.. _alvisiontoolbox-tuto:

ALVisionToolbox Tutorial
========================


:ref:`Overview <alvisiontoolbox>` | :ref:`API <alvisiontoolbox-api>` | Tutorial

Introduction
------------

This tutorial explains how to run the ALVisionToolbox functions using Python.

Getting a proxy to ALVisionToolbox
----------------------------------

After some initialization steps, we first instantiate a proxy to the
ALVisionToolbox module.

.. code-block:: guess

  # This test demonstrates how to use the ALVisionToolbox module.
  # Note that you might not have this module depending on your distribution
  import os
  import sys
  import time
  from naoqi import ALProxy
  
  # Replace this with your robot's IP address
  IP = "10.0.252.91"
  PORT = 9559
  
  # Create a proxy to ALVisionToolbox
  try:
    visionToolboxProxy = ALProxy("ALVisionToolbox", IP, PORT)
  except Exception, e:
    print "Error when creating vision toolbox proxy:"
    print str(e)
    exit(1)

Asking if it is dark
--------------------

.. code-block:: guess

  result = visionToolboxProxy.isItDark()
  if result > 210:
    print "It's time to sleep"
  else:
    print "I might not go to bed at such an hour"

Asking if there is backlighting
-------------------------------

.. code-block:: guess

  result = visionToolboxProxy.backlighting()
  if result > 2:
    print "I can't hardly see with this light"
  elif result > 1:
    print "This light might be slightly disturbing"

Taking pictures
---------------

.. code-block:: guess

  visionToolboxProxy.takePicture()
  print "ok, you can move now"

Taking pictures regularly
-------------------------

.. code-block:: guess

  # For launching the regular image acquisitions
  visionToolboxProxy.takePictureRegularly(0.5, "lastImage", True, "jpg", 0)
  print "Tracking of NAO's view activated."
  
  # for launching it in a non blocking way
  visionToolboxProxy.post.takePictureRegularly(0.5, "lastImage", True, "jpg", 0)
  print "Tracking of NAO's view activated."
  visionToolboxProxy.post.takePictureRegularly(60, "img", False, "jpg", 0)
  print "History of what NAO will see today"
  
  time.sleep(5)

  # For stopping the second one
  visionToolboxProxy.stopTPR("img", "jpg")
  print "Stop the history"

Record a video file
-------------------

.. code-block:: guess

  # We'll save a 5 second video record in /home/nao/naoqi/share/naoqi/vision
  visionToolboxProxy.startVideoRecord("test.avi")
  print "Video record started."

  time.sleep(5)

  videoInfo = visionToolboxProxy.stopVideoRecord()
  print "Video was saved on the robot: ", videoInfo[1]
  print "Num frames: ", videoInfo[0]

Set white balance
-----------------

.. code-block:: guess

  # parameters: 0 top camera - 1 bottom camera - 2 both
  visionToolboxProxy.setWhiteBalance(1)
  print "Born to be alive! ;-)"