def set_objects(self):
Builder.load_file("main.kv")
self.size = (Window.width, Window.height)
self.eyes = Eyes(box=[
self.game_area.x, self.game_area.y +
65, self.game_area.width, self.game_area.height - 175
])
self.nose = Nose(box=[
self.game_area.x, self.game_area.y +
65, self.game_area.width, self.game_area.height - 175
])
self.mouth = Mouth(box=[
self.game_area.x, self.game_area.y +
65, self.game_area.width, self.game_area.height - 175
])
self.game_area.add_widget(self.eyes, index=1)
self.eyes.active = True
self.game_area.add_widget(self.mouth, index=1)
self.mouth.active = True
# self.auto_bring_to_front(self.mouth) # nekoja vakva kombinacija da se napravi :)
self.game_area.add_widget(self.nose, index=1)
self.nose.active = True
def main(args):
train_x, train_y, test = make_datasets(path, args.train_size,
args.test_size)
eyes = Eyes()
model = eyes.build_graph()
model.summary()
plot_model(model, to_file='model.png')
tensorboard = TensorBoard(log_dir=args.log_path, histogram_freq=10)
earlystop = EarlyStopping(monitor='val_loss',
min_delta=0,
patience=0,
verbose=1,
mode='auto')
history = model.fit(x=train_x,
y=train_y,
epochs=args.epochs,
verbose=1,
batch_size=args.batch_size,
validation_split=0.5,
callbacks=[earlystop])
model.save_weights(args.save_weights)
result = model.predict(test[:10])
imshow(result)
def eyes_py(id):
global polePosX, polePosY, dispar, sadws
# 初期化宣言 : このソフトウェアは"eyes_py_node"という名前
rospy.init_node('eyes_py_node', anonymous=True)
# インスタンスの作成
eyes = Eyes(id)
# 処理周期の設定
r = rospy.Rate(PUB_RATE)
print("[eyes3] start")
# ctl + Cで終了しない限りwhileループで処理し続ける
while not rospy.is_shutdown():
#==================================================
# Loop
ret0, imgL = RP3_Cap_L.read()
ret1, imgR = RP3_Cap_R.read()
if dispMode == 1:
cv2.imshow( "Left Camera", imgL )
cv2.imshow( "Right Camera", imgR )
#-- Create DiparityMap --
disparity = GetDisparityMap()
#-- Cal Pole Distance --
capL_target = GetBlueDetect( imgL )
Lx, Ly, Lw, Lh = cv2.boundingRect( capL_target )
capR_target = GetBlueDetect( imgR )
Rx, Ry, Rw, Rh = cv2.boundingRect( capR_target )
# Xは左右中心の更に中心
Lpos = Lx + (Lw / 2)
Rpos = Rx + (Rw / 2)
polePosX = (Lpos + Rpos) / 2
# Yは片側基準でOK
polePosY = Ly + (Lh / 2)
# from disparity to dist
# Z = f x T / um / disparity
poleDist = 6.6 * 62 / 0.003 / disparity[polePosY][polePosX]
print polePosX, polePosY, poleDist
if dispMode == 1:
cv2.rectangle( imgL, (Lx, Ly), (Lx + Lw, Ly + Lh), (0, 0, 255), 1 )
cv2.imshow( "Left Pole", imgL )
cv2.rectangle( imgR, (Rx, Ry), (Rx + Rw, Ry + Rh), (0, 0, 255), 1 )
cv2.imshow( "Right Pole", imgR )
#==================================================
# メイン処理
eyes.main()
# Sleep処理
r.sleep()
def __init__(self, body, image):
self.body = body
self.hindbrain = Hindbrain()
view_distance = image.get('behaviour', {}).get('target range', 200)
self.eyes = Eyes(view_distance=view_distance)
self.self_image = image
self.parse_behaviour(image.get('behaviour', {}))
self.wander_value = 0
def __init__(self, maze, pacman, game_controller):
self.CHAR_WIDTH = 100
self.CHAR_HEIGHT = 100
self.maze = maze
self.pacman = pacman
self.gc = game_controller
self.x = maze.WIDTH/2
self.y = maze.TOP_HORIZ
self.velocity = 2
self.x_add = self.velocity
self.y_add = 0
self.eyes = Eyes()
self.looking = (0, 0)
self.WIN_PROXIMITY = 80
self.WALL_TOLERANCE = 2
def __init__(self, port=DEFAULT_PORT, logdir='/var/log/xm'):
"""Creates a new istance of the body. By default it's composed by
a thread-safe version of `Legs`, `Mouth` and `Eyes`.
Args:
port (str): serial port `Legs` will connect to.
logdir (str): path where to store logs.
"""
self.safe_legs = LockAdapter(Legs(port))
eye_log = '{}-eyes.log'.format(str(datetime.date.today()))
self.safe_mouth = Mouth()
self.safe_eye = Eyes(log=open(os.path.join(logdir, eye_log), 'w'))
self.circuits = {}
self.add_circuit('forward',
target=self.safe_legs.forward,
pre=[move_synapse])
self.add_circuit('backward',
target=self.safe_legs.backward,
pre=[move_synapse])
self.add_circuit('left',
target=self.safe_legs.left,
pre=[move_synapse])
self.add_circuit('right',
target=self.safe_legs.right,
pre=[move_synapse])
self.add_circuit('stop', target=self.safe_legs.stop)
self.add_circuit('set_speed',
target=self.safe_legs.set_speed,
pre=[speedvalue_synapse])
self.add_circuit('set_movetime',
target=self.safe_legs.set_movetime,
pre=[movetime_synapse])
self.add_circuit('say', target=self.safe_mouth.say, pre=[say_synapse])
self.add_circuit('shutup', target=self.safe_mouth.shutup)
self.add_circuit('open_eyes', target=self.safe_eye.open)
self.add_circuit('close_eyes', target=self.safe_eye.close)
#!/usr/bin/env python3
# -*- coding: utf-8 -*-
"""
Face Tracker main application
"""
# Importing packages
from servo import Servo
from eyes import Eyes
from cv2 import waitKey
import time
# Create objects
camera = Eyes()
body = Servo()
outX = 90
outY = 90
def translate(x, lowerIn, upperIn, lowerOut, upperOut):
"""Map in value range to another range"""
y = (x - lowerIn) / (upperIn - lowerIn) * (upperOut - lowerOut) + lowerOut
return y
def millis():
""" Returns current time in milliseconds."""
return int(round(time.time() * 1000))
def capture_action(pred_path, cb, debug=False, log=False):
"""Facial detection and real time processing credit goes to:
https://www.pyimagesearch.com/2017/04/17/real-time-facial-landmark-detection-opencv-python-dlib/
"""
action_handler = ActionHandler()
detector = dlib.get_frontal_face_detector()
predictor = dlib.shape_predictor(pred_path)
camera = cv2.VideoCapture(0)
while True:
_, frame = camera.read()
if frame is None:
continue
_, w_original, _ = frame.shape
frame = resize_frame(frame)
h, w, _ = frame.shape
display_bounds(frame)
gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
rects = detector(gray, 0)
for rect in rects:
shape = predictor(gray, rect)
shape = face_utils.shape_to_np(shape)
cur_head = Head(shape, w)
cur_eyes = Eyes(shape, frame)
eye_action = detect_eyes(shape, cur_eyes)
head_action = detect_head(shape, cur_head)
COUNTER_LOG[eye_action] += 1
COUNTER_LOG[head_action] += 1
perform, action = action_handler.get_next(eye_action, head_action)
if log:
display_decisions(frame, head_action, eye_action)
display_counters(frame, COUNTER_LOG)
if perform:
COUNTER_LOG[action] += 1
cb(action)
if debug:
cur_head.debug(frame)
cur_eyes.debug(frame)
cv2.imshow("Frame", frame)
key = cv2.waitKey(1) & 0xFF
if key == ord("q"):
break
cv2.destroyAllWindows()
# Drawing stuff
font = cv2.FONT_HERSHEY_SIMPLEX
# Wait until user specifies windows dimensions
while len(mouseevents.clicked_positions) < 2:
pass
# Load settings
with open('settings.json', 'r') as f:
SETTINGS = json.load(f)
# ROI for game window
ROI_GAME = get_roi_from_mouse(mouseevents.clicked_positions)
# Our eyes for the game
eye = Eyes(ROI_GAME, SETTINGS)
eye.tune_roi()
# Extra
print('[!] Calibration complete')
print('[!] Loading model')
# Loading trained model
with open('model.pkl', 'rb') as fid:
clf = cPickle.load(fid)
print('[!] Loaded model')
print('[!] Press "q" to quit')
print('[.] Please get ready')
print('[!] Press "c" to continue')
while not keyevents.pressed_c:
def eyes_py(id):
global sidebudsPosX, sidebudsPosY, dispar, sadws
# 初期化宣言 : このソフトウェアは"eyes_py_node"という名前
rospy.init_node('eyes_py_node', anonymous=True)
# インスタンスの作成
eyes = Eyes(id)
# 処理周期の設定
r = rospy.Rate(PUB_RATE)
print("[eyes2] start")
# ctl + Cで終了しない限りwhileループで処理し続ける
while not rospy.is_shutdown():
#==================================================
# Loop
ret0, imgL = RP3_Cap_L.read()
ret1, imgR = RP3_Cap_R.read()
if dispMode == 1:
cv2.imshow("Left Camera", imgL)
cv2.imshow("Right Camera", imgR)
#-- Create DiparityMap --
disparity = GetDisparityMap()
###################################################
#-- Look for SideBuds --
sbsJpg = cv2.imread('./SideBuds_1.JPG', 0)
grayImg = cv2.cvtColor(imgL, cv2.COLOR_BGR2GRAY)
result = cv2.matchTemplate(grayImg, sbsJpg, cv2.TM_CCOEFF_NORMED)
unused_minVal, unused_maxVal, unused_minLoc, maxLoc = cv2.minMaxLoc(
result)
top_left = maxLoc
w, h = sbsJpg.shape[::-1]
bottom_right = (top_left[0] + w, top_left[1] + h)
if dispMode == 1:
cv2.rectangle(imgL, top_left, bottom_right, (0, 255, 0), 1)
cv2.imshow("SideBuds", imgL)
sidebudsPosX = top_left[0] + (w / 2)
sidebudsPosY = top_left[1] + (h / 2)
#-- Cal SideBuds Distance --
sidebudsPosDist = 6.6 * 62 / 0.003 / disparity[sidebudsPosY][
sidebudsPosX]
print sidebudsPosX, sidebudsPosY, sidebudsPosDist
###################################################
#-- Cal weed Center --
targetL = GetGreenDetect(imgL)
targetR = GetGreenDetect(imgR)
# target Position
Lx, Ly, Lw, Lh = cv2.boundingRect(targetL)
Rx, Ry, Rw, Rh = cv2.boundingRect(targetR)
if dispMode == 1:
cv2.rectangle(imgL, (Lx, Ly), (Lx + Lw, Ly + Lh), (0, 0, 255), 1)
cv2.imshow("Weed L", imgL)
cv2.rectangle(imgR, (Rx, Ry), (Rx + Rw, Ry + Rh), (0, 0, 255), 1)
cv2.imshow("Weed R", imgR)
# Xは左右中心の更に中心
Lpos = Lx + (Lw / 2)
Rpos = Rx + (Rw / 2)
weedPosX = (Lpos + Rpos) / 2
# Yは片側基準でOK
weedPosY = Ly + (Lh / 2)
# from disparity to dist
# Z = f x T / um / disparity
weedPosDist = 6.6 * 62 / 0.003 / disparity[weedPosY][weedPosX]
print weedPosX, weedPosY, weedPosDist
#==================================================
# メイン処理
eyes.main()
# Sleep処理
r.sleep()
keyevents.start()
mouseevents.start()
# Wait until user specifies windows dimensions
while len(mouseevents.clicked_positions) < 2:
pass
# Load settings
with open('settings.json', 'r') as f:
SETTINGS = json.load(f)
# ROI for game window
ROI_GAME = get_roi_from_mouse(mouseevents.clicked_positions)
# Our eyes for the game
eye = Eyes(ROI_GAME, SETTINGS, preview=True)
eye.tune_roi()
# Extra ubfi
print('[!] Calibration complete')
print('[!] Press "q" to quit')
print('[.] Please get ready')
# Time for user to get anything ready
print('[!] Press "c" to continue')
while not keyevents.pressed_c:
pass
print('[!] Starting...')
keyevents.end = False
from eyes import Eyes
import pprint
e = Eyes()
e.auth()
e.searchProcesso("5002074-02.2015.404.7005")
# e.acessarIntegra()
# e.exibirTodosEventos()
# print(e.getAdicionais())
# teste = e.getCapa()
# print(teste)
# e.getAssuntos()
# print(e.getPartes())
# eventos = e.getEventos()
# pprint.pprint(eventos)
# for ev in eventos:
# # pprint.pprint(ev['documentos'])
# if ev['documentos']:
# for doc in ev['documentos']:
# if doc['tipo'] == 'html':
# e.download_html(doc['url'], doc['nome'])
# elif doc['tipo'] == 'pdf':
# e.download_pdf(doc['url'], doc['nome'])
# input("Press Enter to continue...")
# # doc[]
e.close()
#!/usr/bin/env python3
from datetime import datetime
from models import *
from eyes import Eyes
from minerador import Minerador
import os
import time
eyes = Eyes(True)
eyes.auth()
miner = Minerador(eyes)
reauth_in = 10
aux_reauth = 1
processos = Processo.select().where(Processo.data_autuacao == None)
for processo in processos.iterator(database):
sigilo = True
print('{} Obtendo {}'.format(datetime.now(), processo.numero))
try:
miner.get_processo(processo.numero)
data = miner.get_data()
miner.get_files(data['eventos'])
except Exception as e:
print('Falha ao obter dados do processo: {} \n e: {}'.format(
processo.numero, str(e)))
eyes.takeSs()
print('Screenshot salva')
continue
try:
for k, v in data['adicionais'].items():
def test_constructor():
"""Test Eyes constructor"""
es = Eyes()
assert es.left_eye.direction == es.right_eye.direction == (0, 0)
# -*- coding: UTF-8 -*-
from eyes import Eyes
eyes = Eyes()
while True:
# 普通
eyes.set_nomal()
# 怒り
for level in range(1,11,1):
eyes.set_anger(level)
for level in range(10,0,-1):
eyes.set_anger(level)
# 普通
eyes.set_nomal()
# 驚き
for level in range(5,0,-1):
eyes.set_surprized(level)
for level in range(1,6,1):
eyes.set_surprized(level)
