frame = cv.flip(image, 0)
#frame = cv.flip(frame, 0)
grayFrame = cv.cvtColor(frame, cv.COLOR_BGR2GRAY) #convert to greyscale
faces = faceCascade.detectMultiScale(
grayFrame, 1.3, 5) #Find all faces in frame using haar cascade
for (x, y, w, h) in faces:
faceCentroidX = x + w / 2
error = width / 2 - faceCentroidX #use distance of face from center of frame as error
integral += error
differential = previousError - error
previousError = error
adjustmentValue = P * error + I * integral + D * differential
yawServo.changeAngle(-adjustmentValue)
frame = cv.rectangle(frame, (x, y), (x + w, y + h), (0, 0, 255),
4) #highlight face with rectangle
break #only consider the first face
cv.imshow('ComputerView', frame) #display image
key = cv.waitKey(1) & 0xFF
rawCapture.truncate(0)
if key == ord("q"):
break
cv2.destroyAllWindows()
