class ObjectTrackerModule(ALModule):
def __init__(self, name):
ALModule.__init__(self, name)
self.tts = ALProxy("ALTextToSpeech")
self.gestureProxy = ALProxy("NAOObjectGesture", myBroker)
self.motionProxy = ALProxy("ALMotion", myBroker)
self.memProxy = ALProxy("ALMemory", myBroker)
self.motionProxy.setStiffnesses("Head", 1.0)
self.gestureProxy.startTracker(15, 0)
self.gestureProxy.addGesture("Drink", [2,6])
self.gestureProxy.addGesture("FrogL", [1,0,7])
self.gestureProxy.addGesture("FrogR", [3,4,5])
def startTracker(self, camId):
self.gestureProxy.startTracker(15, camId)
self.gestureProxy.focusObject(-1)
def stopTracker(self):
self.gestureProxy.stopTracker()
self.gestureProxy.stopFocus()
def load(self, path, name):
self.gestureProxy.loadDataset(path)
self.gestureProxy.trackObject(name, -len(self.kindNames))
self.memProxy.subscribeToMicroEvent(name, "ObjectTracker", name, "onObjGet")
def onObjGet(self, key, value, message):
id = -1
if (key in self.kindNames):
id = self.kindNames.index(key)
else:
return
if (value != None):
if (value[0] != 0):
if (value[5]!=None):
print (value[5])
else:
if (value[1]!=None):
print (value[1])
def unload(self):
self.gestureProxy.stopTracker()
for i in range(0, len(self.exists)):
self.gestureProxy.removeObjectKind(0)
self.gestureProxy.removeEvent(self.kindNames[i])
self.gestureProxy.removeGesture("Drink")
self.gestureProxy.removeGesture("FrogL")
self.gestureProxy.removeGesture("FrogR")
