[PYTHON] Take a photo with Pepper & display it on your chest display -Choregraphe 2.5.5 version-

Take a photo with Pepper's camera How to display a picture taken on Pepper's chest display

• Bonus (how to use the Show Image box)

• Introduction * It is just a simple implementation method. It does not consider the occurrence of errors, etc .: bow_tone1:

1. Take a photo

1-1. Place the Take Picture box

Sening > Vision > Camera Actions > Take Picture

1-2. Create html folder

• Create a html folder to save your photos in the app. *

Explorer for Windows In Finder for Mac Open the folder of the app you are currently creating.

Create a new html folder directly under the app folder. Also, prepare a dummy file in the html folder because anything is fine.

• If you leave the empty folder, when you send the application to Pepper It was judged that "If there are no files, you don't need this folder" (?) It will not be created on Pepper.

Return to choregraphe and when the dialog shown below is displayed Select "Yes to all".

1-3. Save the photos you took to the html folder

• Change so that the photo is saved in the html folder created in 1-2. *

Double-click the Take Picture box placed in 1-1. To add the code.

    def onLoad(self):
        self.bIsRunning = False
        try:
            self.photoCapture = ALProxy( "ALPhotoCapture" )
            #Add from here
            self.framemanager = ALProxy("ALFrameManager")
            #Add up to here

    def onInput_onStart(self):
        #Add from here
        import os
        self.recordFolder = os.path.join(
                self.framemanager.getBehaviorPath(self.behaviorId), "../html")
        #Add up to here
        if( self.bIsRunning ):
            return

with this Before change: (home directory) / recordings / cameras / ↓ After change: (Running app directory) / html / It will be.

1-4. Check the photo file name

Open the Take Picture box settings Check the "File Name".

You can see that it is saved as (directory of the running app) /html/image(.jpg).

2. Show the photo on the chest display

2-1. Place the Show Image box

Multimedia > Tablet > Show Image

2-2. Specify the file name

Open the Show Image box settings Enter the photo file name with the extension in "Image Url".

3. Operation check

Run the app in Pepper and make sure you can take pictures and display it.

4. Make sure the image is updated even if you run the app multiple times

• The first image taken is cached on the web browser, After that, even if you try to take another picture and display it Avoid the phenomenon that the first photo taken is displayed. *

4-1. Add query parameters to the image URL

• By adding the current time string as a query parameter to the image URL Tell your web browser, "It's a new image!" *

Double-click the Show Image box placed in 2-1. And add the code in two places.

    def onInput_onStart(self):
        #Additional code:from here
        import time
        #Additional code:So far
        # We create TabletService here in order to avoid
        # problems with connections and disconnections of the tablet during the life of the application
        tabletService = self._getTabletService()
        if tabletService:
            try:
                url = self.getParameter("ImageUrl")
                if url == '':
                    self.logger.error("URL of the image is empty")
                if not url.startswith('http'):
                    url = self._getAbsoluteUrl(url)
                #Additional code:from here
                url += "?" + str(time.time())
                #Additional code:So far
                tabletService.showImage(url)
            except Exception as err:
                self.logger.error("Error during ShowImage : %s " % err)
                self.onStopped()
        else:
            self.logger.warning("No ALTabletService, can't display the image.")
            self.onStopped()

4-2. Operation check

Try running the app multiple times and see if the photo updates successfully.

Bonus 1: Display the image and proceed to the next process

*** (Caution) Show Image box (if the image display process is successful) ʻOnStopped` The output does not fire. *** ***

Therefore, the method to easily connect to the next process is as shown in the figure below.

• For apps released to the market I think you also need to consider the case of a check error to see if the image was displayed. In the first place, without using the Show Image box in consideration of performance etc. You can separate images with js: v_tone1:

Bonus 2: Hide the image

If you want to erase the image from the display Fires the ʻonHideImage` input in the Show Image box.

Above: vulcan_tone1: There may be a smarter way to write I can't check the operation, so for the time being: baby_tone1:

Reference: Take an image with Pepper and display it on a tablet