public TestImage(FaceEncodingData faceEncoding, Rect faceLocation, Mat img, HeadRotation horizontalHeadRotation, DateTime dateCreated, bool isReferenceImg, long userId)
{
if (faceLocation.Width <= 0 || faceLocation.Height <= 0)
{
throw new ArgumentException($"Invalid faceLocation");
}
if (img.Empty())
{
throw new ArgumentException("Empty img");
}
if (img.Rows <= 0 || img.Cols <= 0)
{
throw new ArgumentException("Invalid img size");
}
if (horizontalHeadRotation == HeadRotation.Unknown)
{
throw new ArgumentException("Unknown headRotation");
}
FaceEncoding = faceEncoding ?? throw new ArgumentException("Null faceEncodingData");
FaceLocation = faceLocation;
Img = img;
HorizontalHeadRotation = horizontalHeadRotation;
DateCreated = dateCreated;
IsReferenceImg = isReferenceImg;
UserId = userId;
}
void SendHeadRotationToMotionServer()
{
if (Application.platform != RuntimePlatform.Android)
{
return;
}
double now = (DateTime.Now - new DateTime(1970, 1, 1)).TotalMilliseconds;
if (timeLastExecution < now)
{
timeLastExecution = now + Config.config.sendHeadRotationInterval;
// get camera rotation
Vector3 currentHeadPosition = Camera.main.gameObject.transform.rotation.eulerAngles;
if (HeadPositionHasChanged(currentHeadPosition))
{
lastHeadPosition = currentHeadPosition;
string json = JsonUtility.ToJson(HeadRotation.fromVector3(currentHeadPosition));
AndroidJavaClass plugin = new AndroidJavaClass(Config.pluginClassString);
plugin.CallStatic("sendMessageToMotionWebSocket", json);
}
}
}
public bool ChangeRotation(RobotVO robot, HeadRotation headRotation)
{
if (robot.Head.HeadInclination == HeadInclination.Down)
{
return(false);
}
return(true);
}
//Test ctor
internal TestImage(Rect faceLocation, Mat img, HeadRotation horizontalHeadRotation, DateTime dateCreated, bool isReferenceImg, long userId)
{
FaceLocation = faceLocation;
Img = img;
HorizontalHeadRotation = horizontalHeadRotation;
DateCreated = dateCreated;
IsReferenceImg = isReferenceImg;
UserId = userId;
}
private void OnApplicationPause(bool pause)
{
if (Application.platform == RuntimePlatform.Android && pause == true)
{
AndroidJavaClass plugin = new AndroidJavaClass(Config.pluginClassString);
string json = JsonUtility.ToJson(HeadRotation.fromVector3(new Vector3(0, 0, 0)));
plugin.CallStatic("sendMessageToMotionWebSocket", json);
}
}
public static HeadRotation fromVector3(Vector3 vector)
{
HeadRotation rotation = new HeadRotation();
#if RASPBERRY_PI
rotation.vertical = EulerToPWM(vector.x, -500);
rotation.horizontal = EulerToPWM(vector.y);
#else
rotation.vertical = EulerToPWM(vector.x);
rotation.horizontal = EulerToPWM(vector.y);
#endif
return(rotation);
}
void SendHeadRotationToMotionServerMock()
{
double now = (DateTime.Now - new DateTime(1970, 1, 1)).TotalMilliseconds;
if (timeLastExecution < now)
{
timeLastExecution = now + Config.config.sendHeadRotationInterval;
// get camera rotation
Vector3 currentHeadPosition = Camera.main.gameObject.transform.rotation.eulerAngles;
if (HeadPositionHasChanged(currentHeadPosition))
{
lastHeadPosition = currentHeadPosition;
string json = JsonUtility.ToJson(HeadRotation.fromVector3(currentHeadPosition));
Debug.Log(json);
}
Debug.Log("Position is the same");
}
}
public void NaoDevePermitirRotacionarCabeca()
{
//Arrange
var robot = new RobotVO()
{
Head = new HeadVO()
{
HeadInclination = HeadInclination.Down,
HeadRotation = HeadRotation.InRest
}
};
HeadRotation headRotation = HeadRotation.Rotate45Degrees;
//Act
var result = _headMovement.ChangeRotation(robot, headRotation);
//Assert
Assert.False(result);
}
private bool IsRotationMovement(RobotVO robot, HeadRotation rotation) => robot.Head.HeadRotation != rotation;
public TestImageBuilder AddHeadRotation(HeadRotation headRotation)
{
Rotation = headRotation;
return(this);
}
void Awake()
{
dataController = FindObjectOfType <DataController>();
headRotation = FindObjectOfType <HeadRotation>();
}
public async Task <Task> InitFace(User user, IAsyncEnumerator <Mat> camEnumerator, CancellationToken ct)
{
bool interrupted = true;
var testImages = new List <TestImageBuilder>();
var tasks = new List <Task>();
var faceEncodings = new List <Task <FaceEncodingData?> >();
_progress = 0;
_user = user;
Reset();
while (await camEnumerator.MoveNextAsync())
{
var frame = camEnumerator.Current;
Rect[] faceRects;
HeadRotation targetRotation;
if (testImages.Count == 0)
{
faceRects = _faceDetection.DetectFrontalFaces(frame);
if (faceRects.Length != 1)
{
ReportInitFaceProgress(frame, state: Services.ProfileInitProgress.FaceNotDetected);
continue;
}
var(hRot, vRot) = _headPositionService.GetHeadPosition(frame, faceRects.First());
targetRotation = hRot;
if (vRot != HeadRotation.Front || hRot != HeadRotation.Front)
{
ReportInitFaceProgress(frame, face: faceRects.First(),
state: Services.ProfileInitProgress.FaceNotStraight);
continue;
}
}
else
{
faceRects = _faceDetection.DetectFrontalThenProfileFaces(frame);
if (faceRects.Length != 1)
{
ReportInitFaceProgress(frame, state: Services.ProfileInitProgress.ProfileFaceNotDetected);
continue;
}
var(hRot, vRot) = _headPositionService.GetHeadPosition(frame, faceRects.First());
HeadRotation hTarget = testImages.Count == 1 ? HeadRotation.Left : HeadRotation.Right;
HeadRotation vInvalid = testImages.Count == 1 ? HeadRotation.Right : HeadRotation.Left;
targetRotation = hTarget;
if (hRot != hTarget || vRot == vInvalid)
{
ReportInitFaceProgress(frame, face: faceRects.First(),
state: hTarget == HeadRotation.Left ? Services.ProfileInitProgress.FaceNotTurnedLeft : Services.ProfileInitProgress.FaceNotTurnedRight);
continue;
}
}
var faceImg = frame.Clone();
var testImageBldr = TestImageBuilderFactory.Create();
testImageBldr.AddImg(faceImg)
.AddDateCreated(DateTime.UtcNow)
.AddFaceLocation(faceRects.First())
.AddHeadRotation(targetRotation)
.SetUser(user)
.SetIsReferenceImg(true);
testImages.Add(testImageBldr);
faceEncodings.Add(CreateFaceEncodingTask(faceImg));
_progress += 20.34;
ReportInitFaceProgress(frame, faceRects.First());
if (testImages.Count > 1)
{
var face1 = testImages[^ 2].Img;
