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This tutorial will show you explain how to display an image from the Nao camera on your local computer.Follow , which you have already done inGetting started with the Nao robot. You should now Before going through this tutorial, you should have the following set up:

1. Redis is running on your laptop and you

2. You have SIC installed locally

3. SIC is running on the Nao

4. in a virtual environment

Approach

First, let’s create a new file called demo_nao_camera.py.

...

import queue

import cv2
from sic_framework.core.message_python2 import CompressedImageMessage
from sic_framework.devices import Nao
from sic_framework.devices.common_naoqi.naoqi_camera import NaoqiCameraConf

Then, we make a queue and callback function to put the received images in this queue object.

imgs = queue.Queue()


def on_image(image_message: CompressedImageMessage):
    # we could use cv2.imshow here, but that does not work on Mac OSX
    imgs.put(image_message.image)

...

nao = Nao(ip="192.168.0.210"0", top_camera_conf=conf)
nao.top_camera.register_callback(on_image)

...

while True:
    img = imgs.get()
    cv2.imshow(''"", img[..., ::-1])  # cv2 is BGR instead of RGB
    cv2.waitKey(1)

That’s it! If you now run demo_nao_camera.py, you will receive images from the Nao, put them in a queue, and continuously show the images from this queue. The full code can be found here: https: //github.com/Social-AI-VU/sic_applications/blob/main/demos/demo_nao_camera.py.

Here is the schematic overview of how this program. The camera sends a “stream” of output messages that are received by your computer program.

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