VIC-14682 Expression cleanup (#194)

Cleanup annotations so it doesn't show "unknown" for expression

Force camera view on top

Author: msintov

anki_vector/annotate.py

@@ -342,14 +342,19 @@ def _label_for_face(self, obj):  # pylint: disable=no-self-use
 
         Override or replace to customize.
         """
+        label_text = ""
         expression = faces.Expression(obj.expression).name
+
+        if obj.name:
+            label_text = f"Name:{obj.name}"
+        if expression != "UNKNOWN":
+            label_text += f"\nExpression:{expression}"
         if obj.expression_score:
             # if there is a specific known expression, then also show the score
             # (display a % to make it clear the value is out of 100)
-            expression += f"\nScore:{sum(obj.expression_score)}"
-        if obj.name:
-            return ImageText(f"Name:{obj.name}\nExpression:{expression}\nFace Id:({obj.face_id})")
-        return ImageText(f"Name:unknown\nExpression:{expression}\nFace Id:{obj.face_id}")
+            label_text += f"\nScore:{sum(obj.expression_score)}"
+
+        return ImageText(label_text + "\n" + f"Face Id:{obj.face_id}")
 
 
 class TextAnnotator(Annotator):  # pylint: disable=too-few-public-methods

anki_vector/camera_viewer/__init__.py

@@ -41,7 +41,7 @@ class TkCameraViewer:  # pylint: disable=too-few-public-methods
     :param force_on_top: Specifies whether the window should be forced on top of all others.
     """
 
-    def __init__(self, queue: mp.Queue, event: mp.Event, overlays: list = None, timeout: float = 10.0, force_on_top: bool = False):
+    def __init__(self, queue: mp.Queue, event: mp.Event, overlays: list = None, timeout: float = 10.0, force_on_top: bool = True):
         self.tk_root = tk.Tk()
         self.width = None
         self.height = None
@@ -72,7 +72,10 @@ 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)
+        try:
+            image = self.queue.get(True, timeout=self.timeout)
+        except:
+            return
         self.width, self.height = image.size
         while image:
             if self.event.is_set():
@@ -87,7 +90,10 @@ def draw_frame(self) -> None:
             self.label.image = tk_image
             self.tk_root.update_idletasks()
             self.tk_root.update()
-            image = self.queue.get(True, timeout=self.timeout)
+            try:
+                image = self.queue.get(True, timeout=self.timeout)
+            except:
+                return
 
 
 def main(queue: mp.Queue, event: mp.Event, overlays: list = None, timeout: float = 10.0, force_on_top: bool = False) -> None:

anki_vector/viewer.py

@@ -57,7 +57,7 @@ def __init__(self, robot):
         self._frame_queue: mp.Queue = None
         self._process = None
 
-    def show(self, timeout: float = 10.0, force_on_top: bool = False) -> None:
+    def show(self, timeout: float = 10.0, force_on_top: bool = True) -> None:
         """Render a video stream using the images obtained from
         Vector's camera feed.
 

examples/tutorials/05_play_behaviors.py renamed to examples/tutorials/05_drive_on_off_charger.py

@@ -76,7 +76,7 @@ def main():
         robot.camera.image_annotator.add_annotator("clock", clock)
         robot.camera.image_annotator.add_annotator("battery", Battery)
 
-        time.sleep(5)
+        time.sleep(10)
 
         print("Turning off all annotations for 5 seconds")
         robot.camera.image_annotator.annotation_enabled = False