def listen(self, host=respeaker.HOST, port=respeaker.PORT):
while True:
samples = get_data(host, port)
is_gunshot = self.detect(samples[:, 0])
if is_gunshot:
direction = respeaker.api.direction
print("Gunshot(s)! Direction: {}".format(direction))
def listen(self, rate=respeaker.RATE,
host=respeaker.HOST, port=respeaker.PORT):
while True:
samples = get_data(host, port)
emotion, confidence = self.detect(samples[:, 0], rate)
if emotion:
direction = respeaker.api.direction
print("Emotion: {:10}\tConfidence: {:5.2}\tDirection: {:5}"
.format(emotion, confidence, direction))
def livestream(detect, fps=realsense.FPS, **kwargs):
delay = int(100 / fps)
while True:
rgbd = get_data(realsense.HOST, realsense.PORT)
rgb, depth = split_rgbd(rgbd)
rgb, _ = detect(rgb, depth, **kwargs)
cv2.imshow("livestream", rgb)
if cv2.waitKey(delay) == ord("q"):
break
cv2.destroyAllWindows()
def detect():
samples = get_data(respeaker.HOST, respeaker.PORT)
direction = respeaker.api.direction
if direction > 180:
direction -= 360
emotion, confidence = sentiment.detect(samples[:, 0])
is_gunshot = gunshot.detect(samples[:, 0])
print("Emotion: {}, Confidence: {:5.2}".format(emotion, float(confidence)))
print("Gunshot?: {}".format(is_gunshot))
print("Direction: {}".format(direction))
frames = d435i._get_frames()
frames = d435i._frames_to_rgbd(frames)
rgb, depth = split_rgbd(frames)
rgb, markers = tracker.detect(rgb, depth)
rgb, detections = yolov3.detect(rgb, depth)
marker = {}
for m in markers:
if m["id"] == route[index]:
marker = m
for detection in detections:
h_angle = detection["h_angle"]
if direction < h_angle + 20 and direction > h_angle - 20:
detection["emotion"] = emotion
for e in detection["equip"]:
if e["label"] == "Rifle" or e["label"] == "Handgun":
e["gunshot"] = is_gunshot
e["direction"] = direction
else:
detection["emotion"] = '-'
print("Marker: {}".format(marker))
print("Detections: {}".format(detections))
if marker:
marker["objectsDetected"] = detections
connect_and_send(marker, host="192.168.1.136", port=8998)
if detections:
connect_and_send(detections, host="192.168.1.136", port=8888)
return rgb
import argparse
import sys
sys.path.append("./devastator")
from robot import respeaker
from robot.helpers import get_data
from sound.sentiment import Sentiment
if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument("--listen", action="store_true")
args = parser.parse_args()
sentiment = Sentiment()
if args.listen:
sentiment.listen()
else:
samples = get_data(respeaker.HOST, respeaker.PORT)
emotion, confidence = sentiment.detect(samples[:, 0])
print("Emotion: {:10}\tConfidence: {:5.2}".format(emotion, confidence))
import argparse
import sys
sys.path.append("./devastator")
import cv2
import robot.realsense as realsense
from robot.helpers import get_data
from vision.helpers import split_rgbd
from vision.tracker import Tracker
from vision.yolo import YoloV3
if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument("--fps", type=int, default=realsense.FPS)
args = parser.parse_args()
yolov3, tracker = YoloV3(), Tracker()
delay = int(100 / args.fps)
while True:
frames = get_data(realsense.HOST, realsense.PORT)
rgb, depth = split_rgbd(frames)
rgb, detections = yolov3.detect(rgb, depth)
rgb, markers = tracker.detect(rgb, depth)
cv2.imshow("vision", rgb)
if cv2.waitKey(delay) == ord("q"):
break
