update interfaces and add interface examples (speech, openpose, asus xtion)

examples/interfaces/webcam.py

@@ -1,34 +1,52 @@
 #!/usr/bin/env python
-"""Load the Webcam interface.
+"""Run the Webcam interface.
+
+Make sure that the webcam is connected before running this code. Note that it can take some time to initialize
+the interface.
 """
 
-from itertools import count
+import argparse
 import matplotlib.pyplot as plt
+
 from pyrobolearn.tools.interfaces.camera.webcam import WebcamInterface
 
-# create interface
-interface = WebcamInterface(use_thread=True, sleep_dt=1./10, verbose=False)
 
-# plotting using matplotlib in interactive mode
-fig = plt.figure()
-plot = None
-plt.ion()   # interactive mode on
+# create parser
+parser = argparse.ArgumentParser()
+parser.add_argument('-t', '--use_thread', help='If we should run the webcam interface in a thread.', type=bool,
+                    default=False)
+args = parser.parse_args()
 
-for _ in count():
-    # # if don't use thread call `step` or `run` (note that `run` returns the frame but not
-    # interface.step()
 
-    # get the frame and plot it with matplotlib
-    frame = interface.frame
-    if plot is None:
-        plot = plt.imshow(frame)
-    else:
-        plot.set_data(frame)
-        plt.pause(0.01)
+# create webcam interface
+if args.use_thread:
+    # create and run interface in a thread
+    interface = WebcamInterface(use_thread=True, sleep_dt=1./10, verbose=True)
+    raw_input('Press key to stop the webcam interface')
+else:
+    # create interface
+    interface = WebcamInterface()
 
-    # check if the figure is closed, and if so, get out of the loop
-    if not plt.fignum_exists(fig.number):
-        break
+    # plotting using matplotlib in interactive mode
+    fig = plt.figure()
+    plot = None
+    plt.ion()   # interactive mode on
 
-plt.ioff()  # interactive mode off
-plt.show()
+    while True:
+        # if don't use thread call `step` or `run` (note that `run` returns the frame but not
+        interface.step()
+
+        # get the frame and plot it with matplotlib
+        frame = interface.frame
+        if plot is None:
+            plot = plt.imshow(frame)
+        else:
+            plot.set_data(frame)
+            plt.pause(0.01)
+
+        # check if the figure is closed, and if so, get out of the loop
+        if not plt.fignum_exists(fig.number):
+            break
+
+    plt.ioff()  # interactive mode off
+    plt.show()