cameras_get_image_frame

Overview

This example retrieves an image frame from a specified camera on the robot. The user can select the camera either via a command-line argument or through an interactive terminal menu.

Execution

There are two ways to execute this example:

  1. Specify the camera directly using an argument:

    python3 cameras_get_image_frame/ --auto-run -c <camera_name>

    python3 cameras_get_image_frame/ --auto-run --camera <camera_name>

    Example:

    python3 cameras_get_image_frame/ --auto-run --camera nav_top

  2. Select the camera via an interactive terminal menu:

    If no camera argument is provided, the user will be prompted to select a camera from a menu:

    python3 cameras_get_image_frame/ --auto-run

    • If the terminal window is too small, a notification will appear instructing the user to resize it.

    • The user selects a camera by pressing the Enter key.

Behavior

  • If a camera is provided as an argument, it is used directly.

  • If no camera argument is provided, the user selects a camera from the menu.

  • Once a camera is selected:

    • The application checks and prints the camera’s status.

    • If the camera is running, a snapshot is taken.

    • The snapshot is then published to the robot’s chest display.

Inputs

  • Optional command-line argument for selecting a camera (-c or –camera).

  • User input via terminal menu when no camera argument is provided.

Outputs

  • Log messages indicating the camera’s status and actions taken.

  • A snapshot is captured and published to the robot’s chest display.

Example Output

During execution, the output logs follow this pattern:

[INFO] [timestamp] [pyraya.cameras_get_image_frame]: Auto running the app
[INFO] [timestamp] [pyraya.cameras_get_image_frame]: The <camera_name> camera status is running ✅
[WARNING] [timestamp] [pyraya.cameras_get_image_frame]: Taking snapshot 📸 ...
[WARNING] [timestamp] [pyraya.cameras_get_image_frame]: Publishing frame on the chest... 🖥️

Additionally, an example output image is displayed below:

Example snapshot displayed on the robot's chest

Key Notes

  • If the terminal window is too small, the user must resize it to see the menu options.

  • If a camera is not running, no snapshot is taken.

  • If the camera or the chest display is not available, the application logs an error message and exits gracefully.