Camera

Getting started with the Camera

Goals

Here, you will learn how to use the camera of the e-puck
You will learn these functions : get_camera(), take_picture(), live_camera()
You will briefly learn how to display images with the provided GUI

Get Red, Green, Blue Arrays

Use the function get_camera() to get the rgb two dimensions tables

See the code below:

from unifr_api_epuck import wrapper
import numpy as np

robot = wrapper.get_robot()

my_working_directory = ''
robot.init_camera(my_working_directory)

while robot.go_on():
    colors = np.array(robot.get_camera())
    [r,g,b] = colors

    # get values of the pixel at position (3,5)
    ## with pixels in 2D
    print(colors[0][3][5],colors[1][3][5],colors[2][3][5])

    ## with individual rgb arrays in 2D
    print(r[3][5],g[3][5],b[3][5])

    ## with flatten the arrays
    print(r.flatten()[161],g.flatten()[161],b.flatten()[161])

Take a Picture

Use the function take_picture() to save the current image.

Each picture will automatically have an unique name file on a single run.

Warning

A new run will overwrite previous images

from unifr_api_epuck import wrapper

robot = wrapper.get_robot()

my_working_directory = ''   #working directory where the picture will be saved
robot.init_camera(my_working_directory)
robot.sleep(1)              #give time to the robot to do a good initiation

#take 10 pictures
for _ in range(10):
    robot.go_on()           #go to next step
    robot.take_picture()    #save the picture

Stream the images

Use the function live_camera() to stream the images of the robot with the GUI

Note

More information to launch the GUI in the Graphic User Interface section

from unifr_api_epuck import wrapper

robot = wrapper.get_robot()

my_working_directory = '/Users/THEMACBOOK/Desktop/images'
robot.init_camera(my_working_directory)
robot.sleep(1)

while robot.go_on():
    robot.live_camera() #call it in each step