Cozmo人工智慧機器人SDK使用筆記（2）-顯示部分face
這篇博文針對SDK教程中的第二部分cozmo_face進行簡單介紹，如下：
face是cozmo顯示的核心部分：
來學習一下，如何操作吧～
分為3個檔案，如上圖所示。
1. face image
cozmo面部顯示png圖片資訊。
#!/usr/bin/env python3
# Copyright (c) 2016 Anki, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License in the file LICENSE.txt or at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
'''Display images on Cozmo's face (oled screen)
'''
import os
import sys
import time
try:
from PIL import Image
except ImportError:
sys.exit("Cannot import from PIL: Do `pip3 install --user Pillow` to install")
import cozmo
def get_in_position(robot: cozmo.robot.Robot):
'''If necessary, Move Cozmo's Head and Lift to make it easy to see Cozmo's face'''
if (robot.lift_height.distance_mm > 45) or (robot.head_angle.degrees < 40):
with robot.perform_off_charger():
lift_action = robot.set_lift_height(0.0, in_parallel=True)
head_action = robot.set_head_angle(cozmo.robot.MAX_HEAD_ANGLE,
in_parallel=True)
lift_action.wait_for_completed()
head_action.wait_for_completed()
def cozmo_program(robot: cozmo.robot.Robot):
current_directory = os.path.dirname(os.path.realpath(__file__))
get_in_position(robot)
sdk_png = os.path.join(current_directory, "..", "..", "face_images", "cozmosdk.png")
hello_png = os.path.join(current_directory, "..", "..", "face_images", "csdn_relay.png")
# load some images and convert them for display cozmo's face
image_settings = [(sdk_png, Image.BICUBIC),
(hello_png, Image.NEAREST)]
face_images = []
for image_name, resampling_mode in image_settings:
image = Image.open(image_name)
# resize to fit on Cozmo's face screen
resized_image = image.resize(cozmo.oled_face.dimensions(), resampling_mode)
# convert the image to the format used by the oled screen
face_image = cozmo.oled_face.convert_image_to_screen_data(resized_image,
invert_image=True)
face_images.append(face_image)
# display each image on Cozmo's face for duration_s seconds (Note: this
# is clamped at 30 seconds max within the engine to prevent burn-in)
# repeat this num_loops times
num_loops = 10
duration_s = 2.0
print("Press CTRL-C to quit (or wait %s seconds to complete)" % int(num_loops*duration_s) )
for _ in range(num_loops):
for image in face_images:
robot.display_oled_face_image(image, duration_s * 1000.0)
time.sleep(duration_s)
# Cozmo is moved off his charger contacts by default at the start of any program.
# This is because not all motor movement is possible whilst drawing current from
# the charger. In cases where motor movement is not required, such as this example
# we can specify that Cozmo can stay on his charger at the start:
cozmo.robot.Robot.drive_off_charger_on_connect = False
cozmo.run_program(cozmo_program)
2. face mirror
這是一個映象功能，將攝像頭看到的通過cozmo的face顯示出來。
#!/usr/bin/env python3
# Copyright (c) 2016 Anki, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License in the file LICENSE.txt or at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
'''Display Cozmo's camera feed back on his face (like a mirror)
'''
import sys
import time
try:
import numpy as np
except ImportError:
sys.exit("Cannot import numpy: Do `pip3 install --user numpy` to install")
try:
from PIL import Image
except ImportError:
sys.exit("Cannot import from PIL: Do `pip3 install --user Pillow` to install")
import cozmo
def get_in_position(robot: cozmo.robot.Robot):
'''If necessary, Move Cozmo's Head and Lift to make it easy to see Cozmo's face.'''
if (robot.lift_height.distance_mm > 45) or (robot.head_angle.degrees < 40):
with robot.perform_off_charger():
lift_action = robot.set_lift_height(0.0, in_parallel=True)
head_action = robot.set_head_angle(cozmo.robot.MAX_HEAD_ANGLE,
in_parallel=True)
lift_action.wait_for_completed()
head_action.wait_for_completed()
def calc_pixel_threshold(image: Image):
'''Calculate a pixel threshold based on the image.
Anything brighter than this will be shown on (light blue).
Anything darker will be shown off (black).
'''
# Convert image to gray scale
grayscale_image = image.convert('L')
# Calculate the mean (average) value
mean_value = np.mean(grayscale_image.getdata())
return mean_value
def cozmo_face_mirror(robot: cozmo.robot.Robot):
'''Continuously display Cozmo's camera feed back on his face.'''
robot.camera.image_stream_enabled = True
get_in_position(robot)
face_dimensions = cozmo.oled_face.SCREEN_WIDTH, cozmo.oled_face.SCREEN_HALF_HEIGHT
print("Press CTRL-C to quit")
while True:
duration_s = 0.1 # time to display each camera frame on Cozmo's face
latest_image = robot.world.latest_image
if latest_image is not None:
# Scale the camera image down to fit on Cozmo's face
resized_image = latest_image.raw_image.resize(face_dimensions,
Image.BICUBIC)
# Flip the image left/right so it displays mirrored
resized_image = resized_image.transpose(Image.FLIP_LEFT_RIGHT)
# Calculate the pixel threshold for this image. This threshold
# will define how bright a pixel needs to be in the source image
# for it to be displayed as lit-up on Cozmo's face.
pixel_threshold = calc_pixel_threshold(resized_image)
# Convert the image to the format to display on Cozmo's face.
screen_data = cozmo.oled_face.convert_image_to_screen_data(
resized_image,
pixel_threshold=pixel_threshold)
# display the image on Cozmo's face
robot.display_oled_face_image(screen_data, duration_s * 1000.0)
time.sleep(duration_s)
cozmo.robot.Robot.drive_off_charger_on_connect = False # Cozmo can stay on his charger for this example
cozmo.run_program(cozmo_face_mirror)
3. alarm clock
時鐘，在face顯示當前時間呢～
#!/usr/bin/env python3
# Copyright (c) 2016 Anki, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License in the file LICENSE.txt or at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
'''Cozmo Alarm Clock
Use Cozmo's face to display the current time
Play an alarm (Cozmo tells you to wake up) at a set time
NOTE: This is an example program. Anki takes no responsibility
if Cozmo fails to wake you up on time!
'''
import datetime
import math
import sys
import time
try:
from PIL import Image, ImageDraw, ImageFont
except ImportError:
sys.exit("Cannot import from PIL. Do `pip3 install --user Pillow` to install")
import cozmo
#: bool: Set to True to display the clock as analog
#: (with a small digital readout below)
SHOW_ANALOG_CLOCK = False
def make_text_image(text_to_draw, x, y, font=None):
'''Make a PIL.Image with the given text printed on it
Args:
text_to_draw (string): the text to draw to the image
x (int): x pixel location
y (int): y pixel location
font (PIL.ImageFont): the font to use
Returns:
:class:(`PIL.Image.Image`): a PIL image with the text drawn on it
'''
# make a blank image for the text, initialized to opaque black
text_image = Image.new('RGBA', cozmo.oled_face.dimensions(), (0, 0, 0, 255))
# get a drawing context
dc = ImageDraw.Draw(text_image)
# draw the text
dc.text((x, y), text_to_draw, fill=(255, 255, 255, 255), font=font)
return text_image
# get a font - location depends on OS so try a couple of options
# failing that the default of None will just use a default font
_clock_font = None
try:
_clock_font = ImageFont.truetype("arial.ttf", 20)
except IOError:
try:
_clock_font = ImageFont.truetype("/Library/Fonts/Arial.ttf", 20)
except IOError:
pass
def draw_clock_hand(dc, cen_x, cen_y, circle_ratio, hand_length):
'''Draw a single clock hand (hours, minutes or seconds)
Args:
dc: (:class:`PIL.ImageDraw.ImageDraw`): drawing context to use
cen_x (float): x coordinate of center of hand
cen_y (float): y coordinate of center of hand
circle_ratio (float): ratio (from 0.0 to 1.0) that hand has travelled
hand_length (float): the length of the hand
'''
hand_angle = circle_ratio * math.pi * 2.0
vec_x = hand_length * math.sin(hand_angle)
vec_y = -hand_length * math.cos(hand_angle)
# x_scalar doubles the x size to compensate for the interlacing
# in y that would otherwise make the screen appear 2x tall
x_scalar = 2.0
# pointy end of hand
hand_end_x = int(cen_x + (x_scalar * vec_x))
hand_end_y = int(cen_y + vec_y)
# 2 points, perpendicular to the direction of the hand,
# to give a triangle with some width
hand_width_ratio = 0.1
hand_end_x2 = int(cen_x - ((x_scalar * vec_y) * hand_width_ratio))
hand_end_y2 = int(cen_y + (vec_x * hand_width_ratio))
hand_end_x3 = int(cen_x + ((x_scalar * vec_y) * hand_width_ratio))
hand_end_y3 = int(cen_y - (vec_x * hand_width_ratio))
dc.polygon([(hand_end_x, hand_end_y), (hand_end_x2, hand_end_y2),
(hand_end_x3, hand_end_y3)], fill=(255, 255, 255, 255))
def make_clock_image(current_time):
'''Make a PIL.Image with the current time displayed on it
Args:
text_to_draw (:class:`datetime.time`): the time to display
Returns:
:class:(`PIL.Image.Image`): a PIL image with the time displayed on it
'''
time_text = time.strftime("%I:%M:%S %p")
if not SHOW_ANALOG_CLOCK:
return make_text_image(time_text, 8, 6, _clock_font)
# make a blank image for the text, initialized to opaque black
clock_image = Image.new('RGBA', cozmo.oled_face.dimensions(), (0, 0, 0, 255))
# get a drawing context
dc = ImageDraw.Draw(clock_image)
# calculate position of clock elements
text_height = 9
screen_width, screen_height = cozmo.oled_face.dimensions()
analog_width = screen_width
analog_height = screen_height - text_height
cen_x = analog_width * 0.5
cen_y = analog_height * 0.5
# calculate size of clock hands
sec_hand_length = (analog_width if (analog_width < analog_height) else analog_height) * 0.5
min_hand_length = 0.85 * sec_hand_length
hour_hand_length = 0.7 * sec_hand_length
# calculate rotation for each hand
sec_ratio = current_time.second / 60.0
min_ratio = (current_time.minute + sec_ratio) / 60.0
hour_ratio = (current_time.hour + min_ratio) / 12.0
# draw the clock hands
draw_clock_hand(dc, cen_x, cen_y, hour_ratio, hour_hand_length)
draw_clock_hand(dc, cen_x, cen_y, min_ratio, min_hand_length)
draw_clock_hand(dc, cen_x, cen_y, sec_ratio, sec_hand_length)
# draw the digital time_text at the bottom
x = 32
y = screen_height - text_height
dc.text((x, y), time_text, fill=(255, 255, 255, 255), font=None)
return clock_image
def convert_to_time_int(in_value, time_unit):
'''Convert in_value to an int and ensure it is in the valid range for that time unit
(e.g. 0..23 for hours)'''
max_for_time_unit = {'hours': 23, 'minutes': 59, 'seconds': 59}
max_val = max_for_time_unit[time_unit]
try:
int_val = int(in_value)
except ValueError:
raise ValueError("%s value '%s' is not an int" % (time_unit, in_value))
if int_val < 0:
raise ValueError("%s value %s is negative" % (time_unit, int_val))
if int_val > max_val:
raise ValueError("%s value %s exceeded %s" % (time_unit, int_val, max_val))
return int_val
def extract_time_from_args():
''' Extract a (24-hour-clock) user-specified time from the command-line
Supports colon and space separators - e.g. all 3 of "11 22 33", "11:22:33" and "11 22:33"
would map to the same time.
The seconds value is optional and defaults to 0 if not provided.'''
# split sys.argv further for any args that contain a ":"
split_time_args = []
for i in range(1, len(sys.argv)):
arg = sys.argv[i]
split_args = arg.split(':')
for split_arg in split_args:
split_time_args.append(split_arg)
if len(split_time_args) >= 2:
try:
hours = convert_to_time_int(split_time_args[0], 'hours')
minutes = convert_to_time_int(split_time_args[1], 'minutes')
seconds = 0
if len(split_time_args) >= 3:
seconds = convert_to_time_int(split_time_args[2], 'seconds')
return datetime.time(hours, minutes, seconds)
except ValueError as e:
print("ValueError %s" % e)
# Default to no alarm
return None
def get_in_position(robot: cozmo.robot.Robot):
'''If necessary, Move Cozmo's Head and Lift to make it easy to see Cozmo's face'''
if (robot.lift_height.distance_mm > 45) or (robot.head_angle.degrees < 40):
with robot.perform_off_charger():
lift_action = robot.set_lift_height(0.0, in_parallel=True)
head_action = robot.set_head_angle(cozmo.robot.MAX_HEAD_ANGLE,
in_parallel=True)
lift_action.wait_for_completed()
head_action.wait_for_completed()
def alarm_clock(robot: cozmo.robot.Robot):
'''The core of the alarm_clock program'''
alarm_time = extract_time_from_args()
if alarm_time:
print("Alarm set for %s" % alarm_time)
else:
print("No Alarm time provided. Usage example: 'alarm_clock.py 17:23' to set alarm for 5:23 PM. (Input uses the 24-hour clock.)")
print("Press CTRL-C to quit")
get_in_position(robot)
was_before_alarm_time = False
last_displayed_time = None
while True:
# Check the current time, and see if it's time to play the alarm
current_time = datetime.datetime.now().time()
do_alarm = False
if alarm_time:
is_before_alarm_time = current_time < alarm_time
do_alarm = was_before_alarm_time and not is_before_alarm_time # did we just cross the alarm time
was_before_alarm_time = is_before_alarm_time
if do_alarm:
# Cancel the latest image display action so that the alarm actions can play
robot.abort_all_actions()
# Speak The Time (off the charger as it's an animation)
with robot.perform_off_charger():
short_time_string = str(current_time.hour) + ":" + str(current_time.minute)
robot.say_text("Wake up lazy human! it's " + short_time_string).wait_for_completed()
else:
# See if the displayed time needs updating
if (last_displayed_time is None) or (current_time.second != last_displayed_time.second):
# Create the updated image with this time
clock_image = make_clock_image(current_time)
oled_face_data = cozmo.oled_face.convert_image_to_screen_data(clock_image)
# display for 1 second
robot.display_oled_face_image(oled_face_data, 1000.0)
last_displayed_time = current_time
# only sleep for a fraction of a second to ensure we update the seconds as soon as they change
time.sleep(0.1)
cozmo.robot.Robot.drive_off_charger_on_connect = False # Cozmo can stay on his charger for this example
cozmo.run_program(alarm_clock)
Fin
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