bool lookForFaces()
{
yarp::sig::Vector pxl(2,0.0);
yarp::sig::Vector pxr(2,0.0);
while (true)
{
imageInR = imagePortInR -> read(false);
imageInL = imagePortInL -> read(false);
if (imageInL)
{
ImageOf<PixelBgr> imageOutL;
detectorL->loop(imageInL,imageOutL);
imagePortOutL.write(imageOutL);
}
if (imageInR)
{
ImageOf<PixelBgr> imageOutR;
detectorR->loop(imageInR,imageOutR);
imagePortOutR.write(imageOutR);
}
printMessage(2,"counterL: %i counterR: %i\n",detectorL->counter,detectorR->counter);
if (detectorL->counter > certainty &&
detectorR->counter > certainty)
{
pxl=detectorL->getCenterOfFace();
pxr=detectorR->getCenterOfFace();
printMessage(1,"I have found a face! pxl: %s pxr: %s\n",pxl.toString().c_str(),pxr.toString().c_str());
if (pxl(0)!=0.0 && pxr(0)!=0.0)
{
igaze->lookAtStereoPixels(pxl,pxr);
}
return true;
}
Time::delay(0.1);
}
return false;
}
bool updateModule()
{
detector->loop();
return true;
}