minor fix

Author: smigad

CMakeLists.txt

@@ -97,8 +97,8 @@ endif(raspicam_FOUND)
 configure_file(data/Haar_Cascades/haarcascade_frontalface_alt.xml haarcascade_frontalface_alt.xml COPYONLY)
 configure_file(data/Haar_Cascades/haarcascade_smile.xml haarcascade_smile.xml COPYONLY)
 configure_file(data/Haar_Cascades/haarcascade_hand.xml haarcascade_hand.xml COPYONLY)
-configure_file(data/Facial_Landmark_Model/shape_predictor_26_face_landmarks.dat 
-							shape_predictor_26_face_landmarks.dat COPYONLY)
+configure_file(data/Facial_Landmark_Model/shape_predictor_68_face_landmarks.dat 
+							shape_predictor_68_face_landmarks.dat COPYONLY)
 
 install (TARGETS sensor_vision DESTINATION lib/TinyCog)
 install (FILES include/sense/vision/BoxTracker.hpp 

comm/spi/SpiComm.cpp

@@ -111,7 +111,7 @@ std::string SpiComm::send_data(std::string data)
 	for(int i = 8; i < packet_len; i++)
 		packet[i] = (uint8_t)data.at(i-8);
 
-	if(DEBUG){
+	if(DBG){
 		printf("Data in Packet:\n");
 		for(int i = 0; i < packet_len; i++)
 			printf("%.2X ", packet[i]);
@@ -137,7 +137,7 @@ std::string SpiComm::spi_send(uint8_t *packet, size_t packet_len)
 	tr.bits_per_word = bpw;
 
 	int ret = ioctl(fd, SPI_IOC_MESSAGE(1), &tr);
-	if(DEBUG) printf("Ret=%d\n", ret);
+	if(DBG) printf("Ret=%d\n", ret);
 	if(ret < 1)
 		exit_p("Couldn't Send The Message");
 
@@ -150,7 +150,7 @@ std::string SpiComm::spi_send(uint8_t *packet, size_t packet_len)
 		//printf("%.2X ", ret_buffer[i]);
 	}
 
-	if(DEBUG)
+	if(DBG)
 		printf("\nFinal Data Size = %d\n%s\n", ret_data.size(), 
 			ret_data.c_str());
 	return ret_data;

dr-roboto/dr-roboto.cpp.in

@@ -13,6 +13,7 @@
 
 #include <stdio.h>
 #include <vector>
+#include <unistd.h>
 
 
 #if _DR_ROBOTO_RPI_
@@ -32,14 +33,14 @@
 #define HAVE_GUILE
 
 #include <opencog/atomspace/AtomSpace.h>
-#include <opencog/atoms/base/Node.h>
+#include <opencog/truthvalue/TruthValue.h>
+#include <opencog/truthvalue/AttentionValue.h>
+
 #include <opencog/atoms/proto/FloatValue.h>
 #include <opencog/atoms/proto/LinkValue.h>
 #include <opencog/atoms/proto/StringValue.h>
 
 #include <opencog/guile/SchemePrimitive.h>
-#include <opencog/truthvalue/TruthValue.h>
-#include <opencog/truthvalue/AttentionValue.h>
 
 
 #define SCALE 0.1
@@ -106,7 +107,7 @@ DrRoboto::DrRoboto() : c2g("c2g") , eh("eh") , fcd("fcd") , smd("smd") ,
 	#if _DR_ROBOTO_RPI_
 		cap = new RaspiCamCapture("cap", 320, 240, 20);
 	#else //_DR_ROBOTO_RPI_
-		cap = new CamCapture("cap", 320, 240, 20, 0);
+		cap = new CamCapture("cap", 320, 240, 0, 20);
 	#endif //_DR_ROBOTO_RPI_
 
 	/*
@@ -138,7 +139,12 @@ void DrRoboto::start_sense()
 	Handle hh = _as->add_node(CONCEPT_NODE, "hand");
 	Handle fi = _as->add_node(CONCEPT_NODE, "fingers");
 	Handle pos_h = _as->add_node(CONCEPT_NODE, "position");
+	Handle sen_h = _as->add_node(CONCEPT_NODE, "sense");
+	Handle rate_h = _as->add_node(CONCEPT_NODE, "rate");
+	//sen_h->setValue(rate_h, createFloatValue(1000)); //u-secs to delay sensor
+
 	ProtoAtomPtr pap;
+	
 	while(ok) {
 		frame = cap->getCurrentFrame();
 		gr = c2g.Transform(frame);
@@ -231,7 +237,7 @@ void DrRoboto::start_sense()
 			h->setValue(fi, pap);
 		}
 
-
+		usleep(10000);
 	} //while ok
 }
 

examples/sense/vision/FaceNoddingDetection.cpp

@@ -24,7 +24,7 @@
 
 #define MODEL_FILE "shape_predictor_68_face_landmarks.dat"
 
-//#define DEBUG 
+//#define DBG 
 
 #define FRAME_RATE 20
 #define WINDOW FRAME_RATE*3
@@ -47,7 +47,7 @@ int main(int argc, char** argv)
 
     std::vector<facial_lms> f_lms; //landmarks of faces detected 
 
-    #ifdef DEBUG 
+    #ifdef DBG 
     	dlib::image_window win;
     #endif
 
@@ -79,7 +79,7 @@ int main(int argc, char** argv)
 	{
 		facial_lms shape = f_lms[idx];
 
-		#ifdef DEBUG
+		#ifdef DBG
 			//if(upping > 0.4)
 			std::cout<< shape.part(0).x() << "," << shape.part(16).x() << "," << shape.part(48).x() << "," 
 				<< shape.part(54).x() << "," << shape.part(33).x() << "," << shape.part(36).x() << "," 
@@ -118,7 +118,7 @@ int main(int argc, char** argv)
 	    q = 0;
 	}
 
-	#ifdef DEBUG
+	#ifdef DBG
 		dlib::array2d<dlib::bgr_pixel> img;
 		dlib::assign_image(img, dlib::cv_image<dlib::bgr_pixel>(image));
 		win.clear_overlay();

include/comm/spi/SpiComm.hpp

@@ -25,7 +25,7 @@
 
 #define PACKET_SIZE_L_IDX 2
 #define PACKET_SIZE_H_IDX 3
-#define DEBUG 1
+#define DBG 1
 
 class SpiComm
 {

include/sense/vision/FingersCount.hpp

@@ -22,7 +22,7 @@
 #include <vector>
 #include <stdint.h>
 
-#define DEBUG
+#define DBG
 
 /* 
   TODO find a better way for depth range