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following_robots.py
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following_robots.py
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from imutils.video import WebcamVideoStream
from imutils.video import FPS
import imutils
import numpy as np
import cv2
import motor as m
import time
def move(rect):
(x,y,w,h) = rect
center = (320,240)
rect_center = (x+w//2, y+h//2)
cv2.circle(img, center, 1, (0, 0, 255), 2);
cv2.circle(img, rect_center, 1, (0, 0, 255), 2);
go_back = -1
right_left = -1
if w*h > 45000 or y < 50:
go_back = 2
elif w*h < 35000 or y > 430:
go_back = 1
else:
go_back = 0
if rect_center[0] > center[0]+100:
right_left = 2
elif rect_center[0] < center[0]-100:
right_left = 1
else:
right_left = 0
location = (('stop','go','back'),
('left','go_left','back_left'),
('right','go_right','back_right'))
loc = location[right_left][go_back]
if loc == 'stop':
m.stop()
elif loc == 'go':
m.go()
elif loc == 'back':
m.back()
elif loc == 'left':
m.left()
elif loc == 'right':
m.right()
elif loc == 'go_left':
m.go_left()
elif loc == 'go_right':
m.go_right()
elif loc == 'back_left':
m.back_left()
elif loc == 'back_right':
m.back_right()
print(loc)
def detectAndDisply(img,cascade,mode='human'):
max_size = -1
index = 0
if mode == 'human':
detector = cascade.detectMultiScale(img)
if(len(detector) != 0):
for (x,y,w,h) in detector:
if w*h > max_size:
max_size = w*h
max_pos = index
index += 1
max_rect = detector[max_pos]
(max_x,max_y,max_w,max_h) = detector[max_pos]
cv2.rectangle(img,(max_x,max_y),(max_x + max_w,max_y + max_h),(0,255,0),2)
move(detector[max_pos])
elif mode == 'qr':
barcodes = pyzbar.decode(img)
if(len(barcodes) != 0):
for barcode in barcodes:
(x,y,w,h) = barcode.rect
cv2.rectangle(img,(x,y),(x+w,y+h),(0,255,0),2)
move((x,y,w,h))
else:
m.stop()
cv2.imshow('img',img)
def main(mode):
if mode == 'human':
#cascade = cv2.CascadeClassifier('./cascade_xml/haarcascade_frontalface_default.xml')
cascade = cv2.CascadeClassifier('./cascade_xml/lbpcascade_frontalface_improved.xml')
else:
cascade = None
cam = WebcamVideoStream(src=-1).start()
prevTime = 0
while 1:
#ret, img = cam.read()
img = cam.read()
#img = imutils.resize(img,height=400)
gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
#fps
#현재 시간 가져오기 (초단위로 가져옴)
curTime = time.time()
#현재 시간에서 이전 시간을 빼면?
#한번 돌아온 시간!!
sec = curTime - prevTime
#이전 시간을 현재시간으로 다시 저장시킴
prevTime = curTime
# 프레임 계산 한바퀴 돌아온 시간을 1초로 나누면 된다.
# 1 / time per frame
fps = 1/(sec)
# 프레임 수를 문자열에 저장
str = "FPS : %0.1f" % fps
# 표시
cv2.putText(img, str, (0, 100), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0))
#Cam START
#if ret:
detectAndDisply(img,cascade,mode)
#ESC Click -> EXIT
if cv2.waitKey(1) & 0xFF == 27:
m.clean()
break
#cam.release()
cv2.destroyAllWindows()
cam.stop()
if __name__ == "__main__":
mode = 'human'
main(mode)