class tracking():
def __init__(self, port, technique, window_mode, shapes, writing,
rect_height, rect_width):
self.technique = technique
self.shapes = shapes
self.writing = writing
self.rect_height = rect_height
self.rect_width = rect_width
self.ard = Arduino(port)
print('access port available')
self.cap = cv2.VideoCapture(0)
print('camera available')
fourcc = cv2.VideoWriter_fourcc(*'XVID')
self.writer = cv2.VideoWriter("videos/" + self.create_file_name(),
fourcc, self.video_speed(), (640, 480))
self.face_cascade = cv2.CascadeClassifier(
'haarcascades/haarcascade_frontalface_default.xml')
cv2.namedWindow(self.technique, window_mode)
self.xValue = 90
self.yValue = 90
self.height = 0
self.width = 0
self.yScrCen = 0
self.xScrCen = 0
self.yScrSaf = 0
self.xScrSaf = 0
self.xFaceCen = 0
self.yFaceCen = 0
self.xDep = 0
self.yDep = 0
self.nbImages = 0
self.oldNbImages = 0
self.tpsPre = time.time()
def init_moteur(self):
self.xValue = 90
self.yValue = 90
self.ard.servoAttach(1, 6)
self.ard.servoAttach(2, 7)
self.ard.servoWrite(1, self.xValue)
self.ard.servoWrite(2, self.yValue)
print('moteur initialisation succeeded')
def init_screen_values(self):
_, frame = self.cap.read()
self.height, self.width = frame.shape[:2]
self.height = int(self.height / 1)
self.width = int(self.width / 1)
self.yScrCen = int(self.height / 2)
self.xScrCen = int(self.width / 2)
self.yScrSaf = int(self.height / self.rect_height)
self.xScrSaf = int(self.width / self.rect_width)
def image(self):
_, frame = self.cap.read()
frame = cv2.flip(frame, 1)
#size = (self.width, self.height)
#frame = cv2.resize(frame, size, interpolation = 3)
gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
return (frame, gray)
def detect_faces(self, gray):
faces = self.face_cascade.detectMultiScale(gray, 1.3, 5)
return faces
def face_center(self, x, y, w, h):
self.xFaceCen = x + int(w / 2)
self.yFaceCen = y + int(h / 2)
def calcul_deplacement(self):
print(self.yScrCen)
print(self.yFaceCen)
xEcart = abs(self.xScrCen - self.xFaceCen)
# - self.xScrSaf
yEcart = abs(self.yScrCen - self.yFaceCen)
# - self.yScrSaf
self.xDep = int(xEcart / 50) + 1
self.yDep = int(yEcart / 50) + 1
self.xDep = xEcart
self.yDep = yEcart
def moove_camera(self):
"""
if(self.xScrCen - self.xScrSaf > self.xFaceCen):
self.xValue += self.xDep
if(self.xValue > 180):
self.xValue = 180
if(self.xScrSaf + self.xScrCen < self.xFaceCen):
self.xValue -= self.xDep
if(self.xValue < 0):
self.xValue = 0
if(self.yScrCen + self.yScrSaf < self.yFaceCen):
self.yValue -= self.yDep
if(self.yValue < 90-YLIMIT):
self.yValue = 90-YLIMIT
if(self.yScrCen - self.yScrSaf > self.yFaceCen):
self.yValue += self.yDep
if(self.yValue > 90+YLIMIT):
self.yValue = 90+YLIMIT
self.ard.servoWrite(1, self.xValue)
self.ard.servoWrite(2, self.yValue)
"""
invX = 1
invY = 1
if (self.xScrCen < self.xFaceCen):
invX = 0
if (self.yScrCen < self.yFaceCen):
invY = 0
print("x : {} y : {}".format(self.xDep, self.yDep))
self.ard.mapping(self.xDep, self.yDep, invX, invY)
def add_face_lines(self, frame, x, y, w, h):
if (self.shapes):
cv2.rectangle(frame, (x, y), (x + w, y + h), (255, 0, 0), 2)
#cv2.line(frame, (self.xFaceCen-10, self.yFaceCen), (self.xFaceCen+10, self.yFaceCen), (0,255,0), 4)
#cv2.line(frame, (self.xFaceCen, self.yFaceCen-10), (self.xFaceCen, self.yFaceCen+10), (0,255,0), 4)
def add_lines(self, frame):
if (self.shapes):
cv2.line(frame, (0, self.yScrCen), (self.width, self.yScrCen),
(0, 0, 0), 2)
cv2.line(frame, (self.xScrCen, 0), (self.xScrCen, self.height),
(0, 0, 0), 2)
cv2.line(
frame,
(self.xScrCen - self.xScrSaf, self.yScrCen - self.yScrSaf),
(self.xScrCen + self.xScrSaf, self.yScrCen - self.yScrSaf),
(0, 0, 0), 2)
cv2.line(
frame,
(self.xScrCen - self.xScrSaf, self.yScrCen + self.yScrSaf),
(self.xScrCen + self.xScrSaf, self.yScrCen + self.yScrSaf),
(0, 0, 0), 2)
cv2.line(
frame,
(self.xScrCen - self.xScrSaf, self.yScrCen - self.yScrSaf),
(self.xScrCen - self.xScrSaf, self.yScrCen + self.yScrSaf),
(0, 0, 0), 2)
cv2.line(
frame,
(self.xScrCen + self.xScrSaf, self.yScrCen - self.yScrSaf),
(self.xScrCen + self.xScrSaf, self.yScrCen + self.yScrSaf),
(0, 0, 0), 2)
def afficher_image(self, frame):
if (deFace):
frame = cv2.flip(frame, 1)
cv2.imshow(self.technique, frame)
self.add_image()
def writing_image(self, frame):
if (self.writing):
self.writer.write(frame)
def release_all(self):
self.stopMotor()
self.cap.release()
cv2.destroyAllWindows()
self.ard.close()
def create_file_name(self):
dateNow = datetime.now()
date = dateNow.strftime("%d-%b %Hh%M")
file_name = 'project-'
if (self.technique == 'tracking'):
file_name += 'track '
elif (self.technique == 'detection'):
file_name += 'detect '
else:
print('wrong value of "technique"')
file_name += str(date) + ".avi"
return file_name
def video_speed(self):
if (self.technique == 'tracking'):
return 29
elif (self.technique == 'detection'):
return 14
else:
print('wrong value of "technique"')
def add_image(self):
self.nbImages += 1
def one_second(self):
diff = time.time() - self.tpsPre
if (diff >= 1):
ecart = self.nbImages - self.oldNbImages
self.oldNbImages = self.nbImages
self.tpsPre = time.time()
return True, ecart
else:
return False, None
def stopMotor(self):
self.ard.stop()
port = 'COM3'
ard = Arduino(port)
print('access port available')
testX = 0
testY = 90
xValue = testX
yValue = testY
ard.servoAttach(1, 6)
ard.servoAttach(2, 7)
ard.servoWrite(1, xValue)
ard.servoWrite(2, yValue)
time.sleep(2)
ard.mapping(10)
time.sleep(1)
ard.mapping(20)
time.sleep(1)
ard.mapping(30)
time.sleep(1)
ard.mapping(40)
time.sleep(1)
ard.mapping(50)
time.sleep(1)
ard.mapping(200)
time.sleep(1)
ard.close()
print("finished succefully")
import time
import struct
import serial
from commandesPython import Arduino
#time.sleep(5)
print("starting")
time.sleep(1)
port = 'COM5'
ard = Arduino(port)
print('access port available')
test = 0
xValue = test
yValue = test
ard.servoAttach(1, 7)
ard.servoWrite(1, xValue)
time.sleep(2)
ard.mapping(100)
time.sleep(1)
ard.mapping(240)
ard.close()
print("finished succefully")
time.sleep(2)