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FaceTracking.py
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FaceTracking.py
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import cv2
from cvzone.FaceDetectionModule import FaceDetector
import pyfirmata
import numpy as np
cap = cv2.VideoCapture(0)
ws, hs = 1280, 720
cap.set(3, ws)
cap.set(4, hs)
if not cap.isOpened():
print("Camera couldn't Access!!!")
exit()
# port = "COM3"
# board = pyfirmata.Arduino(port)
# servo_pinX = board.get_pin('d:5:s') #pin 9 Arduino
# servo_pinY = board.get_pin('d:9:s') #pin 10 Arduino
pin_L = 13
L = 1
detector = FaceDetector()
servoPos = [90, 90] # initial servo position
while True:
success, img = cap.read()
img = cv2.flip(img, 1)
img, bboxs = detector.findFaces(img, draw=False)
if bboxs:
#get the coordinate
fx, fy = bboxs[0]["center"][0], bboxs[0]["center"][1]
pos = [fx, fy]
# convert coordinat to servo degree
servoX = np.interp(fx, [0, ws], [0, 180])
servoY = np.interp(fy, [0, hs], [0, 180])
if servoX < 0:
servoX = 0
elif servoX > 180:
servoX = 180
if servoY < 0:
servoY = 0
elif servoY > 180:
servoY = 180
servoPos[0] = servoX
servoPos[1] = servoY
cv2.rectangle(img, (fx-80//2, fy-80//2),(fx+80//2,fy+80//2),(0, 255, 0), 2)
cv2.putText(img, str(pos), (fx+15, fy-15), cv2.FONT_HERSHEY_PLAIN, 2, (255, 0, 0), 2 )
cv2.line(img, (0, fy), (ws, fy), (0, 255, 0), 2) # x line
cv2.line(img, (fx, hs), (fx, 0), (0, 255, 0), 2) # y line
cv2.circle(img, (fx, fy), 15, (0, 0, 255), cv2.FILLED)
cv2.putText(img, "TARGET LOCKED", (850, 50), cv2.FONT_HERSHEY_PLAIN, 3, (255, 0, 255), 3 )
else:
cv2.putText(img, "NO TARGET", (880, 50), cv2.FONT_HERSHEY_PLAIN, 3, (0, 0, 255), 3)
cv2.circle(img, (640, 360), 80, (0, 0, 255), 2)
cv2.circle(img, (640, 360), 15, (0, 0, 255), cv2.FILLED)
cv2.line(img, (0, 360), (ws, 360), (0, 0, 0), 2) # x line
cv2.line(img, (640, hs), (640, 0), (0, 0, 0), 2) # y line
cv2.putText(img, f'Servo X: {int(servoPos[0])} deg', (50, 50), cv2.FONT_HERSHEY_PLAIN, 2, (255, 0, 0), 2)
cv2.putText(img, f'Servo Y: {int(servoPos[1])} deg', (50, 100), cv2.FONT_HERSHEY_PLAIN, 2, (255, 0, 0), 2)
# servo_pinX.write(servoPos[0])
# servo_pinY.write(servoPos[1])
# # board.digital[pin_L].write(L)
cv2.imshow("Image", img)
if cv2.waitKey(1) & 0xFF == ord('q'):
break