def __init__(self):
super().__init__()
self.ui = loadUi(
'tracking.ui', self
) #Load .ui file that define the window layout(buttons, tick boxoex...)
self.setMouseTracking(
True) #allow mouse tracking(use during manual mode)
self.manual_mode = False #set manual mode to false to start in tracking face mode
self.LED_ON = True #set LED on mode
self.CameraID = 0 #define camera ID, first camera = ID 0, second ID 1 and so on
self.rec = True #allows to start camera recording
self.cap = cv2.VideoCapture(
self.CameraID) #define open CV camera recording
self.cap.set(3, 960) #set capture width
self.cap.set(4, 540) #set capture height
#The bigger the image is, the longer the processing is goint to take to process it
## My computer is a bit shit so I kept it quite small .
self.min_tilt = 22 #minimum tilt angle in degree (up/down angle)
self.max_tilt = 80 #maximum tilt angle in degree
self.current_tilt = 0 #current tilt (info received from arduino and displayed in LCD numbers)
self.target_tilt = 90 #the tilt angle you need to reach
self.min_pan = 80 #minimum pan angle in degree(left/ right angle)
self.max_pan = 100 #maximum pan angle in degree
self.current_pan = 80 #current pan (info received from arduino and displayed in LCD numbers)
self.target_pan = 90 #the pan angle you need to reach
self.roam_target_pan = 90
self.roam_target_tilt = 90
self.roam_pause = 40 #amount of frame the camera is going to pause for when roam tilt or pan target reached
self.roam_pause_count = self.roam_pause #current pause frame count
self.is_connected = False #boolean defining if arduino is connected
self.InvertPan = False #allows pan to be inverted
self.InvertTilt = False #allows tilt to be inverted
self.face_detected = False #define if a face is detected
self.target_locked = False #define if detected face is close enough to the center of the captured image
self.max_target_distance = 40 #minimum distance between face/center of image for setting target locked
self.max_empty_frame = 50 #number of empty frame (no face detected) detected before starting roaming
self.empty_frame_number = self.max_empty_frame #current empty frame count
self.ard = comm_ard.ard_connect(
self) #create object allowing communicationn with arduino
self.initUI() #set up UI( see below )
def __init__(self):
super().__init__()
self.ui = loadUi('tracking.ui', self)
self.setMouseTracking(True)
self.manual_mode = False
self.LED_ON = True
self.CameraID = 0
self.rec = True
self.cap = cv2.VideoCapture(self.CameraID)
self.cap.set(3, 960)
self.cap.set(4, 540)
self.min_tilt = 22
self.current_tilt = 0
self.target_tilt = 90
self.min_pan = 80
self.max_pan = 100
self.current_pan = 80
self.target_pan = 90
self.roam_target_pan = 90
self.roam_target_tilt = 90
self.roam_pause = 40
self.roam_pause_count = self.roam_pause
self.is_connected = False
self.InvertPan = False
self.InvertTilt = False
self.face_detected = False
self.target_locked = False
self.max_target_distance = 40
self.max_empty_frame = 50
self.empty_frame_number = self.max_empty_frame
self.ard = comm_ard.ard_connect(self)
self.initUI() )
def __init__(self):
super().__init__()
self.ui = loadUi('tracking.ui', self)
self.LCameraID = 0
self.RCameraID = 1
self.rec = True
self.capL = cv2.VideoCapture(self.LCameraID)
self.capR = cv2.VideoCapture(self.RCameraID)
self.capL.set(3, 1920)
self.capL.set(4, 1080)
self.capR.set(3, 1920)
self.capR.set(4, 1080)
self.f = 100.0 # focal length in inches, have to calculate this with the camera we get
self.j = 4.0 # distance between cameras in inches; have to measure and/or plan for this
self.w = 3.0 # distance between cameras and servos in inches; have to measure and/or plan for this
self.xL = 0.0
self.xR = 0.0
self.calculated_dist = sys.maxsize # distance from cameras in inches
self.calculated_angle = 90.0 # angle to object from center of cameras
self.is_connected = False
self.face_detected = False
self.max_empty_frame = 50
self.empty_frame_number = self.max_empty_frame
self.ard = comm_ard.ard_connect(self)
self.initUI()