""" This method creates image buffers with the specified \a width, \a height and number of
color channels \a channels.
@param width - integer specifying the width of the image (default: 320)
@param height - integer specifying the height of the image (default: 240)
@param channels - integer specifying number of color channels (default: 3)
@return image, buffer array
"""
if channels == 1:
buf_image = yarp.ImageFloat()
buf_image.resize(width, height)
buf_array = np.zeros((height, width), dtype = np.float32)
else:
buf_image = yarp.ImageRgb()
buf_image.resize(width, height)
buf_array = np.zeros((height, width, channels), dtype = np.uint8)
buf_image.setExternal( buf_array,
buf_array.shape[1],
buf_array.shape[0] )
return buf_image, buf_array
if __name__ == '__main__':
main(JDVideo)
# parse lines
for line in file_handle.read().split('\n'):
line = line.strip()
# ignore empty
if not line:
continue
# new pattern name
elif line.startswith('['):
name = line[1:line.index(']')].strip()
self.patterns[name] = []
# new step
elif '\t' in line:
joint, position = line.split('\t')
self.patterns[name].append( (int(joint), int(position)) )
names = self.patterns.keys()
names.sort()
print 'Patterns loaded'
print '==============='
for name in names:
print name, len(self.patterns[name])
if __name__ == '__main__':
main(JDModule)
def respond(self, command, reply):
""" This is the respond hook method which gets called upon receiving a bottle via RPC port.
@param command - input bottle
@param reply - output bottle
@return boolean
"""
if command.get(0).toString() == 'neutral':
self.JD.rgbEyes.setArray(Emotions.NEUT)
elif command.get(0).toString() == 'happy':
self.JD.rgbEyes.setArray(Emotions.HAPP)
elif command.get(0).toString() == 'dizzy':
for array in Emotions.DIZZ:
self.JD.rgbEyes.setArray(array)
for array in Emotions.DIZZ:
self.JD.rgbEyes.setArray(array)
self.JD.rgbEyes.setArray(Emotions.NEUT)
# reply with success
reply.addString('nack')
return True
if __name__ == '__main__':
main(Emotions)
# parse lines
for line in file_handle.read().split('\n'):
line = line.strip()
# ignore empty
if not line:
continue
# new pattern name
elif line.startswith('['):
name = line[1:line.index(']')].strip()
self.patterns[name] = []
# new step
elif '\t' in line:
joint, position = line.split('\t')
self.patterns[name].append((int(joint), int(position)))
names = self.patterns.keys()
names.sort()
print 'Patterns loaded'
print '==============='
for name in names:
print name, len(self.patterns[name])
if __name__ == '__main__':
main(JDModule)
def createImageBuffer(width=320, height=240, channels=3):
""" This method creates image buffers with the specified \a width, \a height and number of
color channels \a channels.
@param width - integer specifying the width of the image (default: 320)
@param height - integer specifying the height of the image (default: 240)
@param channels - integer specifying number of color channels (default: 3)
@return image, buffer array
"""
if channels == 1:
buf_image = yarp.ImageFloat()
buf_image.resize(width, height)
buf_array = np.zeros((height, width), dtype=np.float32)
else:
buf_image = yarp.ImageRgb()
buf_image.resize(width, height)
buf_array = np.zeros((height, width, channels), dtype=np.uint8)
buf_image.setExternal(buf_array, buf_array.shape[1],
buf_array.shape[0])
return buf_image, buf_array
if __name__ == '__main__':
main(JDVideo)
# pick first face
faces = bottle.get(1).asList()
face = faces.get(0).asList()
center_x = face.get(1).asInt()
center_y = face.get(2).asInt()
print center_x, center_y,
center_x -= 160
z = 1.0
x = (center_x * 0.5) / 320
y = 0.0
print z, x, y
bottle = yarp.Bottle()
bottle.clear()
bottle.addDouble(0.0)
bottle.addDouble(x)
bottle.addDouble(0.0)
bottle.addDouble(-1.0)
self.positionOutPort.write(bottle)
if __name__ == '__main__':
main(JDFollowFace)
# pick first face
faces = bottle.get(1).asList()
face = faces.get(0).asList()
center_x = face.get(1).asInt()
center_y = face.get(2).asInt()
print center_x, center_y,
center_x -= 160
z = 1.0
x = (center_x * 0.5) / 320
y = 0.0
print z, x, y
bottle = yarp.Bottle()
bottle.clear()
bottle.addDouble(0.0)
bottle.addDouble(x)
bottle.addDouble(0.0)
bottle.addDouble(-1.0)
self.positionOutPort.write(bottle)
if __name__ == '__main__':
main(JDFollowFace)
