1. Boot the robot, start Tekkotsu, and start up the ControllerGUI.

2. Click on the "Add" button in the ControllerGUI to add a new script.

3. In the dialog box, change the script Title to "Take Snapshots", and erase whatever text appears in the Commands box.

4. Paste the following lines into the Commands box:

   !set vision.rawcam_interval=1000
   !set vision.rawcam_transport=tcp
   !set vision.rawcam_y_skip=1
   !set vision.rawcam_uv_skip=1
   !set vision.rawcam_compression=none
   

5. Click on "Okay" to create the script. Its name will now appear in the Scripts menu in the ControllerGUI window.

Normally images are transmitted from the robot to the Raw Cam viewer at low resolution, and with JPEG compression, in order to achieve the maximum frame rate. And because errors and dropped pixels are tolerable in a video application, UDP is used as the transport mode. The above script changes all these parameters so that we can take pictures at maximum resolution, with no compression artifacts, and using the TCP protocol to prevent dropped pixels. The frame rate is dropped to 1 per second to minimize network load, since we're only interested in still images anyway.

1. Create a directory to hold the images you'll be storing.

2. If the Raw Cam viewer is currently running, deactivate it by clicking on the ControllerGUI's Raw Cam button.

3. Double click on the "Take Snapshots" script item to run the script.

4. Open the Raw Cam viewer.

5. If you're going to use the EasierTrain tool (recommended), skip this step, but for EasyTrain, change the display mode from RGB to YUV by clicking on the YUV button in the Raw Cam window. This will make all the colors look funny, but turning off RGB conversion provides more accurate color data for constructing the threshold file, since the robot camera sends YUV images.

6. Use the Head Controller to point the camera at your sample objects.

7. Click the Freeze Frame button. The button below should change its name from "Save Image Sequence" to "Save Image". This is very important: if you don't freeze the frame, you'll end up storing a whole sequence of images, which will fill the directory with lots of files.

8. Click the Save Image button. Store the image in the directory you created. You can use any name you like, but the extension should be ".PNG". Do not use ".JPG" because JPEG compression will introduce undesirable artifacts.

9. Click the Unfreeze button, move the camera or the objects, and repeat the above two steps to freeze the frame again and take your next image. Repeat as desired.

10. Before shutting down, take a look at the images you stored. On Linux you can do this with a program such as "display" or "gimp". On Windows machines or Macs, go to the folder and double click on the filenames.

1. Collect some training images as PNG or JPG files and place them in a directory that contains nothing else, e.g., ~/myimages.

2. Create a fresh directory to hold the color name and threshold files that will be created by EasierTrain. Since you might want to experiment with multiple versions of the segmentation settings, use a name like ~/seg1 for the first version.

3. To start EasierTrain, type:

   cd ~/seg1
   ~/Tekkotsu/tools/EasierTrain ~/myimages
   

4. Choose the first color you want to train. Click on a region in the image, and the corresponding region in the segment outline should assume that color.

5. Shift-click on additional regions that belong in the same color class. You don't have to click on all of them, just a representative sample.

6. Control-click to deselect a region if it was selected by accident.

7. Use the Next and Prev buttons to cycle through all the images in your images directory so you can select representative regions of the current color from these images as well.

8. When you've selected all the regions you want to use, click on the Add button to create the color class, and then set its name in the Palette window.

9. Click the Save button to save your work.

10. Choose a new color class and click (not Shift-click) on the first region to begin defining it.

11. When done, click Save and then Quit to exit.

1. Let's assume that you've renamed your threshold file to called mygame.tm. Copy the mygame.tm and mygame.col files into your project/ms/config directory. You can copy the mygame.et file there too, to keep all three together.

2. Edit the project/ms/config/tekkotsu.xml file to tell the robot to use the new threshold and color name files. You can check what files the robot is using by going to Root Menu > File Access > Tekkotsu Configuration. From the edit menu, select "vision". Then, check the "colors=" entry to see the current .col file, and click on "thresh" to see the current threshold file. Do not click on "Save" to save the configuration file, because that will erase all the comments in the file and leave it in a not very readable state.

3. Use the "getmyfile" script on the robot or "sendmyfile" script on yuor workstation to copy your modified tekkotsu.xml onto the robot in the project/ms/config directory.

1. EasyTrain must be run from the directory containing the code. So to begin, cd to the directory Tekkotsu/tools/easytrain.

2. Assuming your sample images are in the directory /tmp/mypics, type the following to invoke EasyTrain:

   java EasyTrain -isYUV /tmp/mypics/*.png
   

3. Use the arrow keys or the thumbnail window to navigate through your images.

4. When you're ready to define a new color class, click on "<add new>" in the Control window, and type in the new color class name.

5. In the Color Spectrum window, click and drag the mouse to encircle a region in color space. Note the results in the Segmented View window.

6. If you don't like the region you drew, you can just draw another one and it will replace the original. You can also click on the Undo button or type ^Z (control-Z) to undo the click and drag. If you're mostly happy with the region but want to add or subtract a little bit, you can do that by holding down the shift key (to add) or the control key (to subtract).

7. Repeat the process to define all the color classes you need. Use the arrow keys to check the segmentation of your sample images. To go back and modify a previously-defined color class, click on the name in the Control window.

8. When you're done, click on the Save button and specify a directory and filename for your threshold file. Don't bother supplying an extension. EasyTrain will actually store three separate files, and it supplies the extensions automatically.

9. Click on the Quit button to exit. If you want to make further modifications later, run EasyTrain again and use the Load button to reload your threshold file.