CS320-Individual-Camera/camera.py at main · vickSapien/CS320-Individual-Camera · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
from PyQt5.QtWidgets import  QWidget, QLabel, QApplication, QVBoxLayout, QPushButton, QProgressBar
from PyQt5.QtCore import QThread, Qt, pyqtSignal, pyqtSlot
from PyQt5.QtGui import QImage, QPixmap
import cv2 as cv
import sys, serial, time
from array import array


face_cas = cv.CascadeClassifier('C:/Users/victo/AppData/Local/Programs/Python/Python311/Lib/site-packages/cv2/data/haarcascade_frontalface_default.xml')
serialPort = serial.Serial(port='COM3', baudrate=9600, timeout=.1)


def face(frame):
        diffx = 0
        diffy = 0

        frame_gray = cv.cvtColor(frame, cv.COLOR_BGR2GRAY)
        frame_gray = cv.equalizeHist(frame_gray)
        #-- Detect faces
        faces = face_cas.detectMultiScale(frame_gray, 1.2, 5)
        for (x,y,w,h) in faces:

            center = array('i', [468, 384, 640, 480])
            #1024, 768
            #x: 185 x+w: 421 y:151 y+h: 387 center area of the screen
            #pt1 = (x, y) #bottom left point
            #pt2 = (x+w, y+h) # top left point
            #pt3 = (x+w, y) # bottom right point
            #pt4 = (x, y+h) # top left point
            squareW = x+w
            squareH = y+h

            frame = cv.rectangle(frame, (x, y) , (squareW, squareH),  (0, 255, 0), 2)
            # print("x: " + str(x), "x+w: " + str(squareW), "y:" + str(y), "y+h: " + str(squareH))

            diffx = (center[0] - squareW) # 320 - x+w
            diffy = (center[1] - squareH)   #240 - y+h

            # creates the intial offset of the camera
            offsetAngleX = 90
            offsetAngleY = 90

            offsetX = ((diffx/center[2] )) * 45 # finds how much the camera needs to move
            offsetY = ((diffy/center[3] )) * 45

            diffx = abs(offsetX) + offsetAngleX # ratio -> true horizontal movement value for servo
            diffy = abs(offsetY) + offsetAngleY # ratio -> true vertical movement value for servo

            diffx = int(diffx)
            diffy = int(diffy)


            print("x: " + str(diffx), "y: " + str(diffy))
            if(diffx >=30 and diffx <= 150):

                serialPort.write(f'X{diffx}\n'.encode())
                # time.sleep(0.05)
            if( diffy >=30 and diffy <= 150):
                serialPort.write(f'Y{diffy}\n'.encode())
                # time.sleep(0.05)

            offsetAngleX += offsetX
            offsetAngleY += offsetY


class Thread(QThread):
    changePixmap = pyqtSignal(QImage)


    def run(self):
        cap = cv.VideoCapture(0)
        print("Picture!")

        while(1):
            ret, frame = cap.read()

            if ret:
                face(frame)
                rgbImage = cv.cvtColor(frame, cv.COLOR_BGR2RGB)
                h, w, ch = rgbImage.shape
                bytesPerLine = ch * w
                convertToQtFormat = QImage(rgbImage.data, w, h, bytesPerLine, QImage.Format_RGB888)
                p = convertToQtFormat.scaled(1024, 768, Qt.KeepAspectRatio)
                self.changePixmap.emit(p)

class CameraWidget(QWidget):


    def __init__(self):

        super().__init__()

        self.title = 'Tracking-Camera'
        self.left = 100
        self.top = 100
        self.width = 1024
        self.height = 768

        layout = QVBoxLayout(self)
        self.label = QLabel(self)

        layout.addWidget(self.label)

        self.camera_button = QPushButton("Turn on camera", self)
        self.initUI()

        #self.bar = QProgressBar('Loading Camera', self)
        #self.camera_button.clicked.connect(self.change_button)
        self.camera_button.clicked.connect(self.initUI)

    @pyqtSlot(QImage)
    def setImage(self, image):
        self.label.setPixmap(QPixmap.fromImage(image))

    def change_button(self):
       # if   self.camera_button.isChecked:
        self.camera_button.setEnabled(False)
        self.camera_button.setStyleSheet('QPushButton:disabled { color: red }')


    def initUI(self):


        self.setWindowTitle( self.title)
        self.setGeometry( self.left, self.top, self.width,  self.height)


        self.label = QLabel(self)
        self.label.resize(1024, 768)
        self.camera_button.resize(1024, 768)


        th =Thread(self)
        th.changePixmap.connect(self.setImage)
        th.start()
        self.show();


if __name__ == '__main__':
    app = QApplication(sys.argv)
    window = CameraWidget()
    #window.show()
    sys.exit(app.exec_())


#"C:/Users/victo/AppData/Local/Programs/Python/Python311/Lib/site-packages/cv2/data/haarcascade_frontalface_default.xml")
#"C:/Users/victo/AppData/Local/Programs/Python/Python311/Lib/site-packages/cv2/data/haarcascade_eye_tree_eyeglasses.xml")