How to use vision recognitionJessica EichbergBehavior Architect for Special Education

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• This is a tutorial about how to use vision recognition in naoqi version 1.14

• You will learn:– How to record images in a database with

Choregraphe– How to export and unpack the database using

the opensource program TarTool (Windows)– How to import the database files and to test them

in Choregraphe

What is it about?

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• Why? You need it to unpack your image database• Where can I download it? Here• What next? Unzip the TarTool.zip file to a folder of

your choice on your computer

Before we start, please install TarTool on your computer

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Open Video Monitor in Choregraphe

• View Video monitor

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• Hold the image around 30 cm in front of NAO• Click on the “Learn” Button • Continue holding the image until the countdown is

finished• Select the part of the displayed image you want to

store in the database (click on the edges of the image)

• Give your image a name and click on OK

Record a new image

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And here you can watch a video…

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• Click on “Export Vision Recognition Database”, give your database a name and save it into the TarTool folder

• Open a command window for your TarTool folder:– Press and hold the Shift key and right click on

the TarTool folder – Click on Open Command Window here

Export and unpack your database

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• Then you need to enter the following command (replace nameofyourdb by the actual name of your database):

tartool nameofyourdb.vrd• Afterwards you will find the following files in your

TarTool folder:

database.ar1, database.ar2, database.ar3, database.ar4, database.ar5

Export and unpack your database

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To sum it up here is another video…

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• Open vision_demo.crg in Choregraphe• Open the Project content (View Project content)• Click on Create directory, enter the name vision

and click on OK• Click on Import file, select the 5 database.ar1..5

files and click on Open

Now the vision database containing your recorded images is imported in your application

Import the database in your application

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vision_demo.crg

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Last but not least…

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Have fun!