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Update camera docs for new API #606

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merged 2 commits into from
Sep 3, 2024
Merged

Update camera docs for new API #606

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3021182
Update camera docs for new API
WillB97 Sep 1, 2024
8cd2faf
Warn that images are overwritten
WillB97 Sep 2, 2024
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38 changes: 26 additions & 12 deletions programming/vision/index.md
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Expand Up @@ -20,7 +20,7 @@ For information on markers, see the [markers page](./markers).

## Camera

The interface to the vision system is through the camera, accessible through `robot.camera`, there are three functions available on the camera object:
The interface to the vision system is through the camera, accessible through `robot.camera`, there are two functions available on the camera object:

see
: Take a photo using the webcam, and return a list of [`Marker`](#marker) instances, each of which describes one of the markers that were found in the image.
Expand All @@ -47,17 +47,6 @@ Taking images while moving will cause them to be blurry, which will cause marker
Try pausing movement while taking an image.
</div>

save
: Take a photo using the webcam, draw a box around the detected markers and save it to the provided location.

~~~~~ python
from sr.robot3 import *
robot = Robot()

# `robot.usbkey` is the path to your USB drive
robot.camera.save(robot.usbkey / "initial-view.jpg")
~~~~~

capture
: Take a photo using the webcam, and return the image data as an OpenCV array.

Expand Down Expand Up @@ -95,6 +84,31 @@ robot.camera.save(robot.usbkey / "photo.jpg", frame=frame)
~~~~~


### Saving camera output

You can also save a snapshot of what your webcam is currently seeing. This can be useful to debug your code.

This is done by adding the `save` parameter to the `see` or `capture` functions.
The parameter should be the filename to where you want to save the image.

If used with the `see` function, every marker that your robot can see will have a square annotated around it, with a red dot indicating the top left corner of the marker.
The ID of every marker is also written next to it.

Snapshots are saved to your USB drive, and can be viewed on another computer.

```python
from sr.robot3 import *

robot = Robot()

# Save a snapshot of what the camera is currently seeing
frame = robot.camera.capture(save="snapshot.jpg")
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Suggestion: Is it worth adding a warning or something that images are overwritten, and potentially to use sensible naming to help understand which image is from when?


# Save a snapshot of what the camera is currently seeing with markers annotated
markers = robot.camera.see(save="annotated-snapshot.jpg")
```


## Marker

A `Marker` object contains information about a detected marker.
Expand Down