cv_object_segmentator

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Overview

The cv_object_segmentator example captures an image every 5 seconds using a selected camera and displays it on the robot’s chest screen. If objects are detected, the application highlights their contours using segmentation.

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 detection status.

• A snapshot is captured every 5 seconds and displayed on the robot’s chest screen.

• If objects are detected, segmentations are drawn on the image.

• The console logs the detected objects’ names.

Execution

The application can be executed using:

1. Specify the camera directly using an argument:

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

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

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 cv_object_segmentator/ --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

• The application enables the object segmentator model.

• It captures an image every 5 seconds.

• The captured image is displayed on the chest screen.

• If no objects are detected, the following log message is displayed:

[INFO] [timestamp] [pyraya.cv_object_segmentator]: No objects detected

• If one or more objects are detected:

  • Segmentations are drawn around the detected objects.

  • A console log message is generated:

    If one object is detected:

    [INFO] [timestamp] [pyraya.cv_object_segmentator]: 1 object detected
    [INFO] [timestamp] [pyraya.cv_object_segmentator]:   - <object_name>
    

    If multiple objects are detected:

    [INFO] [timestamp] [pyraya.cv_object_segmentator]: <number> objects detected
    [INFO] [timestamp] [pyraya.cv_object_segmentator]:   - <object1_name>
    [INFO] [timestamp] [pyraya.cv_object_segmentator]:   - <object2_name>
    ...
    

Example Output

During execution, the output logs follow this pattern:

[INFO] [timestamp] [pyraya.cv_object_segmentator]: Auto running the app
[WARNING] [timestamp] [pyraya.cv_object_segmentator]: Enabling object detection model 🔍
[WARNING] [timestamp] [pyraya.cv_object_segmentator]: Capturing image...
[INFO] [timestamp] [pyraya.cv_object_segmentator]: 1 object detected
[INFO] [timestamp] [pyraya.cv_object_segmentator]:   - <object_name>

Additionally, the output image will be displayed on the chest.

Key Note

If the camera or chest display is unavailable, the application logs an error and exits.