Started this post to help us get an idea of what a very cool demo would be utiliizing voice control, servos, saving images, and image template matching in MRL.

The general tutorial (so far) should be a game of Peek-A-Boo 

The instructor has a scene of simple object.

The instructor tells the pan/tilt kit to look away

It looks away

The instructor asks which object is gone

the robot tells which is gone

Alessandruino

11 years 7 months ago

Problem solved :)

Alessandruino

11 years 7 months ago

 

from java.lang import String
from org.myrobotlab.service import Speech
from org.myrobotlab.service import Sphinx
from org.myrobotlab.service import Runtime
 
# create ear and mouth
ear = Runtime.createAndStart("ear","Sphinx")
mouth = Runtime.createAndStart("mouth","Speech")
opencv = Runtime.createAndStart("opencv","OpenCV")
opencv.addFilter("pdown","PyramidDown")
opencv.setDisplayFilter("pdown")
opencv.capture()
mouth.setLanguage("it")
# start listening for the words we are interested in
ear.startListening("hello robot|take photo")
 
 
# set up a message route from the ear --to--> python method "heard"
ear.addListener("recognized", python.name, "heard", String().getClass()); 
 
def heard():
      data = msg_ear_recognized.data[0]
      print "heard ", data
      if (data == "hello robot"):
         mouth.speak("ciao Alessandro.") 
      elif (data == "take photo"):
           opencv.recordSingleFrame(True)
           mouth.speak("foto scattata")
 
ear.attach("mouth")

GroG

11 years 7 months ago

To get the file name you should be able to do this..

 

photoFileName = opencv.recordSingleFrame(True)

 

Hey GroG, I've modified the script in this, but it returns "None" as file name, when i ask to print it..
 
 
 
from java.lang import String
from org.myrobotlab.service import Speech
from org.myrobotlab.service import Sphinx
from org.myrobotlab.service import Runtime
 
# create ear and mouth
ear = Runtime.createAndStart("ear","Sphinx")
mouth = Runtime.createAndStart("mouth","Speech")
opencv = Runtime.createAndStart("opencv","OpenCV")
opencv.addFilter("pdown","PyramidDown")
opencv.setDisplayFilter("pdown")
opencv.capture()
mouth.setLanguage("it")
# start listening for the words we are interested in
ear.startListening("hello robot|take photo")
 
 
# set up a message route from the ear --to--> python method "heard"
ear.addListener("recognized", python.name, "heard", String().getClass()); 
 
def heard():
      data = msg_ear_recognized.data[0]
      print "heard ", data
      if (data == "hello robot"):
         mouth.speak("ciao Alessandro.") 
      elif (data == "take photo"):
           opencv.recordSingleFrame(True)
           photoFileName = opencv.recordSingleFrame(True)
           print "name file is" , photoFileName
           mouth.speak("foto scattata")
 
ear.attach("mouth")

 

Alessandruino

11 years 7 months ago

 

here is the modified piece 
 
 
def heard():
      data = msg_ear_recognized.data[0]
      print "heard ", data
      if (data == "hello robot"):
         mouth.speak("ciao Alessandro.") 
      elif (data == "take photo"):
           opencv.recordSingleFrame(True)
           photoFileName = opencv.getLastRecordedFrameFileName
           print "name file is" , photoFileName
           mouth.speak("foto scattata")
 
 
this is python print : name file is <bound method org.myrobotlab.service.OpenCV.getLastRecordedFrameFileName of org.myrobotlab.service.OpenCV@280c7ab0>

GroG

11 years 7 months ago

It's a method .. not a field 

So it has to be with parens

photoFileName = opencv.getLastRecordedFrameFileName()

GroG

11 years 7 months ago

So when you stop, then close (make sure MRL is dead) - you should be able to play the file..   This is how it's always behaved apparently.   

The reason is the library I am using (JavaCV) is not thread-safe.   And the thread doing the capturing is not the same thread which stops the capture ;P

I can fix this.. just will take some time...

GroG

11 years 7 months ago

No really I really really fixed it this time ;D

So its back to your original script - I got rid of getLastSingleFrame ...

Now 

photoFileName = opencv.recordSingleFrame(True)

blocks so that - it will continue when it has the correct filename