def processPathList(carState, typeBasedList):
for movingCommand in typeBasedList:
movingDir, relativeDir, dirCount, pathLength = movingCommand
motorControl.turn(Directions.RELATIVE_VALUE[(carState[1], movingDir)] * 90)
carState[1]=movingDir
#TODO: add auto correction function to handle frontSensor[0]!=backSensor[0]
#TODO: update carState[0]
#relativeDir+1: if check left, -1+1=0, if check right, 1+1=2
initialSideValue=sensor.getSensorReading()[relativeDir+1]
if initialSideValue==0:
wallCheckingState=wallCheckingStates.WallCheckingStates_AllNonWall(1)
else:
wallCheckingState=wallCheckingStates.WallCheckingStates_AllWall(0)
motorControl.fastGoForward(pathLength)
while wallCheckingState.dirCount < dirCount:
frontSensors = sensor.getSensorReading()
backSensors = sensor.getBackSensorReadings()
if relativeDir == -1:
frontValue=frontSensors[0]
backValue=backSensors[0]
else:
frontValue=frontSensors[3]
backValue=backSensors[2]
wallCheckingState=wallCheckingState.nextState(frontValue,backValue)
#Enough dirCount. Stop car
motorControl.stop()
def pan(frame, x, y, w, h):
#note: frame is 640 x 480
cx = x + int(w / 2) #center x of face
cy = y + int(h / 2) #center y of face
speedS = 0.5
speedL = 0.75
if (cx > 200 and cx < 480):
if (cx < 300):
# print('left s')
motor.left(speedS)
elif (cx > 380):
# print('right s')
motor.right(speedS)
else:
motor.stop()
return True
else:
if (cx < 200):
# print('left L')
motor.left(speedL)
elif (cx > 480):
# print('right L')
motor.right(speedL)
return False
def main():
face_cascade = cv2.CascadeClassifier(
'cascades/data/haarcascade_frontalface_alt2.xml')
# profileface_cascade = cv2.CascadeClassifier('cascades/data/haarcascade_profileface.xml')
test_cascade = cv2.CascadeClassifier('cascades/data/aGest.xml')
cap = cv2.VideoCapture(0)
cap.set(3, 640) #adjusts width of video stream
cap.set(4, 480) #adjusts height of video stream
cap.set(5, 15) #adjusts frame rate of video stream
motor.setAngle(90)
while (True):
ret, frame = cap.read()
frame = cv2.flip(frame, -1)
gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
faces = face_cascade.detectMultiScale(gray,
scaleFactor=1.5,
minNeighbors=3)
# if(len(faces) <= 0):
# faces = profileface_cascade.detectMultiScale(cv2.flip(gray, 1) ,scaleFactor=1.5, minNeighbors=5)
# if(len(faces) > 0):
# faces[0] = 640 - faces[0]
# if(len(faces) <= 0):
# faces = profileface_cascade.detectMultiScale(gray ,scaleFactor=1.5, minNeighbors=5)
if (len(faces) <= 0): #safety
motor.stop()
for (x, y, w, h) in faces:
# print(x,y,w,h)
#roi
roi_gray = gray[y:y + h, x:x + w]
roi_color = frame[y:y + h, x:x + w]
color = (255, 0, 0)
stroke = 2
end_cord_x = x + w
end_cord_y = y + h
cv2.rectangle(frame, (x, y), (end_cord_x, end_cord_y), color,
stroke)
checkTilt = tilt(frame, x, y, w, h)
checkPan = pan(frame, x, y, w, h)
if (checkTilt and checkPan):
# print('okay')
pass
roi(frame, x, y, w, h)
cv2.imshow('frame', frame)
if cv2.waitKey(20) & 0xFF == ord('q'):
break
cap.release()
cv2.destroyAllWindows()
def main():
cap = cv2.VideoCapture(0) #sets the camera
cap.set(3, 640) #adjusts width of video stream
cap.set(4, 480) #adjusts height of video stream
cap.set(5, 30) #adjusts frame rate of video stream
motor.setAngle(40)
while (True): #infinite loop with break condition at bottom
ret, frame = cap.read() #creates the frame with the camera
frame = cv2.flip(frame, -1)
last = 0
fullCont = findContour(frame) #contour for the entire frame
if (len(fullCont) > 0):
c = max(fullCont, key=cv2.contourArea) #finds the largest contour
x, y, w, h = cv2.boundingRect(
c
) #returns the coresponding values creating a rect around the contour
cv2.rectangle(frame, (x, y), ((x + w), (y + h)), (0, 255, 0),
3) #draws a box to bound the contour area
small_box = cv2.minAreaRect(c)
(x_min, y_min), (w_min, h_min), ang = small_box
if (ang < -45):
ang = 90 + ang
if (w_min < h_min and ang > 0):
ang = (90 - ang) * -1
if (w_min > h_min and ang < 0):
ang = 90 + ang
ang = int(ang)
box = cv2.boxPoints(small_box)
box = np.int0(box)
last = calcSteer(ang)
#draws the angle and the box after the image if fully processed
cv2.drawContours(frame, [box], 0, (0, 0, 255), 2)
cv2.putText(frame,
str(ang) + ' deg', (10, 30), cv2.FONT_HERSHEY_SIMPLEX,
0.75, (0, 0, 255), 2)
else:
if (last == 1):
motor.right(0.5)
elif (last == -1):
motor.left(0.5)
else:
motor.stop()
cv2.imshow('frame', frame)
if cv2.waitKey(20) & 0xFF == ord('q'):
break
cap.release()
cv2.destroyAllWindows()
def on_release(key):
try:
if key.char in ['w', 'a', 's', 'd']:
motor.stop()
except:
k = key.name