def goHome(self, stage):
pysca.pan_tilt(1, 0, 0, blocking=True)
pysca.pan_tilt(1, self.returnHomeSpeed, self.returnHomeSpeed, stage.homePan, stage.homeTilt, blocking=True)
pysca.set_zoom(1, stage.homeZoom, blocking=True)
self.atHome = True
self.requestedZoomPos = stage.homeZoom
time.sleep(self.homePauseSeconds)
def _main_loop(self):
clock = pygame.time.Clock()
prev_joystick_states = None
prev_pressed_keys = None
self.initialize_joystick_parameters()
while self.keep_running:
clock.tick(10)
with self.state_read_lock:
# self.joystick_states is updated by joystick_thread
self.current_joystick_states = copy.deepcopy(
self.joystick_states)
self.pressed_keys = self.get_pressed_keys()
# TODO not interested in pressed keys, but in found actions
if prev_joystick_states == self.current_joystick_states and prev_pressed_keys == self.pressed_keys:
continue
prev_joystick_states = copy.deepcopy(self.current_joystick_states)
prev_pressed_keys = copy.deepcopy(self.pressed_keys)
ptz = self.get_ptz_from_axes()
pan = ptz[0]
tilt = ptz[1]
zoom = ptz[2]
actions = self.get_actions()
actions = self.handle_zoom_and_focus(zoom, actions)
modified = self.handle_pan_and_tilt(pan, tilt, actions)
pan = modified[0]
tilt = modified[1]
actions = modified[2]
# print("Actions: {}".format(actions))
# print("Pan: {}, tilt: {}".format(pan, tilt))
pysca.pan_tilt(1, pan=pan, tilt=tilt, blocking=True)
for action, params in actions.iteritems():
handler = self.command_handlers.get(action)
handler(action, **params)
def trackSubject(self, camera, stage, subject, face, faceCount):
self.confidence = 100.0 / faceCount if faceCount else 0
self.subjectVolatile = subject.isVolatile()
# Should we stay in motion?
if self.confidence < self.minConfidence \
or not face.recentlyVisible \
or self.subjectVolatile \
or subject.isCentered:
# Stop all tracking motion
pysca.pan_tilt(1, 0, 0, blocking=True)
# Should we return to home position?
if not face.recentlyVisible \
and not self.atHome:
self.goHome(camera, stage)
return
# Initiate no new tracking action unless face has been seen recently
if not face.recentlyVisible:
return
# Adjust to tracking zoom and tilt (closer)
if subject.isCentered \
and not self.subjectVolatile \
and self.requestedZoomPos > 0 \
and self.requestedZoomPos < stage.trackingZoom:
pysca.pan_tilt(1,
0,
5,
0,
stage.trackingTiltAdjustment,
relative=True,
blocking=True)
pysca.set_zoom(1, stage.trackingZoom, blocking=True)
self.requestedZoomPos = stage.trackingZoom
if subject.isFarLeft:
pysca.pan_tilt(1, -2)
self.atHome = False
elif subject.isFarRight:
pysca.pan_tilt(1, 2)
self.atHome = False
return
def trackSubject(self, camera, stage, subject, face, faceCount):
self.confidence = 100.0 / faceCount if faceCount else 0
self.subjectVolatile = subject.isVolatile()
# Should we stay in motion?
if self.confidence < self.minConfidence \
or not face.recentlyVisible \
or subject.isCentered:
# Stop all tracking motion
print "Stop tracking motion"
pysca.pan_tilt(1, 0, 0, blocking=True)
return
# Should we return to home position?
if not face.recentlyVisible and not self.atHome:
print 'Go Home'
self.goHome(stage)
return
# Initiate no new tracking action unless face has been seen recently
if not face.recentlyVisible:
return
# Adjust to tracking zoom and tilt (closer)
# if subject.isCentered \
# and self.requestedZoomPos > 0 \
# and self.requestedZoomPos < stage.trackingZoom:
# pysca.pan_tilt(1, 0, 5, 0, stage.trackingTiltAdjustment, relative=True, blocking=True)
# pysca.set_zoom(1, stage.trackingZoom, blocking=True)
# self.requestedZoomPos = stage.trackingZoom
SPEED = 10
speed_x = SPEED
speed_y = SPEED
if subject.offsetX + subject.offsetY > 0:
speed_x = SPEED * (subject.offsetX / (subject.offsetX + subject.offsetY))
speed_y = SPEED * (subject.offsetY / (subject.offsetX + subject.offsetY))
speed_x = round(speed_x, 0)
speed_y = round(speed_y, 0)
# if self.REVERSE:
# speed_x *= -1
# speed_y *= -1
# print 'Speed_x is:\t{}\tSpeed_y is:\t{}'.format(speed_x, speed_y)
if subject.isFarLeft:
if subject.isFarUp:
print "Object left up"
pysca.pan_tilt(1, -speed_x, +speed_y)
elif subject.isFarDown:
print "Object left down"
pysca.pan_tilt(1, -speed_x, -speed_y)
else:
"Object left"
pysca.pan_tilt(1, -SPEED)
print 'Speed_x is:\t{}\tSpeed_y is:\t{}'.format(speed_x, speed_y)
elif subject.isFarRight:
if subject.isFarUp:
print "Object right up"
pysca.pan_tilt(1, speed_x, +speed_y)
pass
elif subject.isFarDown:
print "Object right down"
pysca.pan_tilt(1, speed_x, -speed_y)
pass
else:
print "Object right"
pysca.pan_tilt(1, SPEED)
print 'Speed_x is:\t{}\tSpeed_y is:\t{}'.format(speed_x, speed_y)
self.atHome = False
return