diff --git a/scripts/Eye.py b/scripts/Eye.py
index 3d5d3394d8d7133f594dc6536372e677d7d0641a..4906aea1f445bf8a4fef5af50235316b5a1a4cdb 100755
--- a/scripts/Eye.py
+++ b/scripts/Eye.py
@@ -11,9 +11,8 @@ import rospy
class Eye:
- def __init__(self):
- self.robot_gender = rospy.get_param("/gender")
- self.eyes = Image.open("test/pupil.png") # eye image
+ def __init__(self, file):
+ self.eyes = Image.open(file) # eye image
self.positionX = 0 # keeps the x position as a coordinate
self.positionY = 0 # keeps the y position as a coordinate
diff --git a/scripts/Eyebrow.py b/scripts/Eyebrow.py
index 237f36ad96507134550f962627c8387b8a7489f6..274ff441bb9f6ffef7cc9d168d5dc6f310b6a6e0 100755
--- a/scripts/Eyebrow.py
+++ b/scripts/Eyebrow.py
@@ -13,12 +13,13 @@ class Eyebrow:
indexOfEyebrow = 0 # choosen element of the array
def __init__(self, initEyebrow):
- self.robot_gender = rospy.get_param("/gender")
# This array keeps the diffirent shape of eyebrow
self.eyebrows = [
+ Image.open("test/eye_brow_neutral.png"),
Image.open("test/eye_brow_happy.png"),
Image.open("test/eye_brow_sad.png"),
- Image.open("test/eye_brow_angry.png"),
+ Image.open("test/eye_brow_confused.png"),
+ Image.open("test/eye_brow_angry.png")
#Image.open("data/"+self.robot_gender+"/eyebrow/baxter_eyebrow_3.png"),
#Image.open("data/"+self.robot_gender+"/eyebrow/baxter_eyebrow_4.png")
]
diff --git a/scripts/Eyelid.py b/scripts/Eyelid.py
index bb8c4288afadd2a72758ca78d82e07e21def4bd3..3d8befe8a260dfb1036540c042dd424606921de5 100755
--- a/scripts/Eyelid.py
+++ b/scripts/Eyelid.py
@@ -11,7 +11,6 @@ import rospy
class Eyelid:
def __init__(self):
- self.robot_gender = rospy.get_param("/gender")
self.eyelid = Image.open("test/eyelid.png") # eyelid image
self.position = 0 # y position, we don't need x position because of vertical movment.
diff --git a/scripts/Face.py b/scripts/Face.py
index ee922249ac4f846b1596f827aa6fd7b05ef58fbb..ad563204b9785cd28231e60c1123b11401aa94a1 100755
--- a/scripts/Face.py
+++ b/scripts/Face.py
@@ -54,17 +54,16 @@ import rospy
class Face:
def __init__(self):
- self.robot_gender = rospy.get_param("/gender")
# determine the path and set the default path place
os.chdir(r'/home/{}/pal/cognitive_game_ws/src/robot_facial_expression/scripts'.format(getpass.getuser()))
''' Parts of the face of baxter are defined.'''
- self.backgroundImage = Image.open("data/"+self.robot_gender+"/baxter_background.png") # Background behind the eyes
+ self.backgroundImage = Image.open("data/baxter_background.png") # Background behind the eyes
# Face partions objects
+ self.eye = Eye.Eye("test/pupil.png")
self.skin = Skin.Skin(5) # range: [0, 5]
self.mouth = Mouth.Mouth(2) # range: [0, 6]
self.eyebrow = Eyebrow.Eyebrow(2) # range: [0, 3]
- self.eye = Eye.Eye()
self.eyelid = Eyelid.Eyelid()
self.eyelid.setPosition(-330)
self.eyesCoordinateX = self.eye.getPositionX()
@@ -72,6 +71,7 @@ class Face:
# buildFace function is combining the all face parts together.
def buildFace(self):
+ #self.eye = Eye.Eye("test/pupil.png")
# Merging the layers
faceImage = self.backgroundImage.copy()
faceImage.paste(self.eye.getEyes(), (int(self.eye.getPositionX()), int(self.eye.getPositionY())), self.eye.getEyes())
@@ -82,9 +82,23 @@ class Face:
image = array(faceImage)
return image
+ # def buildFaceHappy(self):
+ # self.eye = Eye.Eye("test/pupil_happy.png")
+ # # Merging the layers
+ # faceImage = self.backgroundImage.copy()
+ # faceImage.paste(self.eye.getEyes(), (int(self.eye.getPositionX()), int(self.eye.getPositionY())), self.eye.getEyes())
+ # faceImage.paste(self.eyelid.getEyelid(), (0, self.eyelid.getPosition()), self.eyelid.getEyelid())
+ # faceImage.paste(self.skin.getSkin(), (0, 0), self.skin.getSkin())
+ # #faceImage.paste(self.mouth.getMouth(), (0, 0), self.mouth.getMouth())
+ # faceImage.paste(self.eyebrow.getEyebrow(), (0, 0), self.eyebrow.getEyebrow())
+ # image = array(faceImage)
+ # return image
def show(self, publish):
image = self.buildFace()
publish(image)
+ #def show_happy(self, publish):
+ # image = self.buildFaceHappy()
+ # publish(image)
# Reposition of the eyes of the baxter
# This function provide with the eyes' simulation movement
@@ -111,7 +125,7 @@ class Face:
def lookWithMotionDynamic(self, cv2, destinationX, destinationY, time, publish, wobbler):
# if it is not initilized don't applicate the function
- if wobbler != None:
+ if wobbler != None:
# taking head position as a coordinate
headPositionRadian = wobbler.getPosition()
headPositionCoordinate = self.radianToCoordinate(headPositionRadian)
@@ -130,7 +144,7 @@ class Face:
def lookExactCoordinateDynamic(self, destinationX, destinationY, publish, wobbler):
# Looking the given coordinate according to the position of the head.
- if wobbler != None:
+ if wobbler != None:
# taking head position as a coordinate
headPositionRadian = wobbler.getPosition()
headPositionCoordinate = self.radianToCoordinate(headPositionRadian)
@@ -139,7 +153,7 @@ class Face:
# wobbling -> look at the given coordinates physicly
print "Wobbling to: ", destinationX
wobbler.wobble(self.coordinateToRadian(destinationX))
- self.eye.lookExactCoordinate(0, destinationY)
+ self.eye.lookExactCoordinate(0, destinationY)
else:
# Normal looking with eyes with an animation
destinationX = destinationX - headPositionCoordinate
@@ -153,6 +167,7 @@ class Face:
"""
def winkMove(self, cv2, destinationPosition, time, publish):
+
# Animation initial values
startTime = timeit.default_timer()
currentTime = timeit.default_timer()
@@ -219,7 +234,7 @@ class Face:
self.winkMove(cv2, -330, 0.3, publish) # Eyelids are not seen.
self.skin.setSkin(2)
mouthIndex = 4#random.choice(mouthArray)
- eyebrowIndex = 0#random.choice(eyeBrowArray)
+ eyebrowIndex = 1#random.choice(eyeBrowArray)
self.showEmotion(mouthIndex, eyebrowIndex, cv2, publish)
def emotion_neutral(self, cv2, publish):
@@ -236,7 +251,7 @@ class Face:
self.winkMove(cv2, -330, 0.3, publish) # Eyelids are not seen.
self.skin.setSkin(4)
mouthIndex = random.choice(mouthArray)
- eyebrowIndex = 2#random.choice(eyeBrowArray)
+ eyebrowIndex = 4#random.choice(eyeBrowArray)
self.showEmotion(mouthIndex, eyebrowIndex, cv2, publish)
def emotion_confused(self, cv2, publish):
@@ -245,7 +260,7 @@ class Face:
self.winkMove(cv2, -330, 0.3, publish) # Eyelids are not seen.
self.skin.setSkin(3)
mouthIndex = random.choice(mouthArray)
- eyebrowIndex = random.choice(eyeBrowArray)
+ eyebrowIndex = 3
self.showEmotion(mouthIndex, eyebrowIndex, cv2, publish)
def emotion_sad(self, cv2, publish):
@@ -254,7 +269,7 @@ class Face:
self.winkMove(cv2, -330, 0.3, publish) # Eyelids are not seen.
self.skin.setSkin(1)
mouthIndex = 1#random.choice(mouthArray)
- eyebrowIndex = 1#random.choice(eyeBrowArray)
+ eyebrowIndex = 2#random.choice(eyeBrowArray)
self.showEmotion(mouthIndex, eyebrowIndex, cv2, publish)
def emotion_panic(self, cv2, publish):
@@ -284,16 +299,6 @@ class Face:
eyebrowIndex = random.choice(eyeBrowArray)
self.showEmotion(mouthIndex, eyebrowIndex, cv2, publish)
- def testAllImages(self, cv2, publish):
- for index in range(6):
- self.skin.setSkin(index)
- self.show(publish)
- for index in range(7):
- self.showEmotion(index, 0, cv2, publish)
- time.sleep(0.1)
- for index in range(5):
- self.showEmotion(1, index, cv2, publish)
- time.sleep(0.1)
""" Head Joint move calculations """
diff --git a/scripts/Mouth.py b/scripts/Mouth.py
index e0ecf68e2910d92587bc26e48cd7cc56a4649677..4044b6eb1955bad7265a175088a2710cd5014b6b 100755
--- a/scripts/Mouth.py
+++ b/scripts/Mouth.py
@@ -13,16 +13,10 @@ class Mouth:
indexOfMouth = 0 # choosen element of the array
def __init__(self, initMouth):
- self.robot_gender = rospy.get_param("/gender")
# This array keeps the diffirent shape of mouth
self.mouths = [
- Image.open("data/"+self.robot_gender+"/mouth/baxter_mouth_angry.png"),
- Image.open("data/"+self.robot_gender+"/mouth/baxter_mouth_boring.png"),
- Image.open("data/"+self.robot_gender+"/mouth/baxter_mouth_confused.png"),
- Image.open("data/"+self.robot_gender+"/mouth/baxter_mouth_sad.png"),
- Image.open("data/"+self.robot_gender+"/mouth/baxter_mouth_smile_open.png"),
- Image.open("data/"+self.robot_gender+"/mouth/baxter_mouth_neutral.png")
+
#Image.open("data/mouth/baxter_mouth_smile_open.png")
]
diff --git a/scripts/Skin.py b/scripts/Skin.py
index d2131b50d19c80286d12d51c86f520ca6c8a1386..fc8b532b90896963145b75454f819f7e53466de5 100755
--- a/scripts/Skin.py
+++ b/scripts/Skin.py
@@ -13,7 +13,6 @@ class Skin:
indexOfSkin = 5 # choosen element of the array
def __init__(self, initSkin):
- self.robot_gender = rospy.get_param("/gender")
# This array keeps the diffirent colour version of skin
self.skins = [
diff --git a/scripts/screen_listener.py b/scripts/screen_listener.py
index b429cd7faee3ad31532df124ba4032bd4d0d06f5..e15ae399825db3b6834067bf077d0ff3105c35a3 100755
--- a/scripts/screen_listener.py
+++ b/scripts/screen_listener.py
@@ -151,7 +151,7 @@ def callback_Command(data):
if msgs[0] == "happy" :
face.emotion_happy(cv2, publish_image)
print "Emotion happy is applicated"
-
+
elif msgs[0] == "angry" :
face.emotion_angry(cv2, publish_image)
print "Emotion angry is applicated"
@@ -225,7 +225,7 @@ def callback_Command(data):
if msgs[0] == "look" :
x = int(msgs[1])
y = int(msgs[2])
- face.lookWithMotion(cv2, x, y, 0.5, publish_image)
+ face.lookWithMotion(cv2, x, y, 0.8, publish_image)
elif msgs[0] == "human" and msgs[1] == "follow" and msgs[2] == "on" :
face.lookWithMotion(cv2, 0, 0, 0.5, publish_image)
diff --git a/scripts/test/eye_brow_confused.png b/scripts/test/eye_brow_confused.png
new file mode 100644
index 0000000000000000000000000000000000000000..a7906857645aebf2fa4fc92dbe7cddf13f2171a2
Binary files /dev/null and b/scripts/test/eye_brow_confused.png differ
diff --git a/scripts/test/eye_brow_happy.png b/scripts/test/eye_brow_happy.png
index 3f451558b59811c1c4b0fc38405c27e9bce35d5b..d208b43fe81ae53519ecbc08810a694a6a16612d 100644
Binary files a/scripts/test/eye_brow_happy.png and b/scripts/test/eye_brow_happy.png differ
diff --git a/scripts/test/eye_brow_neutral.png b/scripts/test/eye_brow_neutral.png
new file mode 100644
index 0000000000000000000000000000000000000000..3f451558b59811c1c4b0fc38405c27e9bce35d5b
Binary files /dev/null and b/scripts/test/eye_brow_neutral.png differ