import time
import struct
import serial
from commandesPython import Arduino
#time.sleep(5)
print("starting")
# 480 / 640
port = 'COM3'
ard = Arduino(port)
print('access port available')
test = 90
xValue = test
yValue = test
ard.servoAttach(1, 6)
ard.servoAttach(2, 7)
ard.servoWrite(1, xValue)
ard.servoWrite(2, yValue)
ard.close()
print("finished succefully")
time.sleep(2)
class tracking():
def __init__(self, port, technique, window_mode, shapes, writing,
rect_height, rect_width):
self.technique = technique
self.shapes = shapes
self.writing = writing
self.rect_height = rect_height
self.rect_width = rect_width
self.ard = Arduino(port)
print('access port available')
self.cap = cv2.VideoCapture(0)
print('camera available')
fourcc = cv2.VideoWriter_fourcc(*'XVID')
self.writer = cv2.VideoWriter("videos/" + self.create_file_name(),
fourcc, self.video_speed(), (640, 480))
self.face_cascade = cv2.CascadeClassifier(
'haarcascades/haarcascade_frontalface_default.xml')
cv2.namedWindow(self.technique, window_mode)
self.xValue = 90
self.yValue = 90
self.height = 0
self.width = 0
self.yScrCen = 0
self.xScrCen = 0
self.yScrSaf = 0
self.xScrSaf = 0
self.xFaceCen = 0
self.yFaceCen = 0
self.xDep = 0
self.yDep = 0
self.nbImages = 0
self.oldNbImages = 0
self.tpsPre = time.time()
def init_moteur(self):
self.xValue = 90
self.yValue = 90
self.ard.servoAttach(1, 6)
self.ard.servoAttach(2, 7)
self.ard.servoWrite(1, self.xValue)
self.ard.servoWrite(2, self.yValue)
print('moteur initialisation succeeded')
def init_screen_values(self):
_, frame = self.cap.read()
self.height, self.width = frame.shape[:2]
self.height = int(self.height / 1)
self.width = int(self.width / 1)
self.yScrCen = int(self.height / 2)
self.xScrCen = int(self.width / 2)
self.yScrSaf = int(self.height / self.rect_height)
self.xScrSaf = int(self.width / self.rect_width)
def image(self):
_, frame = self.cap.read()
frame = cv2.flip(frame, 1)
#size = (self.width, self.height)
#frame = cv2.resize(frame, size, interpolation = 3)
gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
return (frame, gray)
def detect_faces(self, gray):
faces = self.face_cascade.detectMultiScale(gray, 1.3, 5)
return faces
def face_center(self, x, y, w, h):
self.xFaceCen = x + int(w / 2)
self.yFaceCen = y + int(h / 2)
def calcul_deplacement(self):
xEcart = abs(self.xScrCen - self.xFaceCen) - self.xScrSaf
yEcart = abs(self.yScrCen - self.yFaceCen) - self.yScrSaf
self.xDep = int(xEcart / 50) + 1
self.yDep = int(yEcart / 50) + 1
def moove_camera(self):
if (self.xScrCen - self.xScrSaf > self.xFaceCen):
self.xValue += self.xDep
if (self.xValue > 180):
self.xValue = 180
if (self.xScrSaf + self.xScrCen < self.xFaceCen):
self.xValue -= self.xDep
if (self.xValue < 0):
self.xValue = 0
if (self.yScrCen + self.yScrSaf < self.yFaceCen):
self.yValue -= self.yDep
if (self.yValue < 90 - YLIMIT):
self.yValue = 90 - YLIMIT
if (self.yScrCen - self.yScrSaf > self.yFaceCen):
self.yValue += self.yDep
if (self.yValue > 90 + YLIMIT):
self.yValue = 90 + YLIMIT
self.ard.servoWrite(1, self.xValue)
self.ard.servoWrite(2, self.yValue)
def add_face_lines(self, frame, x, y, w, h):
if (self.shapes):
cv2.rectangle(frame, (x, y), (x + w, y + h), (255, 0, 0), 2)
#cv2.line(frame, (self.xFaceCen-10, self.yFaceCen), (self.xFaceCen+10, self.yFaceCen), (0,255,0), 4)
#cv2.line(frame, (self.xFaceCen, self.yFaceCen-10), (self.xFaceCen, self.yFaceCen+10), (0,255,0), 4)
def add_lines(self, frame):
if (self.shapes):
cv2.line(frame, (0, self.yScrCen), (self.width, self.yScrCen),
(0, 0, 0), 2)
cv2.line(frame, (self.xScrCen, 0), (self.xScrCen, self.height),
(0, 0, 0), 2)
cv2.line(
frame,
(self.xScrCen - self.xScrSaf, self.yScrCen - self.yScrSaf),
(self.xScrCen + self.xScrSaf, self.yScrCen - self.yScrSaf),
(0, 0, 0), 2)
cv2.line(
frame,
(self.xScrCen - self.xScrSaf, self.yScrCen + self.yScrSaf),
(self.xScrCen + self.xScrSaf, self.yScrCen + self.yScrSaf),
(0, 0, 0), 2)
cv2.line(
frame,
(self.xScrCen - self.xScrSaf, self.yScrCen - self.yScrSaf),
(self.xScrCen - self.xScrSaf, self.yScrCen + self.yScrSaf),
(0, 0, 0), 2)
cv2.line(
frame,
(self.xScrCen + self.xScrSaf, self.yScrCen - self.yScrSaf),
(self.xScrCen + self.xScrSaf, self.yScrCen + self.yScrSaf),
(0, 0, 0), 2)
def afficher_image(self, frame):
if (deFace):
frame = cv2.flip(frame, 1)
cv2.imshow(self.technique, frame)
self.add_image()
def writing_image(self, frame):
if (self.writing):
self.writer.write(frame)
def release_all(self):
self.cap.release()
cv2.destroyAllWindows()
self.ard.close()
def create_file_name(self):
dateNow = datetime.now()
date = dateNow.strftime("%d-%b %Hh%M")
file_name = 'project-'
if (self.technique == 'tracking'):
file_name += 'track '
elif (self.technique == 'detection'):
file_name += 'detect '
else:
print('wrong value of "technique"')
file_name += str(date) + ".avi"
return file_name
def video_speed(self):
if (self.technique == 'tracking'):
return 29
elif (self.technique == 'detection'):
return 14
else:
print('wrong value of "technique"')
def add_image(self):
self.nbImages += 1
def one_second(self):
diff = time.time() - self.tpsPre
if (diff >= 1):
ecart = self.nbImages - self.oldNbImages
self.oldNbImages = self.nbImages
self.tpsPre = time.time()
return True, ecart
else:
return False, None