VIC-4509: Added option to request high res images (#165)

Author: Rakesh Ravi Shankar

anki_vector/camera.py

@@ -36,7 +36,7 @@
 
 from . import annotate, connection, util
 from .events import Events
-from .exceptions import VectorCameraFeedException
+from .exceptions import VectorCameraFeedException, VectorCameraImageCaptureException
 from .messaging import protocol
 
 try:
@@ -129,6 +129,8 @@ def annotate_image(self, scale: float = None, fit_size: tuple = None, resample_m
             (fast) or :attr:`~anki_vector.annotate.RESAMPLE_MODE_BILINEAR` (slower,
             but smoother).
         """
+        if self._raw_image.size != (640, 360):
+            raise VectorCameraImageCaptureException("Annotation is only supported for default resolution images.")
         return self._image_annotator.annotate_image(self._raw_image,
                                                     scale=scale,
                                                     fit_size=fit_size,
@@ -330,7 +332,7 @@ async def _request_and_handle_images(self) -> None:
             self.logger.debug('Camera feed task was cancelled. This is expected during disconnection.')
 
     @connection.on_connection_thread()
-    async def capture_single_image(self) -> CameraImage:
+    async def capture_single_image(self, enable_high_resolution: bool = False) -> CameraImage:
         """Request to capture a single image from the robot's camera.
 
         This call requests the robot to capture an image and returns the
@@ -346,10 +348,16 @@ async def capture_single_image(self) -> CameraImage:
             with anki_vector.Robot() as robot:
                 image = robot.camera.capture_single_image()
                 image.raw_image.show()
+
+        :param enable_high_resolution: Enable/disable request for high resolution images. The default resolution
+                                       is 640x360, while the high resolution is 1280x720.
         """
         if self._enabled:
+            self.logger.warning('Camera feed is enabled. Receiving image from the feed at default resolution.')
             return self._latest_image
-        req = protocol.CaptureSingleImageRequest()
+        if enable_high_resolution:
+            self.logger.warning('Capturing a high resolution (1280*720) image. Image events for this frame need to be scaled.')
+        req = protocol.CaptureSingleImageRequest(enable_high_resolution=enable_high_resolution)
         res = await self.grpc_interface.CaptureSingleImage(req)
         if res and res.data:
             image = _convert_to_pillow_image(res.data)

anki_vector/camera_viewer/__init__.py

@@ -43,8 +43,8 @@ class TkCameraViewer:  # pylint: disable=too-few-public-methods
 
     def __init__(self, queue: mp.Queue, event: mp.Event, overlays: list = None, timeout: float = 10.0, force_on_top: bool = False):
         self.tk_root = tk.Tk()
-        self.width = 640
-        self.height = 360
+        self.width = None
+        self.height = None
         self.queue = queue
         self.event = event
         self.overlays = overlays
@@ -73,6 +73,7 @@ def _resize_window(self, evt: tk.Event) -> None:
     def draw_frame(self) -> None:
         """Display an image on to a Tkinter label widget."""
         image = self.queue.get(True, timeout=self.timeout)
+        self.width, self.height = image.size
         while image:
             if self.event.is_set():
                 break

anki_vector/exceptions.py

@@ -24,6 +24,7 @@
 __all__ = ['VectorAsyncException',
            'VectorBehaviorControlException',
            'VectorCameraFeedException',
+           'VectorCameraImageCaptureException',
            'VectorConfigurationException',
            'VectorConnectionException',
            'VectorControlException',
@@ -144,6 +145,10 @@ class VectorCameraFeedException(_VectorGenericException):
 Make sure to enable the camera feed either using Robot(show_viewer=True), or robot.camera.init_camera_feed()"""
 
 
+class VectorCameraImageCaptureException(_VectorGenericException):
+    """Image capture exception."""
+
+
 class VectorConfigurationException(_VectorGenericException):
     """Invalid or missing configuration data."""
 

anki_vector/vision.py

@@ -143,9 +143,9 @@ async def enable_face_detection(
     @connection.on_connection_thread()
     async def enable_motion_detection(self, detect_motion: bool = True):
         """Enable motion detection on the robot's camera
-    
+
         :param detect_motion: Specify whether we want the robot to detect motion.
-    
+
         .. testcode::
 
             import time
@@ -162,7 +162,7 @@ def on_robot_observed_motion(robot, event_type, event):
 
                 # If necessary, move Vector's Head and Lift to make it easy to see his face
                 robot.behavior.set_head_angle(degrees(45.0))
-                robot.behavior.set_lift_height(0.0)        
+                robot.behavior.set_lift_height(0.0)
 
                 robot.vision.enable_motion_detection(detect_motion=True)