = (WebGui) Runtime.create("webgui", "WebGui");
+      webgui.autoStartBrowser(false);
+      webgui.startService();
+
+
+      boolean done = true;
+      if (done) {
+        return;
+      }
+
+
       Runtime.main(new String[] { "--id", "admin"});
       LoggingFactory.init("INFO");
 
       Runtime.start("i01.head.rothead", "Servo");
       Runtime.start("i01.head.neck", "Servo");
-      WebGui webgui = (WebGui) Runtime.create("webgui", "WebGui");
-      webgui.autoStartBrowser(false);
-      webgui.startService();
       Python python = (Python) Runtime.start("python", "Python");
       ServoMixer mixer = (ServoMixer) Runtime.start("mixer", "ServoMixer");
     } catch (Exception e) {

diff --git a/src/main/java/org/myrobotlab/service/config/InMoov2Config.java b/src/main/java/org/myrobotlab/service/config/InMoov2Config.java
@@ -536,11 +536,11 @@ public Plan getDefault(Plan plan, String name) {
     listeners.add(new Listener("publishPlayAudioFile", getPeerName("audioPlayer")));
 
 
-    // service --to--> service    
+    // service --to--> service
     ServoMixerConfig servoMixer = (ServoMixerConfig) plan.get(getPeerName("servoMixer"));
     servoMixer.listeners = new ArrayList<>();
-    servoMixer.listeners.add(new Listener("publishText", name + ".mouth", "onText"));
-
+    servoMixer.listeners.add(new Listener("publishText", getPeerName("mouth"), "onText"));
+    
 
 
     // remove the auto-added starts in the plan's runtime RuntimConfig.registry