def main():
vs = VideoStream()
vs.start()
names, known_encodings = load_known_faces('./faces/known_faces')
print(len(known_encodings))
while vs.isOpened():
image = vs.read()
gray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
face_locations = fr.face_locations(image, model='hog')
img_face_encodings = fr.face_encodings(image, face_locations)
match_matrix = [
fr.compare_faces(known_encodings, f, tolerance=0.6)
for f in img_face_encodings
]
print(match_matrix)
img_with_faces = draw_bbox_on_img(image, face_locations)
cv2.imshow('frame', img_with_faces)
if cv2.waitKey(1) & 0xFF == ord('q'):
break
vs.close()
cv2.destroyAllWindows()
def main():
logging.basicConfig()
logger = logging.getLogger("MMNT")
logger.setLevel(logging.INFO)
logger.info("Initializing")
masterSampleTime = time.time()
slaveSampleTime = time.time()
logger.debug("Initializing motor control")
mc = MotorControl()
mc.resetMotors()
logger.debug("Initializing microphone")
dev = usb.core.find(idVendor=0x2886, idProduct=0x0018)
if not dev:
sys.exit("Could not find ReSpeaker Mic Array through USB")
mic = Tuning(dev)
mic.write("NONSTATNOISEONOFF", 1)
mic.write("STATNOISEONOFF", 1)
logger.debug("Initializing models")
ht_model = ht.get_model()
tfPose = TfPoseEstimator(get_graph_path(TF_MODEL), target_size=(VideoStream.DEFAULT_WIDTH, VideoStream.DEFAULT_HEIGHT))
logger.debug("Initializing video streams")
topCamStream = VideoStream(1)
botCamStream = VideoStream(2)
topCamStream.start()
botCamStream.start()
masterCamID = TOP_CAM_ID
masterStream = topCamStream
slaveCamID = BOT_CAM_ID
slaveStream = botCamStream
masterTargetAngle = 0
slaveTargetAngle = 180
updateMasterAngle = False
updateSlaveAngle = False
masterTracking = False
logger.info("Initialization complete")
while True:
try:
# MASTER
masterFrame = masterStream.read()
if time.time() - masterSampleTime > MASTER_SAMPLE_FREQ:
humans = tfPose.inference(masterFrame, resize_to_default=True, upsample_size=RESIZE_RATIO)
if len(humans):
logger.debug("Master tracking")
masterTracking = True
if DISPLAY_VIDEO:
TfPoseEstimator.draw_humans(masterFrame, humans, imgcopy=False)
human = humans[0]
if (ht.is_hands_above_head(human)):
logger.debug("HANDS ABOVE HEAD!!!")
midX = -1
for part in headParts:
if part in human.body_parts:
midX = human.body_parts[part].x * VideoStream.DEFAULT_WIDTH
break
if midX != -1:
centerDiff = abs(midX - VideoStream.DEFAULT_WIDTH/2)
if centerDiff > FACE_THRESHOLD:
if midX < VideoStream.DEFAULT_WIDTH/2:
# rotate CCW
masterTargetAngle += centerDiff * degreePerPixel
elif midX > VideoStream.DEFAULT_WIDTH/2:
# rotate CW
masterTargetAngle -= centerDiff * degreePerPixel
masterTargetAngle = masterTargetAngle % 360
updateMasterAngle = True
masterSampleTime = time.time()
else:
logger.debug("Master stopped tracking")
masterTracking = False
# If master is not tracking a human, move towards speech
if not masterTracking:
speechDetected, micDOA = mic.speech_detected(), mic.direction
logger.debug("master speech detected:", speechDetected, "diff:", abs(micDOA - masterTargetAngle))
if speechDetected and abs(micDOA - masterTargetAngle) > ANGLE_THRESHOLD:
masterTargetAngle = micDOA
logger.debug("Update master angle:", masterTargetAngle)
masterSampleTime = time.time()
updateMasterAngle = True
# SLAVE
slaveFrame = slaveStream.read()
if time.time() - slaveSampleTime > SLAVE_SAMPLE_FREQ:
# If master is not tracking a human and a slave sees a human, move master to the visible human and move slave away
if not masterTracking and time.time() - masterSampleTime > MASTER_SAMPLE_FREQ:
humans = tfPose.inference(slaveFrame, resize_to_default=True, upsample_size=RESIZE_RATIO)
if len(humans):
logger.debug("slave found mans")
if DISPLAY_VIDEO:
TfPoseEstimator.draw_humans(slaveFrame, humans, imgcopy=False)
human = humans[0]
if (ht.is_hands_above_head(human)):
logger.debug("HANDS ABOVE HEAD!!!")
midX = -1
for part in headParts:
if part in human.body_parts:
midX = human.body_parts[part].x * VideoStream.DEFAULT_WIDTH
break
if midX != -1:
centerDiff = abs(midX - VideoStream.DEFAULT_WIDTH/2)
# if centerDiff > FACE_THRESHOLD:
if midX < VideoStream.DEFAULT_WIDTH/2:
# rotate CCW
masterTargetAngle = slaveTargetAngle + centerDiff * degreePerPixel
elif midX > VideoStream.DEFAULT_WIDTH/2:
# rotate CW
masterTargetAngle = slaveTargetAngle - centerDiff * degreePerPixel
masterTargetAngle = masterTargetAngle % 360
updateMasterAngle = True
masterSampleTime = time.time()
slaveTargetAngle = (masterTargetAngle + 180) % 360
updateSlaveAngle = True
logger.debug("Moving master to slave:", masterTargetAngle)
speechDetected, micDOA = mic.speech_detected(), mic.direction
speechMasterDiff = abs(micDOA - masterTargetAngle)
if speechDetected and speechMasterDiff > SLAVE_MASTER_THRESHOLD and abs(micDOA - slaveTargetAngle) > ANGLE_THRESHOLD:
slaveTargetAngle = micDOA
logger.debug("Update slave angle:", slaveTargetAngle)
slaveSampleTime = time.time()
updateSlaveAngle = True
# Send Serial Commands
if updateSlaveAngle and updateMasterAngle:
logger.debug("Slave Angle:", slaveTargetAngle)
logger.debug("Master Angle:", masterTargetAngle)
updateSlaveAngle = False
updateMasterAngle = False
if slaveCamID == BOT_CAM_ID:
mc.runMotors(masterTargetAngle, slaveTargetAngle)
else:
mc.runMotors(slaveTargetAngle, masterTargetAngle)
elif updateSlaveAngle:
mc.runMotor(slaveCamID, slaveTargetAngle)
logger.debug("Slave Angle:", slaveTargetAngle)
updateSlaveAngle = False
elif updateMasterAngle:
mc.runMotor(masterCamID, masterTargetAngle)
logger.debug("Master Angle:", masterTargetAngle)
updateMasterAngle = False
if DISPLAY_VIDEO:
cv.imshow('Master Camera', masterFrame)
cv.imshow('Slave Camera', slaveFrame)
if cv.waitKey(1) == 27:
pass
except KeyboardInterrupt:
logger.debug("Keyboard interrupt! Terminating.")
mc.stopMotors()
slaveStream.stop()
masterStream.stop()
mic.close()
time.sleep(2)
break
cv.destroyAllWindows()