def main():
detect = MaskDetect(json_path=j_path, weight_path=w_path)
camera = cv2.VideoCapture(CAMERA)
fr = FaceRecognition(known_folder="faces/", callback=callback)
cv2.namedWindow("re_image")
count = 0
begin = 0
# 每过5秒，尝试把识别数据写入数据库
recond_timer = CarTimer(5)
while True:
begin = time.perf_counter()
ret, frame = camera.read() # 读取每一帧
test_frame = cv2.resize(frame, (detect_width, detect_height))
faces = detect.detect(test_frame)
if faces:
no_masks = [one for one in faces if one[0] == 1]
if no_masks:
if timer.timeout():
for one in no_masks:
re_image = get_face(frame, one)
fr.recognition(re_image)
cv2.imshow("re_image", re_image)
timer.restart()
cv2.imshow("testWindow", frame) # 把帧显示在名字为testWindow的窗口中
frame_rate = 1 / (time.perf_counter() - begin)
# print("frame_rate:{}".format(frame_rate))
# 检测键盘，发现按下 q 键 退出循环
if cv2.waitKey(1) == ord('q'):
break
if recond_timer.timeout():
write_db()
recond_timer.restart()
fr.close()
camera.release() # 释放摄像头
cv2.destroyAllWindows() # 关闭所有窗口
speed = _map(max_width, 50, 400, 150, 80)
serial.drive_motor(int(speed), int(speed))
timer3.restart()
# 计时没有结束之前一直循环
while not is_sigint_up:
# get_objects函数返回的是包含0个以上的Object对象列表，
# 如果列表中有对象存在，那么迭代循环 打印对象的属性
# if targets:
# for obj in targets:
# print("发现对象 id：{}，名称：{}，面积：{}，高度：{}，宽度：{}"
# .format(obj.class_id, obj.chinese, obj.area, obj.height, obj.width))
power = False
targets = recognition.get_objects()
persons = [person for person in targets if person.class_id == 1]
if persons:
timer.restart()
motor_controller(persons)
servo_controller(persons)
else:
if timer.timeout():
serial.drive_motor(0, 0)
# 循环结束必须调用close（）函数，结束识别窗口，否则窗口将一直打开
recognition.close()
serial.drive_motor(0, 0)
serial.close()
from car.car_controller import BaseControl
# 新建串口通信对象，除非测试，不要直接调用此类，控制小车应该通过CarController类
serial = CarSerial("/dev/ttyACM0", receive=True) # 参数为串口文件
# 新建一个CarController，传入串口通信对象，用于控制小车的各种动作
controller = CarController(serial, base_speed=100)
# 新建一个计时器对象，设定他的计时时间为30秒
timer = CarTimer(interval=20)
# 创建一个列表用于存储马达动作组合的列表
control_list = []
# 按需要控制的顺序，添加各种马达速度和执行时间
control_list.append(BaseControl(100, 100, 5)) # 直走5秒
control_list.append(BaseControl(0, 150, 2)) # 左转 2秒
control_list.append(BaseControl(0, 0, 2)) # 暂停2秒
control_list.append(BaseControl(150, 0, 2)) # 右转2秒
control_list.append(BaseControl(-100, -100, 5)) # 后退5秒
control_list.append(BaseControl(0, 0, 2)) # 停车
controller.group(control_list)
# 当时间未到时循环
while not timer.timeout():
controller.update() # CarController的update方法必须在每次循环中调用，才能更新任务列表
time.sleep(0.05) # 模拟每秒20帧
# 计时时间到，控制小车停止
controller.exit()
import time
import sys
sys.path.append("..")
from car.car_timer import CarTimer
from car.car_controller import CarController
from v_serial import VSerial
timer1 = CarTimer(30)
timer2 = CarTimer(5)
serial = VSerial()
control = CarController(car_serial=serial)
control.go_straight(delay_time=5) # 直走5秒
while not timer1.timeout():
print("timer2.dur:{}".format(timer2.duration()))
if timer2.timeout():
control.turn(direction=True, delay_time=1.5) # 左转1秒
control.go_straight(delay_time=5)
timer2.restart()
print("timer2.timeout")
timer2.restart()
control.update()
time.sleep(0.05)