def update(self, x, y, z, throttle, buttons, hat):
# self.x = x
# self.y = y
# self.z = z
# self.throttle = throttle
# self.buttons = buttons
# self.hat = hat
now = time.time()
self.tcnt = self.tcnt + 1
self.tsum += now - self.last
if self.tcnt == 100:
#print self.tsum/self.tcnt
self.tcnt = 0
self.tsum = 0
self.last = now
if (abs(x) > self.minx):
if (x > 0):
controller.moveBot("right", int(x * 255 / 2))
else:
controller.moveBot("left", abs(int(x * 255 / 2)))
else:
controller.moveBot("right", 0)
if (abs(y) > self.miny):
if (y > 0):
controller.moveBot("rev", int(y * 255))
else:
controller.moveBot("fwd", abs(int(y * 255)))
else:
controller.moveBot("fwd", 0)
if (buttons[0]):
rockets.fire()
if (buttons[3]):
rockets.laser()
if (hat[1] > 0):
rockets.up()
if (hat[1] < 0):
rockets.down()
if (hat[0] > 0):
rockets.right()
if (hat[0] < 0):
rockets.left()
cv.Zero(mask)
cv.SetImageROI(mask, rcenter)
cv.Set(mask, 1)
cv.ResetImageROI(mask)
cv.Rectangle(video, (width / 4, height / 4), (width * 3 / 4, height), 255)
# define our 'control region'
xleft = int(leftLimit * width)
xright = int(rightLimit * width)
faces = cv.HaarDetectObjects(video, hc, ms, 1.25, 2, 0, (50, 50))
# move the robot toward the first face it sees
for (x, y, w, h), n in faces:
cv.Rectangle(video, (x, y), (x + w, y + h), 255)
if x + w > xright:
bot.moveBot("right", 50)
print "right"
# sleep(0.2)
# bot.stopBot()
elif x < xleft:
bot.moveBot("left", 50)
print "left"
# sleep(0.2)
# bot.stopBot()
else:
bot.moveBot("right", 0)
# stop turning
bot.moveBot("left", 0)
if max(w, h) > height / 4:
bot.moveBot("rev", 50)
if max(w, h) < height / 7:
def main(argv):
# create the window
if (useDisplay):
cv.NamedWindow('Video')
print('Press ESC in window to stop')
# create capture device
capture = cv.CreateCameraCapture(deviceNumber)
if not capture:
print "Error opening capture device. Check deviceNumber."
return 1
# set up for face detection
hc = cv.Load("/usr/share/opencv/data/haarcascade_frontalface_default.xml")
ms = cv.CreateMemStorage()
counter = 0
while True:
# capture the current frame
video = cv.QueryFrame(capture)
if video is None:
break
width = video.width
height = video.height
# define our 'control region'
xleft = int(leftLimit*width)
xright = int(rightLimit*width)
# detect faces
faces = cv.HaarDetectObjects(video, hc, ms, 1.25, 2, 0, (50,50))
# move the robot toward the first face it sees
for (x,y,w,h),n in faces:
cv.Rectangle(video, (x,y), (x+w,y+h), 255)
if x+w > xright:
bot.moveBot("right",125);
print "right"
# sleep(0.2)
# bot.stopBot()
elif x < xleft:
bot.moveBot("left",125);
print "left"
# sleep(0.2)
# bot.stopBot()
else:
bot.moveBot("right",0); # stop turning
bot.moveBot("left",0);
bot.moveBot("fwd",255);
break # don't process any more faces.
if (useDisplay):
# draw the "control region" on the image
cv.Rectangle(video, (xleft,0), (xright,height), 255)
cv.ShowImage('Video', video)
counter = counter + 1
if cv.WaitKey(10) == 27:
break
return 0
def update(self,x,y,z,throttle,buttons,hat):
# self.x = x
# self.y = y
# self.z = z
# self.throttle = throttle
# self.buttons = buttons
# self.hat = hat
now = time.time()
self.tcnt = self.tcnt+1
self.tsum += now - self.last
if self.tcnt == 100:
#print self.tsum/self.tcnt
self.tcnt=0
self.tsum=0
self.last = now
if (abs(x) > self.minx):
if (x > 0):
controller.moveBot("right",int(x*255/2))
else:
controller.moveBot("left",abs(int(x*255/2)))
else:
controller.moveBot("right",0)
if (abs(y) > self.miny):
if (y > 0):
controller.moveBot("rev",int(y*255))
else:
controller.moveBot("fwd",abs(int(y*255)))
else:
controller.moveBot("fwd",0)
if (buttons[0]):
rockets.fire()
if (buttons[3]):
rockets.laser()
if (hat[1] > 0):
rockets.up()
if (hat[1] < 0):
rockets.down()
if (hat[0] > 0):
rockets.right()
if (hat[0] < 0):
rockets.left()
cv.Zero (mask)
cv.SetImageROI (mask, rcenter)
cv.Set (mask, 1)
cv.ResetImageROI (mask)
cv.Rectangle(video, (width/4,height/4), (width*3/4,height), 255)
# define our 'control region'
xleft = int(leftLimit*width)
xright = int(rightLimit*width)
faces = cv.HaarDetectObjects(video, hc, ms, 1.25, 2, 0, (50,50))
# move the robot toward the first face it sees
for (x,y,w,h),n in faces:
cv.Rectangle(video, (x,y), (x+w,y+h), 255)
if x+w > xright:
bot.moveBot("right",50);
print "right"
# sleep(0.2)
# bot.stopBot()
elif x < xleft:
bot.moveBot("left",50);
print "left"
# sleep(0.2)
# bot.stopBot()
else:
bot.moveBot("right",0); # stop turning
bot.moveBot("left",0);
if max(w,h) > height/4:
bot.moveBot("rev",50);
if max(w,h) < height/7:
bot.moveBot("fwd",150);
