示例#1
0
    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;
    }
示例#2
0
文件: main.cpp 项目: melidisc/VVV14
    void generateTarget()
    {   
        // translational target part: a circular trajectory
        // in the yz plane centered in [-0.3,-0.1,0.1] with radius=0.1 m
        // and frequency 0.1 Hz
//        xd[0]=-0.3;
//        xd[1]=-0.1+0.2*cos(2.0*M_PI*0.1*(t-t0));
//        xd[2]=+0.1+0.2*sin(2.0*M_PI*0.1*(t-t0));            
   
        // we keep the orientation of the left arm constant:
        // we want the middle finger to point forward (end-effector x-axis)
        // with the palm turned down (end-effector y-axis points leftward);
        // to achieve that it is enough to rotate the root frame of pi around z-axis
        od[0]=0.0; od[1]=0.0; od[2]=1.0; od[3]=M_PI;
        
        //adding code for taget location through vision
        //incoming image from both eyes
        Bottle *target = incomingPort.read();
        Vector r(2), l(2);
        r[0] = target->get(0).asDouble();
        r[1] = target->get(1).asDouble();
        l[0] = target->get(3).asDouble();
        l[1] = target->get(4).asDouble();
        
        if(r[0]==0.0 && r[1]==0.0 && l[0]==0.0 && l[1]==0.0){
            xd[0]=-0.3;
            xd[1]=-.1;
            xd[2]=.1;
            
        }
        else{
            igaze->lookAtStereoPixels(l,r);
            igaze->triangulate3DPoint(l,r,xd);
        }

        
        
        
    }