Follow the Getting started with a robot. Then, in a new python file (or use https://bitbucket.org/socialroboticshub/framework/src/master/sic_framework/tests/demo_nao_camera.py) copy the following code.
import queue
import cv2
from sic_framework.core.message_python2 import CompressedImageMessage
from sic_framework.devices.common_naoqi.naoqi_camera import TopNaoCamera
imgs = queue.Queue()
def on_image(image_message: CompressedImageMessage):
# we could cv2.imshow here, but that does not work on Mac OSX
imgs.put(image_message.image)
camera = TopNaoCamera(ip="192.168.0.210")
camera.register_callback(on_image)
while True:
img = imgs.get()
cv2.imshow('', img)
cv2.waitKey(1)
Simply run the file to show the robot’s camera output!
python demo_camera_nao.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.
