def main():
print('Initializing HAT')
hat.servo_enable(1, False)
hat.servo_enable(2, False)
hat.light_mode(hat.WS2812)
hat.light_type(hat.GRBW)
print('Initializing camera')
with picamera.PiCamera() as camera:
camera.resolution = (WIDTH, HEIGHT)
camera.framerate = FRAMERATE
camera.vflip = VFLIP # flips image rightside up, as needed
camera.hflip = HFLIP # flips image left-right, as needed
sleep(1) # camera warm-up time
print('Initializing websockets server on port %d' % WS_PORT)
WebSocketWSGIHandler.http_version = '1.1'
websocket_server = make_server(
'',
WS_PORT,
server_class=WSGIServer,
handler_class=WebSocketWSGIRequestHandler,
app=WebSocketWSGIApplication(handler_cls=StreamingWebSocket))
websocket_server.initialize_websockets_manager()
websocket_thread = Thread(target=websocket_server.serve_forever)
print('Initializing HTTP server on port %d' % HTTP_PORT)
http_server = StreamingHttpServer()
http_thread = Thread(target=http_server.serve_forever)
print('Initializing broadcast thread')
output = BroadcastOutput(camera)
broadcast_thread = BroadcastThread(output.converter, websocket_server)
print('Starting recording')
camera.start_recording(output, 'yuv')
try:
print('Starting websockets thread')
websocket_thread.start()
print('Starting HTTP server thread')
http_thread.start()
print('Starting broadcast thread')
broadcast_thread.start()
while True:
camera.wait_recording(1)
except KeyboardInterrupt:
pass
finally:
print('Stopping recording')
camera.stop_recording()
print('Waiting for broadcast thread to finish')
broadcast_thread.join()
print('Shutting down HTTP server')
http_server.shutdown()
print('Shutting down websockets server')
websocket_server.shutdown()
print('Waiting for HTTP server thread to finish')
http_thread.join()
print('Disabling servos')
hat.servo_enable(1, False)
hat.servo_enable(2, False)
hat.clear()
hat.show()
print('Waiting for websockets thread to finish')
websocket_thread.join()
def switch_lights(light_on):
if light_on == True:
pantilthat.set_all(255, 255, 255, 255)
else:
pantilthat.set_all(0, 0, 0, 0)
# light_on = not light_on
pantilthat.show()
def update(self, next_frame, frameCenter):
initial_h, initial_w, depth = next_frame.shape
in_frame = cv2.resize(next_frame, (self.w, self.h))
in_frame = in_frame.transpose(
(2, 0, 1)) # Change data layout from HWC to CHW
in_frame = in_frame.reshape((self.n, self.c, self.h, self.w))
self.exec_net.start_async(request_id=self.next_request_id,
inputs={self.input_blob: in_frame})
rects = []
if self.exec_net.requests[self.cur_request_id].wait(-1) == 0:
# Parse detection results of the current request
res = self.exec_net.requests[self.cur_request_id].outputs[
self.out_blob]
for obj in res[0][0]:
# Draw only objects when probability more than specified threshold
if obj[2] > 0.5:
xmin = int(obj[3] * initial_w)
ymin = int(obj[4] * initial_h)
xmax = int(obj[5] * initial_w)
ymax = int(obj[6] * initial_h)
rects.append([xmin, ymin, xmax - xmin, ymax - ymin])
self.cur_request_id, self.next_request_id = self.next_request_id, self.cur_request_id
# check to see if a face was found
if len(rects) > 0:
# extract the bounding box coordinates of the face and
# use the coordinates to determine the center of the
# face
(x, y, w, h) = rects[0]
faceX = int(x + (w / 2))
faceY = int(y + (h / 2))
# color the error
pth.set_all(255, 0, 0)
if (faceX - frameCenter[0]) > 10:
pth.set_pixel(0, 255, 255, 255)
if (faceX - frameCenter[0]) > 30:
pth.set_pixel(1, 255, 255, 255)
if (faceX - frameCenter[0]) > 50:
pth.set_pixel(2, 255, 255, 255)
if (faceX - frameCenter[0]) < -10:
pth.set_pixel(7, 255, 255, 255)
if (faceX - frameCenter[0]) < -30:
pth.set_pixel(6, 255, 255, 255)
if (faceX - frameCenter[0]) < -50:
pth.set_pixel(5, 255, 255, 255)
pth.show()
# print("face detected centroid", faceX, faceY)
# return the center (x, y)-coordinates of the face
return ((faceX, faceY), rects[0])
# otherwise no faces were found, so return the center of the
# frame
pth.clear()
pth.show()
return (frameCenter, None)
def set_light_color(color, indices=None):
(r, g, b) = color_to_rgb(color)
# print("rgb requested: ", (r,g,b))
if indices is None:
pantilthat.set_all(r, g, b)
else:
for idx in indices:
pantilthat.set_pixel(idx, r, g, b)
pantilthat.show()
def signal_handler(sig, frame):
# print a status message
print("[INFO] You pressed `ctrl + c`! Exiting...")
# clear lights
pth.clear()
pth.show()
# exit
sys.exit()
def flash_lights():
t = time.time()
r, g, b = [
int(x * 255)
for x in colorsys.hsv_to_rgb(((t * 100) % 360) / 360.0, 1.0, 1.0)
]
r, g, b = (255, 255, 255)
for i in range(2, 6):
pantilthat.set_pixel(i, r, g, b)
pantilthat.show()
def set_light():
getvar_dict = request.query.decode()
set = request.query.set
if (set == "on"):
pantilthat.set_all(0, 0, 0, 255)
pantilthat.show()
return ("Light On")
else:
pantilthat.clear()
pantilthat.show()
return ("Light Off")
def color_set():
global r
global g
global b
global w
r = red_select.value
g = green_select.value
b = blue_select.value
w = white_select.value
pantilthat.set_all(r, g, b, w)
pantilthat.show()
if in_range(tiltAngle, servoRange[0]+20, servoRange[1] ):
pth.tilt(tiltAngle-20)
time.sleep(0.1)
# check to see if this is the main body of execution
if __name__ == "__main__":
# construct the argument parser and parse the arguments
ap = argparse.ArgumentParser()
ap.add_argument("-m", "--model", type=str, required=True,
help="path to openvino model for face detection")
args = vars(ap.parse_args())
#set up lights:
pth.light_mode(pth.WS2812)
pth.light_type(pth.RGB)
pth.set_all(0,0,255)
pth.show()
# start a manager for managing process-safe variables
with Manager() as manager:
# enable the servos
pth.servo_enable(1, True)
pth.servo_enable(2, True)
# set integer values for the object center (x, y)-coordinates
centerX = manager.Value("i", 0)
centerY = manager.Value("i", 0)
# set integer values for the object's (x, y)-coordinates
objX = manager.Value("i", 0)
objY = manager.Value("i", 0)
# pan and tilt values will be managed by independed PIDs
def exit_program():
pantilthat.set_all(0, 0, 0, 0)
pantilthat.show()
pantilthat.pan(0)
pantilthat.tilt(-20)
exit()
from time import sleep # Initialise PanTilt Hat a = 0 # intitial pan position (center) b = -20 # intitial tilt position (center) r = 0 # neopixel red off g = 0 # neopixel green off b = 0 # neopixel blue off w = 0 # neopixel white off pantilthat.light_mode(pantilthat.WS2812) pantilthat.light_type(pantilthat.GRBW) pantilthat.pan(a) pantilthat.tilt(b) pantilthat.set_all(r, g, b, w) pantilthat.show() # Initialise Camera camera = picamera.PiCamera() win_size = (500, 40, 640, 480) x = 0 # set zoom to zero y = 0 # set zoom to zero video = (1920, 1088) photo = (2592, 1944) framerate = 30 rotate = 180 effect_value = "none" camera.exposure_mode = "auto" camera.awb_mode = "auto" camera.rotation = rotate camera.resolution = photo
def do_GET(self):
url = urlparse(self.path)
if url.path == '/':
self.send_response(301)
self.send_header('Location', '/index.html')
self.end_headers()
return
elif url.path == '/do_orient':
try:
data = {k: int(v[0]) for k, v in parse_qs(url.query).items()}
except (IndexError, ValueError) as e:
self.send_error(400, str(e))
else:
with self.server.hat_lock:
hat.servo_enable(1, True)
hat.servo_enable(2, True)
try:
delay = 0.1
if 'pan' in data:
pan = -data['pan']
delay = max(
delay,
0.5 * (abs(pan - self.server.last_pan) / 180))
hat.pan(pan)
self.server.last_pan = pan
if 'tilt' in data:
tilt = -data['tilt']
delay = max(
delay, 0.5 *
(abs(tilt - self.server.last_tilt) / 180))
hat.tilt(tilt)
self.server.last_tilt = tilt
# Wait for the servo to complete its sweep
sleep(delay)
finally:
hat.servo_enable(1, False)
hat.servo_enable(2, False)
self.send_response(200)
self.end_headers()
return
elif url.path == '/do_light':
try:
data = {
int(k): (int(r), int(g), int(b), int(w))
for k, v in parse_qs(url.query).items()
for r, g, b, w in (v[0].split(',', 3), )
}
except (IndexError, ValueError) as e:
self.send_error(400, str(e))
else:
if -1 in data:
r, g, b, w = data.pop(-1)
for i in range(8):
data[i] = r, g, b, w
with self.server.hat_lock:
for index, (r, g, b, w) in data.items():
if 0 <= index < 8:
hat.set_pixel_rgbw(index, r, g, b, w)
hat.show()
self.send_response(200)
self.end_headers()
return
elif url.path == '/jsmpg.js':
content_type = 'application/javascript'
content = self.server.jsmpg_content
elif url.path == '/index.html':
content_type = 'text/html; charset=utf-8'
tpl = Template(self.server.index_template)
content = tpl.safe_substitute(
dict(WS_PORT=WS_PORT,
WIDTH=WIDTH,
HEIGHT=HEIGHT,
COLOR=COLOR,
BGCOLOR=BGCOLOR))
elif url.path == '/styles.css':
content_type = 'text/css; charset=utf-8'
tpl = Template(self.server.styles_template)
content = tpl.safe_substitute(
dict(WS_PORT=WS_PORT,
WIDTH=WIDTH,
HEIGHT=HEIGHT,
COLOR=COLOR,
BGCOLOR=BGCOLOR))
else:
self.send_error(404, 'File not found')
return
content = content.encode('utf-8')
self.send_response(200)
self.send_header('Content-Type', content_type)
self.send_header('Content-Length', len(content))
self.send_header('Last-Modified', self.date_time_string(time()))
self.end_headers()
if self.command == 'GET':
self.wfile.write(content)
pantilthat.light_type(pantilthat.GRBW);
else:
print('error: light_type requires parameter RBB, GRB, RGBW or GRBW');
elif( command == 'light_mode' and len(list)>=2):
if( list[1] == 'PWM' ):
pantilthat.light_mode(pantilthat.PWM);
elif( list[1] == 'WS2812' ):
pantilthat.light_mode(pantilthat.WS2812);
else:
print('error: light_mode requires parameter PWM or WS2812');
elif (command == 'brightness' and len(list)>=2):
pantilthat.brightness(float(list[1]));
elif( command == 'set_all' and len(list)==4):
pantilthat.set_all(int(list[1]), int(list[2]), int(list[3]));
elif( command == 'set_all' and len(list)==5):
print("setting three colours and white");
pantilthat.set_all(int(list[1]), int(list[2]), int(list[3]), int(list[4]));
elif( command == 'set_pixel' and len(list)==5):
pantilthat.set_pixel(int(list[1]), int(list[2]), int(list[3]), int(list[4]));
elif( command == 'set_pixel' and len(list)==6):
pantilthat.set_pixel(int(list[1]), int(list[2]), int(list[3]), int(list[4]), int(list[5]));
elif( command == 'show'):
pantilthat.show();
else:
print('error processing command');
except:
print('error processing command');
def do_LIGHT( self, value = 0 ) :
if value < 0 : value = 0
if value > 255 : value = 255
pantilthat.clear()
pantilthat.set_all( value, value, value )
pantilthat.show()
def show():
pantilthat.show()
def update(self, frame, frameCenter):
# convert the frame to grayscale
gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
# self.flip += 1
# if self.flip < 100:
# return ((320,240), None)
# elif self.flip < 200:
# return (((160,120), None))
# elif self.flip < 300:
# self.flip = 0
# return (((160,120), None))
# if self.flip:
# self.testcoord[0] -= 1
# else:
# self.testcoord[0] += 1
# if self.testcoord[0] > 170:
# self.flip = True
# if self.testcoord[0] < 150:
# self.flip = False
# print(self.testcoord)
# return (self.testcoord, (self.testcoord[0], self.testcoord[1], 10, 10))
# detect all faces in the input frame
rects = self.detector.detectMultiScale(gray,
scaleFactor=1.05,
minNeighbors=9,
minSize=(30, 30),
flags=cv2.CASCADE_SCALE_IMAGE)
# check to see if a face was found
if len(rects) > 0:
# extract the bounding box coordinates of the face and
# use the coordinates to determine the center of the
# face
(x, y, w, h) = rects[0]
faceX = int(x + (w / 2))
faceY = int(y + (h / 2))
# color the error
pth.set_all(255, 0, 0)
if (faceX - frameCenter[0]) > 10:
pth.set_pixel(0, 255, 255, 255)
if (faceX - frameCenter[0]) > 30:
pth.set_pixel(1, 255, 255, 255)
if (faceX - frameCenter[0]) > 50:
pth.set_pixel(2, 255, 255, 255)
if (faceX - frameCenter[0]) < -10:
pth.set_pixel(7, 255, 255, 255)
if (faceX - frameCenter[0]) < -30:
pth.set_pixel(6, 255, 255, 255)
if (faceX - frameCenter[0]) < -50:
pth.set_pixel(5, 255, 255, 255)
pth.show()
# print("face detected centroid", faceX, faceY)
# return the center (x, y)-coordinates of the face
return ((faceX, faceY), rects[0])
# otherwise no faces were found, so return the center of the
# frame
pth.clear()
pth.show()
return (frameCenter, None)
def start_camera(self, face_position_X, face_position_Y):
"""
1. Begin video stream
2. Extract faces from frames
3. Display frames with bounding boxes
4. Update global variables with:
-> pixel coordinates of the center of the frame
-> pixel coordinates of the center of the faces
"""
# signal trap to handle keyboard interrupt
signal.signal(signal.SIGINT, signal_handler)
# start the video stream and wait for the camera to warm up
# vs = VideoStream(usePiCamera=self.rpi, resolution=self.resolution).start()
print('Starting Camera')
if self.rpi:
vs = VideoStream(usePiCamera=self.rpi,
resolution=self.resolution).start()
else:
vs = VideoStream(src=1, resolution=self.resolution).start()
time.sleep(2.0)
# initialize the object center finder
face_detector = HaarFaceDetector(
os.path.join(MODELS_DIRECTORY,
'haarcascade_frontalface_default.xml'))
# initialise the recogniser
# fr = PiFaceRecognition()
# start recording
filename = os.path.join(DATA_DIRECTORY, 'recordings',
'{}.avi'.format(time.time()))
cv2.VideoWriter_fourcc(*'MJPG')
print(filename)
fourcc = cv2.VideoWriter_fourcc(*'MJPG')
out = cv2.VideoWriter(filename, fourcc, 20.0, self.resolution)
while True:
# grab the frame from the threaded video stream and flip it
# vertically (since our camera was upside down)
frame = vs.read()
frame = cv2.flip(frame, 0)
# (H, W) = frame.shape[:2]
# print('H', H)
# find the object's location
object_locations = face_detector.extract_faces(frame)
people = [] # for setting colour
# get first face for now
if object_locations:
# print('{} faces found.'.format(len(object_locations)))
(face_position_X.value,
face_position_Y.value) = object_locations[0][0]
# print(object_locations[0][0])
# extract the bounding box and draw it
for pos, rect, neighbour, weight in object_locations:
(x, y, w, h) = rect
cv2.rectangle(frame, (x, y), (x + w, y + h), (0, 255, 0),
2)
# recogniser part
gray_frame = cv2.cvtColor(
frame, cv2.COLOR_BGR2GRAY) # convert to gray
person, confidence = PiFaceRecognition.infer_lbph_face_recogniser(
gray_frame[y:y + h, x:x + w])
people.append(person)
cv2.putText(frame, person, (x + 5, y - 5),
cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255),
2)
cv2.putText(frame, str(confidence), (x + 5, y + h - 5),
cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 0), 1)
else:
print('No faces found.')
face_position_X.value, face_position_Y.value = (
self.frame_center_X, self.frame_center_Y)
if len(people) > 1:
# set to orange
pth.set_all(255, 127, 80, 50)
pth.show()
elif 'jai' in people:
# set to green
pth.set_all(173, 255, 47, 50)
pth.show()
elif 'alleeya' in people:
# set to purple
pth.set_all(221, 160, 221, 50)
pth.show()
else:
pth.clear()
pth.show()
# display the frame to the screen
cv2.imshow("Pan-Tilt Face Tracking", frame)
out.write(frame)
cv2.waitKey(1)
out.release()
def test_lights():
pantilthat.light_mode(pantilthat.WS2812)
pantilthat.light_type(pantilthat.GRBW)
r, g, b, w = 0, 0, 0, 0
try:
while True:
pantilthat.set_all(0, 0, 0, 0)
pantilthat.show()
time.sleep(0.5)
pantilthat.set_all(100, 0, 0, 0)
pantilthat.show()
time.sleep(0.5)
pantilthat.set_all(0, 100, 0, 0)
pantilthat.show()
time.sleep(0.5)
pantilthat.set_all(0, 0, 100, 0)
pantilthat.show()
time.sleep(0.5)
pantilthat.set_all(100, 100, 0, 0)
pantilthat.show()
time.sleep(0.5)
pantilthat.set_all(0, 100, 100, 0)
pantilthat.show()
time.sleep(0.5)
pantilthat.set_all(100, 0, 100, 0)
pantilthat.show()
time.sleep(0.5)
pantilthat.set_all(100, 100, 100, 0)
time.sleep(0.5)
pantilthat.show()
except KeyboardInterrupt:
pantilthat.clear()
pantilthat.show()
