def __init__(self):
rospy.init_node('face_detect_demo')
self.wait_for_time()
self.lights = robot_api.Lights()
rospy.sleep(0.5)
self.head = robot_api.FullBodyLookAt(
tf_listener=tf.TransformListener())
self.body = robot_api.Base()
self.social_cues = robot_api.Social_Cues(move_head=False,
use_sounds=False)
self.publisher = rospy.Publisher('face_pose_marker',
Marker,
queue_size=10)
self.command_sub = rospy.Subscriber('move_command',
Bool,
queue_size=1,
callback=self.command_callback)
self.face_already_seen = False
self.move_command = False
self.num_faces = 0
vision = robot_api.Vision()
vision.activate("face_detector", config={"fps": 1})
rospy.sleep(0.5)
vision.wait_until_ready(timeout=10)
vision.face_change.connect(self.face_callback)
if SOCIAL_CUES:
self.social_cues.express_neutral()
rospy.spin()
def main():
rospy.init_node('face_detection_demo')
vision = robot_api.Vision()
# Activate Vision API's Face Detector
vision.activate("face_detector", config={"fps": 3})
rospy.sleep(0.5)
vision.wait_until_ready(timeout=10)
vision.req_mods(
[["activate", "face_detector", {
"fps": 3
}, {
"skip_ratio": 3
}]], [])
face_change = FaceChange()
# Trigger callback
rospy.Subscriber('vision/results', FrameResults, face_change.callback)
# setup follow faces
facesDemo = FaceInteractionDemo()
# Trigger callback
rospy.Subscriber('vision/face_count', Int8, facesDemo.onFaceCount)
rospy.Subscriber('vision/most_confident_face_pos', PointStamped,
facesDemo.onFacePos)
rospy.Subscriber('come_here_kuri', Int8, facesDemo.navigateTo)
rospy.spin()
def main():
rospy.init_node('face_emotion_demo')
vision = robot_api.Vision()
# Activate Vision API's Face Detector
vision.activate("face_detector", config={"fps": 3})
rospy.sleep(0.5)
vision.wait_until_ready(timeout=10)
vision.req_mods(
[["activate", "face_detector", {
"fps": 3
}, {
"skip_ratio": 3
}]], [])
face_command = FaceCommand()
# Trigger callback
rospy.Subscriber('vision/results', FrameResults, face_command.callback)
rospy.Subscriber('vision/commands/follow', Int8,
face_command.command_callback)
rospy.spin()
def __init__(self):
self.lights = robot_api.Lights()
self._listener = tf.TransformListener()
self.head = robot_api.FullBodyLookAt(tf_listener=self._listener)
self.body = robot_api.Base()
self.nav_client = NavWaypoint()
self.publisher = rospy.Publisher('face_pose_marker',
Marker,
queue_size=10)
self.num_faces = 0
self.count = 0
self.face_point = None
# self.talk_position = None
self.look_at = True
self.wait_for_time()
vision = robot_api.Vision()
vision.activate("face_detector", config={"fps": 1})
rospy.sleep(0.5)
vision.wait_until_ready(timeout=10)
self.face_sub = rospy.Subscriber('vision/results',
FrameResults,
self.face_callback,
queue_size=1)
def __init__(self):
self.face_pub = rospy.Publisher('vision/most_confident_face_pos', PointStamped, queue_size=10)
self.num_faces_pub = rospy.Publisher('vision/face_count', Int8, queue_size=10)
self.lights = robot_api.Lights()
self.head = robot_api.Head()
self.lock = RLock()
self.base = robot_api.Base()
self.lastFacePos = None
self.vision = robot_api.Vision()
# Activate Vision API's Face Detector
self.vision.activate("face_detector", config={"fps": 3})
rospy.sleep(0.5)
self.vision.wait_until_ready(timeout=10)
self.vision.req_mods([["activate", "face_detector", {"fps": 3}, {"skip_ratio": 3}]], [])
# Trigger callback
rospy.Subscriber('vision/results', FrameResults, self.callback)
rospy.Subscriber('vision/most_confident_face_pos', PointStamped, self.onFacePos)
rospy.Subscriber('come_here_kuri', Int8, self.navigateTo)
rospy.sleep(0.5)
rospy.spin()