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fix nao vision for naoqi 2.5 #13

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fix nao vision for naoqi 2.5 #13

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33 changes: 22 additions & 11 deletions nao_vision/nodes/nao_vision.py
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Original file line number Diff line number Diff line change
Expand Up @@ -64,7 +64,8 @@
from nao_interaction_msgs.srv import (
LearnFace,
LearnFaceResponse,
VisionMotionSensitivity)
VisionMotionSensitivity,
VisionMotionSensitivityResponse)

class Constants:
NODE_NAME = "nao_vision_interface"
Expand Down Expand Up @@ -287,70 +288,80 @@ def onFaceDetected(self, strVarName, value, strMessage):
self.facesPub.publish(self.faces)

def handleSensitivityChangeSrv(self, req):
res = VisionMotionSensitivityResponse()
if (req.sensitivity.data < 0.0) or (req.sensitivity.data > 1.0):
return
return res

self.movementDetectionProxy.setSensitivity(req.sensitivity.data)
rospy.loginfo("Sensitivity of nao_movement_detection changed to %f", req.sensitivity.data)
return res

def onMovementDetected(self, strVarName, value, strMessage):
"Called when movement was detected"
datavar = self.memProxy.getData("MovementDetection/MovementInfo")
if len(datavar) <= 0:
return

movement = MovementDetected()

movement.gravity_center.x = datavar[0][0][0]
movement.gravity_center.y = datavar[0][0][1]
movement.gravity_center.x = datavar[1][0][0][0]
movement.gravity_center.y = datavar[1][0][0][1]

movement.mean_velocity.x = datavar[0][1][0]
movement.mean_velocity.y = datavar[0][1][1]
movement.mean_velocity.x = 0
movement.mean_velocity.y = 0

for i in range(0, len(datavar[0][2])):
if len(datavar[1][0]) >= 5:
movement.points_poses.append(Point())
movement.points_poses[i].x = datavar[0][2][i][0]
movement.points_poses[i].y = datavar[0][2][i][1]
movement.points_poses[0].x = datavar[1][0][5][0]
movement.points_poses[0].y = datavar[1][0][5][1]

movement.points_speeds.append(Point())
movement.points_speeds[i].x = datavar[0][3][i][0]
movement.points_speeds[i].y = datavar[0][3][i][1]
movement.points_speeds[0].x = 0
movement.points_speeds[0].y = 0

self.movementPub.publish(movement)

def serveSubscribeFaceSrv(self, req):
self.facesPub = rospy.Publisher("nao_vision/faces_detected", FaceDetected)
self.memProxy.subscribeToEvent("FaceDetected", self.moduleName, "onFaceDetected")
self.face_detection_enabled = True
return EmptyResponse()

def serveUnsubscribeFaceSrv(self, req):
if self.face_detection_enabled:
self.memProxy.unsubscribeToEvent("FaceDetected", self.moduleName)
self.facesPub.unregister()
self.face_detection_enabled = False
return EmptyResponse()

def serveSubscribeMotionSrv(self, req):
self.movementPub = rospy.Publisher("nao_vision/movement_detected", MovementDetected)
self.sensitivitySrv = rospy.Service("nao_vision/movement_detection_sensitivity", VisionMotionSensitivity, self.handleSensitivityChangeSrv )
self.memProxy.subscribeToEvent("MovementDetection/MovementDetected", self.moduleName, "onMovementDetected")
self.motion_detection_enabled = True
return EmptyResponse()

def serveUnsubscribeMotionSrv(self, req):
if self.motion_detection_enabled:
self.memProxy.unsubscribeToEvent("MovementDetection/MovementDetected", self.moduleName)
self.movementPub.unregister()
self.sensitivitySrv.shutdown()
self.motion_detection_enabled = False
return EmptyResponse()

def serveSubscribeLandmarkSrv(self, req):
self.landmarkPub = rospy.Publisher("nao_vision/landmark_detected", LandmarkDetected)
self.memProxy.subscribeToEvent("LandmarkDetected", self.moduleName, "onLandmarkDetected")
self.landmarkDetectionProxy.updatePeriod("ROSNaoVisionModuleLandmarkDetected", 200)
self.landmark_detection_enabled = True
return EmptyResponse()

def serveUnsubscribeLandmarkSrv(self, req):
if self.landmark_detection_enabled:
self.memProxy.unsubscribeToEvent("LandmarkDetected", self.moduleName)
self.landmarkPub.unregister()
self.landmark_detection_enabled = False
return EmptyResponse()

def learnFaceSrv(self, req):
res = LearnFaceResponse()
Expand Down