stribor14/nao-picoclass

PicoClass

Naoqi(2.1) module for visual classification based on PICO classifying algorithm (https://github.com/nenadmarkus/pico)

Module methods:

bool addClassifier(className, cascade, angle, scalefactor, stridefactor, minsize, treshold)
bool changeClassifierParameters(className, angle, scalefactor, stridefactor, minsize, treshold)
bool removeClassifier(className)  
AL::ALValue getClassifierList()  
AL::ALValue getClassifierParameters(className)  
void detectOnImage(image)  
void subscribe(subscriberName) 
void unsubscribe(subscriberName)
bool setFrameRate(frameRate)  
bool setResolution(resolution)  
bool setActiveCamera(cameraID)   
int getFrameRate() 
int getResolution() 
int getActiveCamera()
void pause(bool)
bool isPaused()
bool isProcessing()

Module event: "picoDetections"

Image timestamp:
  eventValue[0]  - seconds
  eventValue[1]  - microseconds
Image size:
  eventValue[2]  - width
  eventValue[3]  - height
Detected objects:
  eventValue[4+][0] - classifier name
  eventValue[4+][1] - X coordinate
  eventValue[4+][2] - Y coordinate
  eventValue[4+][3] - Diameter
  eventValue[4+][4] - Certainty

Example:

broker = AL::ALBroker("PicoModule", "nao.local")
classNames = broker.getClassifierList();
if(!classNames.find("face"))
    broker.addClassifier("face", "/home/nao/facefinder", -1, -1, -1, -1, -1)
    # if negative parameter value, module uses default one
broker.setCamera(0)
broker.subscribe("myName") # process starts if there is classifier
if(broker.isProcessing())
    # TODO: add ALMemoryProxy and listen do "PicoModule" event "picoDetections"