def find(self):
with self.lock:
# Ensure tracker is not running.
if self.thread is not None:
return None
# Reset.
self.event.clear()
self.found = False
self.position = None
self.center = None
self.oculus = Oculus()
# Locate the moving object.
blob = None
frame = None
# Loop until capture.
while blob is None and not self.event.is_set():
mask, frame = Theia.get_foreground(self.eye, 100, self.event)
# Check early exit condition.
if mask is not None:
blob = Theia.bound_blobs(mask, 1)
else:
return None
# Check early exit condition.
if blob is None:
return None
# Blob exists.
bb = blob[0]
# Initialize tracker with bounding box.
success = self.oculus.initialize(frame, bb)
if not success:
logger.error('Unable to initialize tracker. Stopping Theia.')
return None
else:
if not self.start_track(frame):
return None
else:
return bb
camera = Camera(0, 100, 100)
eye = Eye(camera)
oculus = Oculus()
# agility.zero()
while True:
frame = eye.get_color_frame()
cv2.imshow("preview", frame)
k = cv2.waitKey(1)
if not k == -1:
break
frame = eye.get_color_frame()
tl, br = Theia.get_rect(frame)
bb = (tl[0], tl[1], br[0] - tl[0], br[1] - tl[1])
oculus.initialize(frame, bb)
while True:
frame = eye.get_color_frame()
found, pos, center = oculus.track(frame)
if found:
frame = cv2.rectangle(
frame, (int(pos[0]), int(pos[1])), (int(pos[0] + pos[2]), int(pos[1] + pos[3])), (0, 255, 0), 3
)
# data = agility.look_at(center[0], center[1])
# executor.submit(agility.move_head, *data)
else:
