artoo-opencv 0.0.1

data/lib/artoo-opencv.rb

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+require 'lib/artoo/adaptors/opencv'
+require 'lib/artoo/drivers/opencv'
+require 'lib/artoo-opencv/version'

data/lib/artoo-opencv/version.rb

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+module Artoo
+  module Opencv
+    VERSION = '0.0.1'
+  end
+end

data/lib/artoo/adaptors/opencv.rb

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+require 'artoo/adaptors/adaptor'
+
+module Artoo
+  module Adaptors
+    # Connect to a opencv device
+    # @see device documentation for more information
+    class Opencv < Adaptor
+      finalizer :finalize
+      attr_reader :device
+
+      # Closes connection with device if connected
+      # @return [Boolean]
+      def finalize
+        disconnect if connected?
+      end
+
+      # Creates a connection with device
+      # @return [Boolean]
+      def connect
+        super
+      end
+
+      # Closes connection with device
+      # @return [Boolean]
+      def disconnect
+        super
+      end
+
+      # Uses method missing to call device actions
+      # @see device documentation
+      def method_missing(method_name, *arguments, &block)
+        device.send(method_name, *arguments, &block)
+      end
+    end
+  end
+end

data/lib/artoo/adaptors/opencv_capture.rb

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+require 'artoo/adaptors/adaptor'
+
+module Artoo
+  module Adaptors
+    # Connect to a opencv device
+    # @see device documentation for more information
+    class OpencvCapture < Adaptor
+      finalizer :finalize
+      attr_reader :capture
+
+      # Closes connection with device if connected
+      # @return [Boolean]
+      def finalize
+      end
+
+      # Creates a connection with device
+      # @return [Boolean]
+      def connect
+        require 'opencv' unless defined?(::OpenCV) 
+        source = additional_params[:source] || ""
+        if source.to_s.empty?
+          @capture = ::OpenCV::CvCapture::open
+        else
+          @capture = ::OpenCV::CvCapture::open source
+        end
+        super
+      end
+
+      # Closes connection with device
+      # @return [Boolean]
+      def disconnect
+        super
+      end
+
+      # Uses method missing to call device actions
+      # @see device documentation
+      def method_missing(method_name, *arguments, &block)
+        device.send(method_name, *arguments, &block)
+      end
+    end
+  end
+end

data/lib/artoo/adaptors/opencv_window.rb

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+require 'artoo/adaptors/adaptor'
+
+module Artoo
+  module Adaptors
+    # Connect to a opencv device
+    # @see device documentation for more information
+    class OpencvWindow < Adaptor
+      finalizer :finalize
+      attr_reader :window
+
+      # Closes connection with device if connected
+      # @return [Boolean]
+      def finalize
+      end
+
+      # Creates a connection with device
+      # @return [Boolean]
+      def connect
+        require 'opencv' unless defined?(::OpenCV) 
+        super
+      end
+
+      # Closes connection with device
+      # @return [Boolean]
+      def disconnect
+        super
+      end
+
+      # Uses method missing to call device actions
+      # @see device documentation
+      def method_missing(method_name, *arguments, &block)
+        device.send(method_name, *arguments, &block)
+      end
+    end
+  end
+end

data/lib/artoo/drivers/opencv.rb

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+require 'artoo/drivers/driver'
+
+module Artoo
+  module Drivers
+    # The opencv driver behaviors
+    class Opencv < Driver
+      attr_accessor :image
+  
+      def initialize image
+        @image = image
+      end
+
+      def detect_circles(lower, upper)
+        tmp_image = ::OpenCV::BGR2HSV(@image)
+        tmp_image = tmp_image.in_range(::OpenCV::CvScalar.new(lower[:b], lower[:g], lower[:r]), ::OpenCV::CvScalar.new(upper[:b], upper[:g], upper[:r]))
+        return tmp_image.hough_circles(::OpenCV::CV_HOUGH_GRADIENT, 2.0, 10, 200, 50)
+      end
+      
+      def draw_circles!(circles=[])
+        circles.each do |circle|
+          @image.circle! circle.center, circle.radius, :color => ::OpenCV::CvColor::Red, :thickness => 3
+        end
+      end
+
+      def detect_faces(haar)
+        ::OpenCV::CvHaarClassifierCascade::load(haar).detect_objects(@image)
+      end
+
+      def draw_rectangles!(rectangles=[])
+        rectangles.each { |rect|
+          @image.rectangle! rect.top_left, rect.bottom_right, :color => ::OpenCV::CvColor::Red, :thickness => 3
+        }
+      end
+
+      def refresh
+        connection.connect
+      end
+    end
+  end
+end

data/lib/artoo/drivers/opencv_capture.rb

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+require 'artoo/drivers/driver'
+require 'artoo/drivers/opencv'
+
+module Artoo
+  module Drivers
+    # The opencv driver behaviors
+    class OpencvCapture < Driver
+
+      COMMANDS = [:opencv].freeze
+
+      attr_accessor :opencv
+      # Start driver and any required connections
+      def start_driver
+        begin
+          every(interval) do
+            handle_frame
+          end
+          super
+        rescue Exception => e
+          Logger.error "Error starting Opencv driver!"
+          Logger.error e.message
+          Logger.error e.backtrace.inspect
+        end
+      end
+
+      def handle_frame
+        if !connection.capture.nil?
+          frame = connection.capture.query 
+          if !frame.nil?
+            @opencv = Artoo::Drivers::Opencv.new(frame)
+            publish(event_topic_name("frame"), @opencv) 
+          else
+            connection.connect
+          end
+        else
+          connection.connect
+        end
+      end
+    end
+  end
+end

data/lib/artoo/drivers/opencv_window.rb

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+require 'artoo/drivers/driver'
+require 'opencv'
+
+module Artoo
+  module Drivers
+    class OpencvWindow < Driver
+
+      COMMANDS = [:image=].freeze
+
+      attr_accessor :image, :window
+
+      def initialize(params={})
+        super
+        title = additional_params[:title] || ""
+        @window = ::OpenCV::GUI::Window.new(title)
+      end
+
+      # Start driver and any required connections
+      def start_driver
+        begin
+          every(interval) do
+            show_image 
+          end
+          super
+        rescue Exception => e
+          Logger.error "Error starting Opencv driver!"
+          Logger.error e.message
+          Logger.error e.backtrace.inspect
+        end
+      end
+
+
+      def show_image
+        begin
+          window.show @image if !@image.nil?
+          ::OpenCV::GUI::wait_key(1)
+        rescue Exception => e
+          Logger.error e.message
+        end
+      end
+    end
+  end
+end

data/test/adaptors/opencv_adaptor_test.rb

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+require File.expand_path(File.dirname(__FILE__) + "/../test_helper")
+require 'artoo/adaptors/opencv'
+
+# TODO: test for your adaptor goes here...

data/test/drivers/opencv_driver_test.rb

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+require File.expand_path(File.dirname(__FILE__) + "/../test_helper")
+require 'artoo/drivers/opencv'
+
+# TODO: test for your driver goes here...

data/test/test_helper.rb

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+require 'artoo/robot'
+
+require 'minitest/autorun'
+
+Celluloid.logger = nil

metadata

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+--- !ruby/object:Gem::Specification
+name: artoo-opencv
+version: !ruby/object:Gem::Version
+  version: 0.0.1
+platform: ruby
+authors:
+- Adrian Zankich
+autorequire: 
+bindir: bin
+cert_chain: []
+date: 2013-09-19 00:00:00.000000000 Z
+dependencies:
+- !ruby/object:Gem::Dependency
+  name: artoo
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: 1.2.0
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: 1.2.0
+- !ruby/object:Gem::Dependency
+  name: ruby-opencv
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: 0.0.10
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: 0.0.10
+description: Artoo adaptor and driver for Opencv
+email:
+- artoo@hybridgroup.com
+executables: []
+extensions: []
+extra_rdoc_files: []
+files:
+- .gitignore
+- Gemfile
+- Gemfile.lock
+- LICENSE
+- README.md
+- Rakefile
+- artoo-opencv.gemspec
+- examples/ardrone_face_tracking.rb
+- examples/ardrone_tracking.rb
+- examples/ball_tracking.rb
+- examples/capture.rb
+- examples/face_detect.rb
+- examples/haarcascade_frontalface_alt.xml
+- lib/artoo-opencv.rb
+- lib/artoo-opencv/version.rb
+- lib/artoo/adaptors/opencv.rb
+- lib/artoo/adaptors/opencv_capture.rb
+- lib/artoo/adaptors/opencv_window.rb
+- lib/artoo/drivers/opencv.rb
+- lib/artoo/drivers/opencv_capture.rb
+- lib/artoo/drivers/opencv_window.rb
+- test/adaptors/opencv_adaptor_test.rb
+- test/drivers/opencv_driver_test.rb
+- test/test_helper.rb
+homepage: http://artoo.io
+licenses: []
+metadata: {}
+post_install_message: 
+rdoc_options: []
+require_paths:
+- lib
+required_ruby_version: !ruby/object:Gem::Requirement
+  requirements:
+  - - '>='
+    - !ruby/object:Gem::Version
+      version: '0'
+required_rubygems_version: !ruby/object:Gem::Requirement
+  requirements:
+  - - '>='
+    - !ruby/object:Gem::Version
+      version: '0'
+requirements: []
+rubyforge_project: artoo-opencv
+rubygems_version: 2.0.3
+signing_key: 
+specification_version: 4
+summary: Artoo adaptor and driver for Opencv
+test_files: []