SPY - A Sensor Module Package for Yarp

SPY is intended to ease development for yarp-based setups. It contains Yarp modules for (virtual) sensors and other types of input.

Installation

1- Install the dependencies:

You need Yarp installed with the python bindings. For more details see full instructions.

Example: OSX using Homebrew

brew tap homebrew/x11
brew install --with-python yarp

Additional dependencies:

NumPy           [http://www.numpy.org/]
OpenCV          [http://opencv.org/]
PythonArMarkers [https://github.com/DebVortex/python-ar-markers.git]

2- Download the source code:

git clone https://github.com/BrutusTT/spy

3- build and install:

cd spy
python setup.py install

Running SPY Modules

Each module can be started standalone using the following command line.

python -m spy.modules.<ModuleName> [--name <Name Prefix>]

Parameters:

[]            - denotes optional parameter
<ModuleName>  - can be one of the following: - HCMarker
                                             - OCFaceDetector
                                             - TSUserSkeleton
<Name Prefix> - if a name is given it will be used as a prefix for the port names
                e.g.:  --name test results in /test/JDModule/rpc

Example:

python -m spy.modules.HCMarker --name MySpy

General

The package contains Yarp modules that can be used to make (virtual) sensors or other types of input accessible to yarp-based setups. Once the modules are started, they provide RPC Ports for controlling the internal settings and additional ports for providing information.

The HCMarker module is used to recognize Hamming Marker and provides information about them.

...

Happy hacking!

License

See COPYING for licensing info.