virtual bool threadInit()
{
string name=rf.check("name",Value("faceTracker")).asString().c_str();
string robot=rf.check("robot",Value("icub")).asString().c_str();
int period=rf.check("period",Value(50)).asInt();
eye=rf.check("eye",Value("left")).asString().c_str();
arm=rf.check("arm",Value("right")).asString().c_str();
eyeDist=rf.check("eyeDist",Value(1.0)).asDouble();
holdoff=rf.check("holdoff",Value(3.0)).asDouble();
Property optGaze("(device gazecontrollerclient)");
optGaze.put("remote","/iKinGazeCtrl");
optGaze.put("local",("/"+name+"/gaze_client").c_str());
if (!clientGaze.open(optGaze))
return false;
clientGaze.view(igaze);
igaze->storeContext(&startup_gazeContext_id);
igaze->blockNeckRoll(0.0);
if (arm!="none")
{
Property optArm("(device cartesiancontrollerclient)");
optArm.put("remote",("/"+robot+"/cartesianController/"+arm+"_arm").c_str());
optArm.put("local",("/"+name+"/arm_client").c_str());
if (!clientArm.open(optArm))
return false;
clientArm.view(iarm);
iarm->storeContext(&startup_armContext_id);
}
portImgIn.open(("/"+name+"/img:i").c_str());
portImgOut.open(("/"+name+"/img:o").c_str());
portTopDown.open(("/"+name+"/topdown:i").c_str());
portSetFace.open(("/"+name+"/setFace:rpc").c_str());
if (!fd.init(rf.findFile("descriptor").c_str()))
{
fprintf(stdout,"Cannot load descriptor!\n");
return false;
}
Rand::init();
resetState();
armCmdState=0;
queuedFaceExprFlag=false;
setRate(period);
cvSetNumThreads(1);
t0=Time::now();
return true;
}
/*
* Configure function. Receive a previously initialized
* resource finder object. Use it to configure your module.
* Open port and attach it to message handler.
*/
bool configure(yarp::os::ResourceFinder &rf)
{
/*
list.push_back("The market is open."); // 4
list.push_back("The orange is sweet."); // 4
list.push_back("I love to play guitar."); // 5
list.push_back("He is in the kitchen."); // 5
list.push_back("I can speak English."); // 4
list.push_back("He is going home."); // 4
list.push_back("Tom is a funny man."); // 5
list.push_back("I have three apples."); // 4
list.push_back("The music; was good."); // 4
list.push_back("I am not a robot."); // 5
list.push_back("She is very pretty."); // 4
list.push_back("This song is great."); // 4
list.push_back("My friend has a horse."); // 5
list.push_back("The apple tasted good."); // 4
list.push_back("I like red flowers."); // 4
list.push_back("My horse runs very fast."); // 5
list.push_back("I have a nice house."); // 5
list.push_back("Jill wants a doll."); // 4
list.push_back("I have a computer."); // 4
list.push_back("Tom is stronger than Dan."); // 5
list.push_back("We, sing; a song."); // 4
list.push_back("I was very happy yesterday."); // 5
list.push_back("He eats white bread."); // 4
list.push_back("Jack wants a toy."); // 4
list.push_back("She is in the shower."); // 5
list.push_back("The baby plays with toys."); // 5
list.push_back("She is a teacher."); // 4
list.push_back("I have a nice box."); // 5
list.push_back("You look very happy."); // 4
list.push_back("The baby fell asleep."); // 4
list.push_back("They are; my friends."); // 4
list.push_back("I went to school."); // 4
*/
english = 1;
if(english)
{
list.push_back("Benvenuti.");
list.push_back("Io sono AICAB.");
list.push_back("Sono felice di vederti.");
list.push_back("Ciao.");
list.push_back("Come va?");
list.push_back("Questa e casa mia.");
list.push_back("Io sono un robot.");
list.push_back("Ciao.");
/* list.push_back("Hi, how are you?");
list.push_back("Hello.");
list.push_back("I'm looking at you.");
list.push_back("How is it going?");
list.push_back("Hello, I'm eye cub.");
list.push_back("Welcome to my home.");
list.push_back("Hi there.");
list.push_back("Hello.");
*/
/* list.push_back("We sing a song.");
list.push_back("I was very happy yesterday.");
list.push_back("I have a computer.");
list.push_back("Jill wants a doll.");
list.push_back("He eats white bread.");
list.push_back("I love to play guitar.");
list.push_back("He is in the kitchen.");
list.push_back("She has a nice bike.");
list.push_back("I went to school.");
list.push_back("Tom is stronger than Dan.");
list.push_back("She is a teacher.");
list.push_back("I like red flowers.");
list.push_back("The music was good.");
list.push_back("The apple tasted good.");
list.push_back("You look very happy.");
list.push_back("I have three apples.");
list.push_back("Jack wants a toy.");
list.push_back("The baby plays with toys.");
list.push_back("I have a nice box.");
list.push_back("This song is great.");
list.push_back("Tom is a funny man.");
list.push_back("My friend has a horse.");
list.push_back("The baby fell asleep.");
list.push_back("I can speak English.");
list.push_back("I am not a robot.");
list.push_back("My horse runs very fast.");
list.push_back("They are going home.");
list.push_back("She is very pretty.");
list.push_back("The market is open.");
list.push_back("She is in the shower.");
list.push_back("They are; my friends.");
list.push_back("The apple is sweet.");*/
}
else
{
list.push_back("Il bar è aperto.");
list.push_back("Mi piace molto ballare.");
list.push_back("Non bevo il caffè.");
list.push_back("Marco ha tanti cani.");
list.push_back("Il mare è calmo.");
list.push_back("Il cane abbaia spesso.");
list.push_back("Sono allergico al latte.");
list.push_back("La sedia è in camera.");
list.push_back("La luce è rossa.");
list.push_back("Lui ha sempre ragione.");
list.push_back("Giovedí scorso era festa.");
list.push_back("Oggi splende il sole.");
list.push_back("Ho comprato il pane.");
list.push_back("Guido tutti i giorni.");
list.push_back("Vado spesso al mare.");
list.push_back("La notte è buia.");
list.push_back("Mi piace il gelato.");
list.push_back("Devo scrivere un tema.");
list.push_back("Lei ama cucire.");
list.push_back("Io ballo la polka.");
list.push_back("Gino canta molto bene.");
list.push_back("Vado a dormire presto.");
list.push_back("La lettera è firmata.");
list.push_back("Gioco spesso a carte.");
list.push_back("Mi piace l'opera.");
list.push_back("Ho mangiato le mele.");
list.push_back("Sua nonna sta bene.");
list.push_back("Ho una maglia blu.");
list.push_back("Il piatto è sul tavolo.");
list.push_back("La giornata è piovosa.");
list.push_back("Il film dura due ore.");
list.push_back("La bottiglia è piena.");
}
gazeCount=0;
speech_counter=0;
online=1;
prev = Time::now();
waittime=5.0;
withgaze=1;
prevyes=0;
state=1;
order=2;
initstate=1;
prevStr = "quiet";
donespeaking=1;
wordnumber=0;
charnumber=0;
prevgaze=0;
facecounter=0;
gazelength=0.0;
gazelen=0.0;
motorson=1;
firstspeech=0;
if(motorson==1)
{
Property optGaze("(device gazecontrollerclient)");
optGaze.put("remote","/iKinGazeCtrl");
optGaze.put("local","/icub_eyetrack/gaze");
printf("\nHello.\n");
if (!clientGaze.open(optGaze))
{
printf("\nGAZE FAILED\n");
return false;
}
else
printf("\nGAZE OPEN\n");
clientGaze.view(igaze);
igaze->blockNeckRoll(0.0);
igaze->setNeckTrajTime(0.8);
igaze->setEyesTrajTime(0.4);
yarp::sig::Vector azelr(3);
/// azelr[0] = -30.0;
/// azelr[1] = 0.0;
azelr[0] = 0.0;
azelr[1] = 20.0;
azelr[2] = 0.0;
igaze->lookAtAbsAngles(azelr);
}
handlerPort.open("/dictationcontroller");
gazeIn.open( "/dictationcontroller/gaze:i" );
speechOut.open( "/dictationcontroller/speech:o" );
logOut.open( "/dictationcontroller/log:o" );
attach(handlerPort);
Network::connect("/dlibgazer/out", "/dictationcontroller/gaze:i");
Network::connect("/dictationcontroller/speech:o", "/iSpeak");
speechStatusPort.open("/dictationcontroller/iSpeakrpc");
Network::connect("/dictationcontroller/iSpeakrpc", "/iSpeak/rpc");
frame_counter=0;
cout<<"Done configuring!" << endl;
return true;
}
