@return Argument Parser object
"""
parser = argparse.ArgumentParser(
description='Create a SensorModule for Yarp.')
parser.add_argument('-n',
'--name',
dest='name',
default='',
help='Name prefix for Yarp port names')
parser.add_argument(
'-m',
'--memory',
dest='memory',
type=type(0),
default=0,
help='Defines how long the marker positions are kept in memory.')
parser.add_argument('-t',
'--translation',
dest='translation',
default='',
help='Give a file path to a translation file.')
return parser.parse_args()
if __name__ == '__main__':
main(HCMarker, createArgParser())
@param cv2_image - an OpenCV image object
"""
# we only care for one contour
gray = cv2.cvtColor(cv2_image, cv2.COLOR_RGB2GRAY)
faces = OCFaceDetector.HC['frontalface_default'].detectMultiScale(gray, 1.3, 5)
for (x, y, width, height) in faces:
cv2.rectangle(cv2_image, (x, y), (x + width, y + height), (255, 0, 0), 2)
roi_gray = gray[y:y + height, x:x + width]
roi_color = cv2_image[y:y + height, x:x + width]
eyes = OCFaceDetector.HC['eye'].detectMultiScale(roi_gray)
for (e_x, e_y, e_width, e_height) in eyes:
cv2.rectangle( roi_color,
(e_x, e_y),
(e_x + e_width, e_y + e_height),
(0, 255, 0),
2
)
self.sendFaces(faces)
self.sendPseudoSkeleton(faces)
return cv2_image
if __name__ == '__main__':
main(OCFaceDetector)
The method detects faces and draws a bounding box around them on the output image.
Afterwards the additional information is send to the corresponding ports.
@param cv2_image - an OpenCV image object
"""
# we only care for one contour
gray = cv2.cvtColor(cv2_image, cv2.COLOR_RGB2GRAY)
faces = OCFaceDetector.HC['frontalface_default'].detectMultiScale(
gray, 1.3, 5)
for (x, y, width, height) in faces:
cv2.rectangle(cv2_image, (x, y), (x + width, y + height),
(255, 0, 0), 2)
roi_gray = gray[y:y + height, x:x + width]
roi_color = cv2_image[y:y + height, x:x + width]
eyes = OCFaceDetector.HC['eye'].detectMultiScale(roi_gray)
for (e_x, e_y, e_width, e_height) in eyes:
cv2.rectangle(roi_color, (e_x, e_y),
(e_x + e_width, e_y + e_height), (0, 255, 0), 2)
self.sendFaces(faces)
self.sendPseudoSkeleton(faces)
return cv2_image
if __name__ == '__main__':
main(OCFaceDetector)
j_data = skeleton.data[joint]
bottle.addString(label)
_ = [
bottle.addDouble(value)
for value in [j_data['POS'][-1]] + j_data['POS'][:3]
]
bottle.addString("Orientation")
bottle.addDouble(j_data['ORI'][-1])
_ = [
bottle.addDouble(value)
for value in j_data['ORI_RM'].flatten()
]
# pass the time value as first element in the envelop
ebottle = yarp.Bottle()
ebottle.clear()
ebottle.addDouble(envelope_bottle.get(1).asDouble())
self.skeletonOutPort.setEnvelope(ebottle)
self.skeletonOutPort.write(bottle)
def respond(self, command, reply):
return True
if __name__ == '__main__':
main(TSUserSkeleton)
reply.addString("ack" if success else "nack")
return True
def createArgParser():
""" This method creates a base argument parser.
@return Argument Parser object
"""
parser = argparse.ArgumentParser(description="Create a SensorModule for Yarp.")
parser.add_argument("-n", "--name", dest="name", default="", help="Name prefix for Yarp port names")
parser.add_argument(
"-m",
"--memory",
dest="memory",
type=type(0),
default=0,
help="Defines how long the marker positions are kept in memory.",
)
parser.add_argument(
"-t", "--translation", dest="translation", default="", help="Give a file path to a translation file."
)
return parser.parse_args()
if __name__ == "__main__":
main(HCMarker, createArgParser())
skeleton = data[key]
bottle = yarp.Bottle()
bottle.clear()
for joint, label in TSUserSkeleton.USED_JOINTS.items():
j_data = skeleton.data[joint]
bottle.addString(label)
_ = [bottle.addDouble(value) for value in [j_data['POS'][-1]] + j_data['POS'][:3]]
bottle.addString("Orientation")
bottle.addDouble(j_data['ORI'][-1])
_ = [bottle.addDouble(value) for value in j_data['ORI_RM'].flatten()]
# pass the time value as first element in the envelop
ebottle = yarp.Bottle()
ebottle.clear()
ebottle.addDouble(envelope_bottle.get(1).asDouble())
self.skeletonOutPort.setEnvelope(ebottle)
self.skeletonOutPort.write(bottle)
def respond(self, command, reply):
return True
if __name__ == '__main__':
main(TSUserSkeleton)
