├── README.md
├── opr.py
├── comm_ard.py
├── Camera_tracking.ino
├── tracking.ui
└── Camera_tracker_main.py


/README.md:
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 1 | # face_tracking_camera
 2 | 
 3 | program for face tracking camera project :
 4 | littlefrenchkev.com/projects/face-tracking-camera
 5 | 
 6 | python version = 3.6
 7 | required library :
 8 | -pyserial
 9 | -pyqt5
10 | 


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/opr.py:
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 1 | import cv2
 2 | import math
 3 | 
 4 | face_cascade = cv2.CascadeClassifier('haarcascade_frontalface_default.xml')
 5 | 
 6 | def remap(value_to_map, new_range_min, new_range_max, old_range_min, old_range_max):
 7 | 
 8 |     remapped_val = (value_to_map - old_range_min) * (new_range_max - new_range_min) / (old_range_max - old_range_min) + new_range_min
 9 |     if(remapped_val>new_range_max):
10 |         remapped_val = new_range_max
11 |     elif (remapped_val < new_range_min):
12 |         remapped_val = new_range_min
13 | 
14 |     return remapped_val
15 | 
16 | def find_face(image_to_check, max_target_distance):
17 |     gray = cv2.cvtColor(image_to_check, cv2.COLOR_BGR2GRAY) #convert image to black and white
18 |     faces = face_cascade.detectMultiScale(gray, 1.2, 5)     #look for faces
19 | 
20 | 
21 |     if len(faces) >= 1: #if face(s) detected
22 |         faces = list(faces)[0] #if several faces found use the first one
23 | 
24 |         x = faces[0]
25 |         y = faces[1]
26 |         w = faces[2]
27 |         h = faces[3]
28 | 
29 |         center_face_X = int(x + w / 2)
30 |         center_face_Y = int(y + h / 2)
31 |         height, width, channels = image_to_check.shape
32 | 
33 |         distance_from_center_X = (center_face_X - width/2)/220 # why? can't remember why I did this
34 |         distance_from_center_Y = (center_face_Y - height/2)/195 # why?
35 | 
36 |         target_distance = math.sqrt((distance_from_center_X*220)**2 + (distance_from_center_Y*195)**2) # calculate distance between image center and face center
37 | 
38 |         if target_distance < max_target_distance :#set added geometry colour
39 |             locked = True
40 |             color = (0, 255, 0)
41 |         else:
42 |             locked = False
43 |             color = (0, 0, 255)
44 | 
45 | 
46 |         cv2.rectangle(image_to_check,(center_face_X-10, center_face_Y), (center_face_X+10, center_face_Y),    #draw first line of the cross
47 |                       color, 2)
48 |         cv2.rectangle(image_to_check,(center_face_X, center_face_Y-10), (center_face_X, center_face_Y+10),    #draw second line of the cross
49 |                       color,2)
50 | 
51 |         cv2.circle(image_to_check, (int(width/2), int(height/2)), int(max_target_distance) , color, 2)    #draw circle
52 | 
53 |         return [True, image_to_check, distance_from_center_X, distance_from_center_Y, locked]
54 | 
55 |     else:
56 |         return [False]
57 | 


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/comm_ard.py:
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 1 | import serial
 2 | 
 3 | class ard_connect():
 4 |     def __init__(self, parent):
 5 |         self.parent = parent
 6 |         self.startMarker = 60 #utf-8 for '<'
 7 |         self.endMarker = 62   #utf-8 for '>'
 8 |         #self.ser = serial.Serial('COM3', 9600)
 9 |         print("ard created")
10 | 
11 | 
12 |     def connect(self, port):
13 |         try:
14 |             self.ser = serial.Serial(port, 115200)
15 |             self.waitForArduino()
16 |             self.parent.is_connected = True
17 |             return True
18 |         except:
19 |             print("Not able to connect on this port")
20 |             return False
21 | 
22 |     def waitForArduino(self):
23 | 
24 |         msg = ""
25 |         while msg.find("Hasta la vista baby") == -1:  #string.find() return -1 if value not found
26 | 
27 |             while self.ser.inWaiting() == 0:  #inWaiting() return number of bytes in buffer, equivalent of Serial.available in arduino
28 |                 pass
29 | 
30 |             msg = self.recvFromArduino()   #return decoded serial data
31 |             print(msg)  # python3 requires parenthesis
32 |             #print()
33 | 
34 |     def recvFromArduino(self):
35 | 
36 |         message_received = "" #message received start as an empty string
37 |         x = "z"  #next char read from serial . need to start as any value that is not an end- or startMarker
38 |         byteCount = -1  #to allow for the fact that the last increment will be one too many
39 | 
40 |         # wait for the start character
41 |         while ord(x) != self.startMarker:  # ord() return utf-8 for a char(1 length string)  ex: return 60 for char <
42 |             x = self.ser.read()  # loop until start marker found
43 | 
44 |         # save data until the end marker is found
45 |         while ord(x) != self.endMarker:  # loop until end marker found
46 |             if ord(x) != self.startMarker:  # if not start marker
47 |                 message_received = message_received + x.decode("utf-8")  # add decoded char to string
48 |                 byteCount += 1  # WHY IS BYTECOUNT FOR?
49 |             x = self.ser.read()  # read next char
50 | 
51 |         return (message_received)
52 | 
53 |     def sendToArduino(self, sendStr):
54 |         #print("sent to arduino func : ", sendStr)
55 |         self.ser.write(sendStr.encode('utf-8'))  # change for Python3
56 |         #self.ser.write(sendStr)  #send data as it is if only dealing with int
57 | 
58 |     def runTest(self, message_to_send):
59 | 
60 |         waitingForReply = False
61 | 
62 |         if waitingForReply == False:
63 |             self.sendToArduino(message_to_send)  # write message to serial
64 |             waitingForReply = True
65 | 
66 |         if waitingForReply == True:    #waitfor datafrom arduino
67 |             while self.ser.inWaiting() == 0:   # equivalent of Serial.available in arduino
68 |                 pass  # loop until data available
69 | 
70 |             dataRecvd = self.recvFromArduino() # SPLIT STRING INTO INT TO HAVE USABLE DATA
71 | 
72 | 
73 |             split_data = dataRecvd.split(",")
74 |             #self.parent.update_LCD_display(split_data[0], split_data[1])
75 |             try:
76 |                 self.parent.current_pan = split_data[0]
77 |                 self.parent.current_tilt = split_data[1]
78 |                 self.parent.update_LCD_display()
79 |             except:
80 |                 print("error split data : ", len(split_data))
81 | 
82 |             #print("Reply Received  " + dataRecvd)
83 | 
84 |             waitingForReply = False
85 | 
86 |             #print("===========")


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/Camera_tracking.ino:
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  1 | //Sketch based on work done by Robin2 on the arduino forum
  2 | //more info here
  3 | //https://forum.arduino.cc/index.php?topic=225329.msg1810764#msg1810764
  4 | 
  5 | 
  6 | #include <Servo.h>
  7 | 
  8 | Servo panServo;
  9 | Servo tiltServo; 
 10 | 
 11 | byte redledPin = 2;
 12 | byte yellowledPin = 3;
 13 | byte greenledPin = 4;
 14 | 
 15 | const byte buffSize = 40;
 16 | char inputBuffer[buffSize];
 17 | const char startMarker = '<';
 18 | const char endMarker = '>';
 19 | byte bytesRecvd = 0;
 20 | boolean readInProgress = false;
 21 | boolean newDataFromPC = false;
 22 | 
 23 | float panServoAngle = 90.0;
 24 | float tiltServoAngle = 90.0;
 25 | int LED_state = 0;
 26 | 
 27 | //8=============D
 28 | 
 29 | void setup() {
 30 |   Serial.begin(115200);
 31 |   
 32 |   panServo.attach(8);
 33 |   tiltServo.attach(9);
 34 | 
 35 |   pinMode(redledPin, OUTPUT);
 36 |   pinMode(yellowledPin, OUTPUT);
 37 |   pinMode(greenledPin, OUTPUT);
 38 |   
 39 |   //moveServo();
 40 |   start_sequence();
 41 | 
 42 |   delay(200);
 43 |   
 44 |   Serial.println("<Hasta la vista baby>"); // send message to computer
 45 | }
 46 | 
 47 | //8=============D
 48 | 
 49 | void loop() {
 50 |   getDataFromPC();
 51 |   replyToPC();
 52 |   moveServo();
 53 |   setLED();
 54 | }
 55 | 
 56 | //8=============D
 57 | 
 58 | void getDataFromPC() {
 59 | 
 60 |     // receive data from PC and save it into inputBuffer
 61 |     
 62 |   if(Serial.available() > 0) {
 63 | 
 64 |     char x = Serial.read();              //read char from serial
 65 |       
 66 |     if (x == endMarker) {                //look for end marker
 67 |       readInProgress = false;            //if found, set read in progress true (will stop adding new byte to buffer)
 68 |       newDataFromPC = true;              //let arduino know that new data is available
 69 |       inputBuffer[bytesRecvd] = 0;       //clear input buffer
 70 |       processData();                      // process data in buffer
 71 |     }
 72 |     
 73 |     if(readInProgress) {
 74 |       inputBuffer[bytesRecvd] = x;      //populate input buffer with bytes
 75 |       bytesRecvd ++;                    //increment index
 76 |       if (bytesRecvd == buffSize) {     //when buffer is full
 77 |         bytesRecvd = buffSize - 1;      //keep space for end marker
 78 |       }
 79 |     }
 80 | 
 81 |     if (x == startMarker) {              // look for start maker
 82 |       bytesRecvd = 0;                    // if found, set byte received to 0
 83 |       readInProgress = true;             // set read in progress true
 84 |     }
 85 |   }
 86 | }
 87 | 
 88 | //8=============D
 89 | 
 90 | void processData() // for data type "<float, float, int>" 
 91 | {
 92 |   char * strtokIndx; // this is used by strtok() as an index
 93 | 
 94 |    strtokIndx = strtok(inputBuffer,",");      // get the first part
 95 |    panServoAngle = atof(strtokIndx);         // convert this part to a float
 96 | 
 97 |    strtokIndx = strtok(NULL,",");          // get the second part(this continues where the previous call left off)
 98 |    tiltServoAngle = atof(strtokIndx);     // convert this part to a float
 99 | 
100 |    strtokIndx = strtok(NULL, ",");      // get the last part
101 |    LED_state = atoi(strtokIndx);          // convert this part to an integer (string to int)
102 | }
103 | 
104 | //8=============D
105 | 
106 | void replyToPC() {
107 | 
108 |   if (newDataFromPC) {
109 |     newDataFromPC = false;
110 |     Serial.print("<");
111 |     Serial.print(panServo.read());
112 |     Serial.print(",");
113 |     Serial.print(tiltServo.read());
114 |     Serial.println(">");
115 |   }
116 | }
117 | 
118 | //8=============D
119 | 
120 | void moveServo() 
121 | {
122 |   panServo.write(panServoAngle);
123 |   tiltServo.write(tiltServoAngle);
124 | }
125 | 
126 | void setLED()
127 | {
128 |   if(LED_state == 2){
129 |     digitalWrite(redledPin, LOW);
130 |     digitalWrite(yellowledPin, HIGH);
131 |     digitalWrite(greenledPin, LOW);
132 |     }
133 |   else if(LED_state == 1){
134 |     digitalWrite(redledPin, LOW);
135 |     digitalWrite(yellowledPin, LOW);
136 |     digitalWrite(greenledPin, HIGH);    
137 |     }
138 |   else if(LED_state == 0){
139 |     digitalWrite(redledPin, HIGH);
140 |     digitalWrite(yellowledPin, LOW);
141 |     digitalWrite(greenledPin, LOW);  
142 |     }  
143 |   else if(LED_state == 3){
144 |     digitalWrite(redledPin, HIGH);
145 |     digitalWrite(yellowledPin, HIGH);
146 |     digitalWrite(greenledPin, HIGH);  
147 |     }  
148 |   else{
149 |     digitalWrite(redledPin, LOW);
150 |     digitalWrite(yellowledPin, LOW);
151 |     digitalWrite(greenledPin, LOW);    
152 |     }
153 |   
154 |   }
155 | 
156 | //8=============D
157 | 
158 |   void start_sequence()
159 |   {
160 |     panServo.write(90);
161 |     tiltServo.write(90);
162 |     delay(300);
163 | 
164 |   
165 |     digitalWrite(redledPin, HIGH);
166 |     delay(100);
167 |     digitalWrite(redledPin, LOW);
168 |     digitalWrite(yellowledPin, HIGH);
169 |     delay(100);
170 |     digitalWrite(yellowledPin, LOW);
171 |     digitalWrite(greenledPin, HIGH);
172 |     delay(100);
173 |   
174 |     digitalWrite(redledPin, LOW);
175 |     digitalWrite(yellowledPin, LOW);
176 |     digitalWrite(greenledPin, LOW);
177 |     delay(100);
178 |     digitalWrite(redledPin, HIGH);
179 |     digitalWrite(yellowledPin, HIGH);
180 |     digitalWrite(greenledPin, HIGH);
181 |     delay(100);
182 |     digitalWrite(redledPin, LOW);
183 |     digitalWrite(yellowledPin, LOW);
184 |     digitalWrite(greenledPin, LOW);
185 |     }
186 | 


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/tracking.ui:
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  1 | <?xml version="1.0" encoding="UTF-8"?>
  2 | <ui version="4.0">
  3 |  <class>Form</class>
  4 |  <widget class="QWidget" name="Form">
  5 |   <property name="geometry">
  6 |    <rect>
  7 |     <x>0</x>
  8 |     <y>0</y>
  9 |     <width>980</width>
 10 |     <height>700</height>
 11 |    </rect>
 12 |   </property>
 13 |   <property name="minimumSize">
 14 |    <size>
 15 |     <width>980</width>
 16 |     <height>700</height>
 17 |    </size>
 18 |   </property>
 19 |   <property name="windowTitle">
 20 |    <string>Form</string>
 21 |   </property>
 22 |   <widget class="QLabel" name="label">
 23 |    <property name="geometry">
 24 |     <rect>
 25 |      <x>10</x>
 26 |      <y>10</y>
 27 |      <width>960</width>
 28 |      <height>540</height>
 29 |     </rect>
 30 |    </property>
 31 |    <property name="minimumSize">
 32 |     <size>
 33 |      <width>960</width>
 34 |      <height>540</height>
 35 |     </size>
 36 |    </property>
 37 |    <property name="maximumSize">
 38 |     <size>
 39 |      <width>960</width>
 40 |      <height>540</height>
 41 |     </size>
 42 |    </property>
 43 |    <property name="mouseTracking">
 44 |     <bool>true</bool>
 45 |    </property>
 46 |    <property name="frameShape">
 47 |     <enum>QFrame::Panel</enum>
 48 |    </property>
 49 |    <property name="frameShadow">
 50 |     <enum>QFrame::Sunken</enum>
 51 |    </property>
 52 |    <property name="text">
 53 |     <string>TextLabel</string>
 54 |    </property>
 55 |   </widget>
 56 |   <widget class="QCheckBox" name="Manual_checkbox">
 57 |    <property name="geometry">
 58 |     <rect>
 59 |      <x>850</x>
 60 |      <y>560</y>
 61 |      <width>121</width>
 62 |      <height>31</height>
 63 |     </rect>
 64 |    </property>
 65 |    <property name="text">
 66 |     <string>Manual control</string>
 67 |    </property>
 68 |   </widget>
 69 |   <widget class="QWidget" name="horizontalLayoutWidget">
 70 |    <property name="geometry">
 71 |     <rect>
 72 |      <x>740</x>
 73 |      <y>510</y>
 74 |      <width>221</width>
 75 |      <height>31</height>
 76 |     </rect>
 77 |    </property>
 78 |    <layout class="QHBoxLayout" name="horizontalLayout">
 79 |     <item>
 80 |      <widget class="QLabel" name="label_2">
 81 |       <property name="autoFillBackground">
 82 |        <bool>false</bool>
 83 |       </property>
 84 |       <property name="frameShape">
 85 |        <enum>QFrame::NoFrame</enum>
 86 |       </property>
 87 |       <property name="lineWidth">
 88 |        <number>1</number>
 89 |       </property>
 90 |       <property name="text">
 91 |        <string>Pan</string>
 92 |       </property>
 93 |       <property name="textFormat">
 94 |        <enum>Qt::AutoText</enum>
 95 |       </property>
 96 |       <property name="alignment">
 97 |        <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
 98 |       </property>
 99 |      </widget>
100 |     </item>
101 |     <item>
102 |      <widget class="QLCDNumber" name="Pan_LCD"/>
103 |     </item>
104 |     <item>
105 |      <widget class="QLabel" name="label_3">
106 |       <property name="text">
107 |        <string>Tilt</string>
108 |       </property>
109 |       <property name="alignment">
110 |        <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
111 |       </property>
112 |      </widget>
113 |     </item>
114 |     <item>
115 |      <widget class="QLCDNumber" name="Tilt_LCD"/>
116 |     </item>
117 |    </layout>
118 |   </widget>
119 |   <widget class="QWidget" name="horizontalLayoutWidget_2">
120 |    <property name="geometry">
121 |     <rect>
122 |      <x>30</x>
123 |      <y>560</y>
124 |      <width>181</width>
125 |      <height>31</height>
126 |     </rect>
127 |    </property>
128 |    <layout class="QHBoxLayout" name="horizontalLayout_2">
129 |     <item>
130 |      <widget class="QLabel" name="label_4">
131 |       <property name="text">
132 |        <string>COM port</string>
133 |       </property>
134 |      </widget>
135 |     </item>
136 |     <item>
137 |      <widget class="QLineEdit" name="COMlineEdit">
138 |       <property name="maximumSize">
139 |        <size>
140 |         <width>110</width>
141 |         <height>16777215</height>
142 |        </size>
143 |       </property>
144 |       <property name="text">
145 |        <string>COM3</string>
146 |       </property>
147 |      </widget>
148 |     </item>
149 |    </layout>
150 |   </widget>
151 |   <widget class="QWidget" name="horizontalLayoutWidget_3">
152 |    <property name="geometry">
153 |     <rect>
154 |      <x>30</x>
155 |      <y>610</y>
156 |      <width>121</width>
157 |      <height>31</height>
158 |     </rect>
159 |    </property>
160 |    <layout class="QHBoxLayout" name="horizontalLayout_3">
161 |     <item>
162 |      <widget class="QLabel" name="label_5">
163 |       <property name="text">
164 |        <string>Min Tilt :</string>
165 |       </property>
166 |      </widget>
167 |     </item>
168 |     <item>
169 |      <widget class="QLineEdit" name="MinTiltlineEdit">
170 |       <property name="maximumSize">
171 |        <size>
172 |         <width>55</width>
173 |         <height>16777215</height>
174 |        </size>
175 |       </property>
176 |       <property name="text">
177 |        <string>0</string>
178 |       </property>
179 |      </widget>
180 |     </item>
181 |    </layout>
182 |   </widget>
183 |   <widget class="QWidget" name="horizontalLayoutWidget_4">
184 |    <property name="geometry">
185 |     <rect>
186 |      <x>170</x>
187 |      <y>610</y>
188 |      <width>121</width>
189 |      <height>31</height>
190 |     </rect>
191 |    </property>
192 |    <layout class="QHBoxLayout" name="horizontalLayout_4">
193 |     <item>
194 |      <widget class="QLabel" name="label_6">
195 |       <property name="text">
196 |        <string>Max Tilt :</string>
197 |       </property>
198 |      </widget>
199 |     </item>
200 |     <item>
201 |      <widget class="QLineEdit" name="MaxTiltlineEdit">
202 |       <property name="maximumSize">
203 |        <size>
204 |         <width>55</width>
205 |         <height>16777215</height>
206 |        </size>
207 |       </property>
208 |       <property name="text">
209 |        <string>90</string>
210 |       </property>
211 |      </widget>
212 |     </item>
213 |    </layout>
214 |   </widget>
215 |   <widget class="QWidget" name="horizontalLayoutWidget_5">
216 |    <property name="geometry">
217 |     <rect>
218 |      <x>30</x>
219 |      <y>650</y>
220 |      <width>121</width>
221 |      <height>31</height>
222 |     </rect>
223 |    </property>
224 |    <layout class="QHBoxLayout" name="horizontalLayout_5">
225 |     <item>
226 |      <widget class="QLabel" name="label_7">
227 |       <property name="text">
228 |        <string>Min Pan :</string>
229 |       </property>
230 |      </widget>
231 |     </item>
232 |     <item>
233 |      <widget class="QLineEdit" name="MinPanlineEdit">
234 |       <property name="maximumSize">
235 |        <size>
236 |         <width>55</width>
237 |         <height>16777215</height>
238 |        </size>
239 |       </property>
240 |       <property name="text">
241 |        <string>0</string>
242 |       </property>
243 |      </widget>
244 |     </item>
245 |    </layout>
246 |   </widget>
247 |   <widget class="QWidget" name="horizontalLayoutWidget_6">
248 |    <property name="geometry">
249 |     <rect>
250 |      <x>170</x>
251 |      <y>650</y>
252 |      <width>121</width>
253 |      <height>31</height>
254 |     </rect>
255 |    </property>
256 |    <layout class="QHBoxLayout" name="horizontalLayout_6">
257 |     <item>
258 |      <widget class="QLabel" name="label_8">
259 |       <property name="text">
260 |        <string>Max Pan :</string>
261 |       </property>
262 |      </widget>
263 |     </item>
264 |     <item>
265 |      <widget class="QLineEdit" name="MaxPanlineEdit">
266 |       <property name="maximumSize">
267 |        <size>
268 |         <width>55</width>
269 |         <height>16777215</height>
270 |        </size>
271 |       </property>
272 |       <property name="text">
273 |        <string>180</string>
274 |       </property>
275 |      </widget>
276 |     </item>
277 |    </layout>
278 |   </widget>
279 |   <widget class="QPushButton" name="QuitButton">
280 |    <property name="geometry">
281 |     <rect>
282 |      <x>870</x>
283 |      <y>650</y>
284 |      <width>91</width>
285 |      <height>31</height>
286 |     </rect>
287 |    </property>
288 |    <property name="text">
289 |     <string>Quit</string>
290 |    </property>
291 |   </widget>
292 |   <widget class="QPushButton" name="PauseButton">
293 |    <property name="geometry">
294 |     <rect>
295 |      <x>870</x>
296 |      <y>610</y>
297 |      <width>91</width>
298 |      <height>31</height>
299 |     </rect>
300 |    </property>
301 |    <property name="text">
302 |     <string>Pause</string>
303 |    </property>
304 |   </widget>
305 |   <widget class="QPushButton" name="ConnectButton">
306 |    <property name="geometry">
307 |     <rect>
308 |      <x>590</x>
309 |      <y>560</y>
310 |      <width>211</width>
311 |      <height>31</height>
312 |     </rect>
313 |    </property>
314 |    <property name="text">
315 |     <string>Connect</string>
316 |    </property>
317 |   </widget>
318 |   <widget class="QPushButton" name="UpdateButton">
319 |    <property name="geometry">
320 |     <rect>
321 |      <x>710</x>
322 |      <y>610</y>
323 |      <width>91</width>
324 |      <height>71</height>
325 |     </rect>
326 |    </property>
327 |    <property name="text">
328 |     <string>Update</string>
329 |    </property>
330 |   </widget>
331 |   <widget class="QLabel" name="COMConnectLabel">
332 |    <property name="geometry">
333 |     <rect>
334 |      <x>230</x>
335 |      <y>560</y>
336 |      <width>351</width>
337 |      <height>31</height>
338 |     </rect>
339 |    </property>
340 |    <property name="text">
341 |     <string>................................ Not connected ..............................</string>
342 |    </property>
343 |   </widget>
344 |   <widget class="QCheckBox" name="InvertTilt_checkbox">
345 |    <property name="geometry">
346 |     <rect>
347 |      <x>480</x>
348 |      <y>610</y>
349 |      <width>81</width>
350 |      <height>31</height>
351 |     </rect>
352 |    </property>
353 |    <property name="text">
354 |     <string>Invert tilt</string>
355 |    </property>
356 |   </widget>
357 |   <widget class="QCheckBox" name="InvertPan_checkbox">
358 |    <property name="geometry">
359 |     <rect>
360 |      <x>480</x>
361 |      <y>650</y>
362 |      <width>81</width>
363 |      <height>31</height>
364 |     </rect>
365 |    </property>
366 |    <property name="text">
367 |     <string>Invert pan</string>
368 |    </property>
369 |   </widget>
370 |   <widget class="QWidget" name="horizontalLayoutWidget_7">
371 |    <property name="geometry">
372 |     <rect>
373 |      <x>310</x>
374 |      <y>610</y>
375 |      <width>151</width>
376 |      <height>31</height>
377 |     </rect>
378 |    </property>
379 |    <layout class="QHBoxLayout" name="horizontalLayout_7">
380 |     <item>
381 |      <widget class="QLabel" name="label_9">
382 |       <property name="text">
383 |        <string>Tilt sensivity :</string>
384 |       </property>
385 |       <property name="textFormat">
386 |        <enum>Qt::PlainText</enum>
387 |       </property>
388 |      </widget>
389 |     </item>
390 |     <item>
391 |      <widget class="QLineEdit" name="TiltSensivityEdit">
392 |       <property name="maximumSize">
393 |        <size>
394 |         <width>55</width>
395 |         <height>16777215</height>
396 |        </size>
397 |       </property>
398 |       <property name="text">
399 |        <string>3</string>
400 |       </property>
401 |      </widget>
402 |     </item>
403 |    </layout>
404 |   </widget>
405 |   <widget class="QWidget" name="horizontalLayoutWidget_8">
406 |    <property name="geometry">
407 |     <rect>
408 |      <x>310</x>
409 |      <y>650</y>
410 |      <width>151</width>
411 |      <height>31</height>
412 |     </rect>
413 |    </property>
414 |    <layout class="QHBoxLayout" name="horizontalLayout_8">
415 |     <item>
416 |      <widget class="QLabel" name="label_10">
417 |       <property name="text">
418 |        <string>Pan sensivity :</string>
419 |       </property>
420 |      </widget>
421 |     </item>
422 |     <item>
423 |      <widget class="QLineEdit" name="PanSensivityEdit">
424 |       <property name="maximumSize">
425 |        <size>
426 |         <width>55</width>
427 |         <height>16777215</height>
428 |        </size>
429 |       </property>
430 |       <property name="text">
431 |        <string>5</string>
432 |       </property>
433 |      </widget>
434 |     </item>
435 |    </layout>
436 |   </widget>
437 |   <widget class="QCheckBox" name="LED_checkbox">
438 |    <property name="geometry">
439 |     <rect>
440 |      <x>580</x>
441 |      <y>610</y>
442 |      <width>91</width>
443 |      <height>31</height>
444 |     </rect>
445 |    </property>
446 |    <property name="text">
447 |     <string>LED's ON</string>
448 |    </property>
449 |    <property name="checked">
450 |     <bool>true</bool>
451 |    </property>
452 |   </widget>
453 |   <widget class="QWidget" name="horizontalLayoutWidget_9">
454 |    <property name="geometry">
455 |     <rect>
456 |      <x>580</x>
457 |      <y>650</y>
458 |      <width>101</width>
459 |      <height>31</height>
460 |     </rect>
461 |    </property>
462 |    <layout class="QHBoxLayout" name="horizontalLayout_9">
463 |     <item>
464 |      <widget class="QLabel" name="label_11">
465 |       <property name="text">
466 |        <string>Camera ID :</string>
467 |       </property>
468 |       <property name="textFormat">
469 |        <enum>Qt::PlainText</enum>
470 |       </property>
471 |      </widget>
472 |     </item>
473 |     <item>
474 |      <widget class="QLineEdit" name="CameraIDEdit">
475 |       <property name="maximumSize">
476 |        <size>
477 |         <width>20</width>
478 |         <height>16777215</height>
479 |        </size>
480 |       </property>
481 |       <property name="text">
482 |        <string>0</string>
483 |       </property>
484 |      </widget>
485 |     </item>
486 |    </layout>
487 |   </widget>
488 |  </widget>
489 |  <resources/>
490 |  <connections/>
491 | </ui>
492 | 


--------------------------------------------------------------------------------
/Camera_tracker_main.py:
--------------------------------------------------------------------------------
  1 | import sys
  2 | from PyQt5.QtWidgets import QApplication, QWidget
  3 | from PyQt5.QtGui import QIcon, QPixmap, QImage
  4 | from PyQt5.uic import loadUi
  5 | import opr
  6 | import comm_ard
  7 | import random
  8 | import pickle
  9 | 
 10 | import cv2
 11 | 
 12 | 
 13 | class App(QWidget):
 14 | 
 15 |     def __init__(self):
 16 |         super().__init__()
 17 | 
 18 |         self.ui = loadUi('tracking.ui', self)    #Load .ui file that define the window layout(buttons, tick boxoex...)
 19 | 
 20 |         self.setMouseTracking(True)    #allow mouse tracking(use during manual mode)
 21 |         self.manual_mode = False       #set manual mode to false to start in tracking face mode
 22 |         self.LED_ON = True             #set LED on mode
 23 |         self.CameraID = 0              #define camera ID, first camera = ID 0, second ID 1 and so on
 24 | 
 25 |         self.rec = True                #allows to start camera recording
 26 |         self.cap = cv2.VideoCapture(self.CameraID)  #define open CV camera recording
 27 |         self.cap.set(3, 960)                        #set capture width
 28 |         self.cap.set(4, 540)                        #set capture height
 29 |         #The bigger the image is, the longer the processing is goint to take to process it
 30 |         ## My computer is a bit shit so I kept it quite small .
 31 | 
 32 |         self.min_tilt = 22          #minimum tilt angle in degree (up/down angle)
 33 |         self.max_tilt = 80          #maximum tilt angle in degree
 34 |         self.current_tilt = 0       #current tilt (info received from arduino and displayed in LCD numbers)
 35 |         self.target_tilt = 90      #the tilt angle you need to reach
 36 | 
 37 |         self.min_pan = 80            #minimum pan angle in degree(left/ right angle)
 38 |         self.max_pan = 100         #maximum pan angle in degree
 39 |         self.current_pan = 80        #current pan (info received from arduino and displayed in LCD numbers)
 40 |         self.target_pan = 90       #the pan angle you need to reach
 41 | 
 42 |         self.roam_target_pan = 90
 43 |         self.roam_target_tilt = 90
 44 |         self.roam_pause = 40      #amount of frame the camera is going to pause for when roam tilt or pan target reached
 45 |         self.roam_pause_count = self.roam_pause   #current pause frame count
 46 | 
 47 | 
 48 |         self.is_connected = False    #boolean defining if arduino is connected
 49 | 
 50 |         self.InvertPan = False       #allows pan to be inverted
 51 |         self.InvertTilt = False      #allows tilt to be inverted
 52 | 
 53 |         self.face_detected = False     #define if a face is detected
 54 |         self.target_locked = False     #define if detected face is close enough to the center of the captured image
 55 |         self.max_target_distance = 40  #minimum distance between face/center of image for setting target locked
 56 |         self.max_empty_frame = 50      #number of empty frame (no face detected) detected before starting roaming
 57 |         self.empty_frame_number = self.max_empty_frame   #current empty frame count
 58 | 
 59 |         self.ard = comm_ard.ard_connect(self)     #create object allowing communicationn with arduino
 60 |         self.initUI()    #set up UI( see below )
 61 | 
 62 |     def initUI(self):     #UI related stuff
 63 |         self.setWindowTitle('LFK Tracker')              #set window title
 64 |         self.label = self.ui.label                      #set label (it will be used to display the captured images)
 65 |         self.QuitButton = self.ui.QuitButton            #set quit button
 66 |         self.PauseButton = self.ui.PauseButton          #set pause button
 67 |         self.Pan_LCD = self.ui.Pan_LCD                  #and so on...
 68 |         self.Tilt_LCD = self.ui.Tilt_LCD                #...
 69 |         self.Manual_checkbox = self.ui.Manual_checkbox  #...
 70 |         self.ConnectButton = self.ui.ConnectButton
 71 |         self.COMlineEdit = self.ui.COMlineEdit
 72 |         self.COMConnectLabel = self.ui.COMConnectLabel
 73 |         self.UpdateButton = self.ui.UpdateButton
 74 |         self.MinTiltlineEdit = self.ui.MinTiltlineEdit
 75 |         self.MaxTiltlineEdit = self.ui.MaxTiltlineEdit
 76 |         self.InvertTilt_checkbox = self.ui.InvertTilt_checkbox
 77 |         self.InvertTilt = self.InvertTilt_checkbox.isChecked()
 78 |         self.MinPanlineEdit = self.ui.MinPanlineEdit
 79 |         self.MaxPanlineEdit = self.ui.MaxPanlineEdit
 80 |         self.InvertPan_checkbox = self.ui.InvertPan_checkbox
 81 |         self.InvertPan = self.InvertPan_checkbox.isChecked()
 82 |         self.TiltSensivityEdit = self.ui.TiltSensivityEdit
 83 |         self.TiltSensivity = 1
 84 |         self.PanSensivityEdit = self.ui.PanSensivityEdit
 85 |         self.PanSensivity = 1
 86 |         self.LED_checkbox = self.ui.LED_checkbox
 87 |         self.CameraIDEdit = self.ui.CameraIDEdit
 88 | 
 89 |         self.QuitButton.clicked.connect(self.quit)               #bind quit button to quit method
 90 |         self.PauseButton.clicked.connect(self.toggle_recording)  #bind pause button to pause method
 91 |         self.Manual_checkbox.stateChanged.connect(self.set_manual_mode)  #bla bla bla
 92 |         self.ConnectButton.clicked.connect(self.connect)
 93 |         self.UpdateButton.clicked.connect(self.update_angles)
 94 | 
 95 |         self.load_init_file()
 96 |         self.update_angles() #update angle method
 97 | 
 98 |         self.record()  #start recording
 99 | 
100 |     def load_init_file(self):
101 |         #this method will allow to reload the latest values entered in text boxes even after closing the software
102 |         try:         #try to open init file if existing
103 |             with open('init.pkl', 'rb') as init_file:
104 |                 var = pickle.load(init_file)  #load all variable and update text boxes
105 |                 self.COMlineEdit.setText(var[0])
106 |                 if(var[4]):
107 |                     self.MinTiltlineEdit.setText(str(var[2]))
108 |                     self.MaxTiltlineEdit.setText(str(var[1]))
109 |                 else:
110 |                     self.MinTiltlineEdit.setText(str(var[1]))
111 |                     self.MaxTiltlineEdit.setText(str(var[2]))
112 |                 self.TiltSensivityEdit.setText(str(var[3]))
113 |                 self.InvertTilt_checkbox.setChecked(var[4])
114 |                 if (var[8]):
115 |                     self.MinPanlineEdit.setText(str(var[6]))
116 |                     self.MaxPanlineEdit.setText(str(var[5]))
117 |                 else:
118 |                     self.MinPanlineEdit.setText(str(var[5]))
119 |                     self.MaxPanlineEdit.setText(str(var[6]))
120 |                 self.PanSensivityEdit.setText(str(var[7]))
121 |                 self.InvertPan_checkbox.setChecked(var[8])
122 |                 #self.CameraIDEdit.setText(str(var[9]))
123 |                 self.LED_checkbox.setChecked(var[10])
124 |             print(var)
125 |             #set variables
126 |         except:
127 |             pass
128 | 
129 |     def save_init_file(self):
130 |         init_settings = [self.COMlineEdit.text(),
131 |         self.min_tilt, self.max_tilt, self.TiltSensivity, self.InvertTilt,
132 |         self.min_pan, self.max_pan, self.PanSensivity, self.InvertPan,
133 |         self.CameraID, self.LED_ON]
134 |         with open('init.pkl', 'wb') as init_file:
135 |             pickle.dump(init_settings, init_file)
136 | 
137 | 
138 |     def connect(self):    #set COM port from text box if arduino not already connected
139 |         if(not self.is_connected):
140 |             port = self.COMlineEdit.text()
141 |             if (self.ard.connect(port)):    #set port label message
142 |                 self.COMConnectLabel.setText("..................... Connected to port : " + port + " ......................")
143 |             else:
144 |                 self.COMConnectLabel.setText(".................... Cant connect to port : " + port + " .....................")
145 | 
146 |     def update_angles(self):  #update variables from text boxes
147 |         try:
148 |             self.InvertTilt = self.InvertTilt_checkbox.isChecked()
149 |             self.InvertPan = self.InvertPan_checkbox.isChecked()
150 |             self.TiltSensivity = float(self.TiltSensivityEdit.text())
151 |             self.PanSensivity = float(self.PanSensivityEdit.text())
152 |             self.LED_ON = self.LED_checkbox.isChecked()
153 | 
154 |             self.cap.release()    #camera need to be released in order to update the camera ID (if changed)
155 |             self.CameraID = int(self.CameraIDEdit.text())
156 |             self.cap = cv2.VideoCapture(self.CameraID)
157 | 
158 |             if(self.InvertPan):
159 |                 self.max_pan = int(self.MinPanlineEdit.text())
160 |                 self.min_pan = int(self.MaxPanlineEdit.text())
161 |             else:
162 |                 self.min_pan = int(self.MinPanlineEdit.text())
163 |                 self.max_pan = int(self.MaxPanlineEdit.text())
164 | 
165 |             if(self.InvertTilt):
166 |                 self.max_tilt = int(self.MinTiltlineEdit.text())
167 |                 self.min_tilt = int(self.MaxTiltlineEdit.text())
168 |             else:
169 |                 self.min_tilt = int(self.MinTiltlineEdit.text())
170 |                 self.max_tilt = int(self.MaxTiltlineEdit.text())
171 | 
172 |             self.save_init_file()
173 |             print("values updated")
174 |         except:
175 |             print("can't update values")
176 | 
177 |     def mouseMoveEvent(self, event):
178 | 
179 |         #the position of the mouse is tracked avec the window and converted to a pan and tilt amount
180 |         #for example if mouse completely to the left-> pan_target = 0(or whatever minimum pan_target value is)
181 |         # if completely to the right-> pan_target = 180(or whatever maximum pan_target value is)
182 |         #same principal for tilt
183 | 
184 |         if(self.manual_mode): #if manual mode selected
185 |             if(35<event.y()<470 and 70<event.x()<910):
186 |                 if(self.InvertTilt):  #if invert tilt selected values will be mapped in the opposite direction
187 |                     self.target_tilt = opr.remap(event.y(), self.max_tilt, self.min_tilt, 470, 35)
188 |                     #(470,35 allows the mouse to be tracked only over the image. yes...it is very lazy)
189 |                 else:
190 |                     self.target_tilt =  opr.remap(event.y(), self.min_tilt, self.max_tilt, 35, 470)
191 | 
192 |                 if (self.InvertPan):
193 |                     self.target_pan = opr.remap(event.x(), self.max_pan, self.min_pan, 910, 70)  # event.x()
194 |                 else:
195 |                     self.target_pan = opr.remap(event.x(), self.min_pan, self.max_pan, 70, 910)  # event.x()
196 | 
197 |     def update_LCD_display(self):
198 | 
199 |         #update servo angle values sent by the arduino
200 |         ##actually pretty useless since the arduino return its target value and not its actual real world position
201 |         self.Pan_LCD.display(self.current_pan)
202 |         self.Tilt_LCD.display(self.current_tilt)
203 | 
204 |     def quit(self):
205 |         print('Quit')
206 |         self.rec = False
207 |         sys.exit()
208 | 
209 |     def closeEvent(self, event):
210 |         self.quit()# call quit method when cross pressed
211 | 
212 |     def set_manual_mode(self):
213 |         self.manual_mode = self.Manual_checkbox.isChecked()
214 |         if(not self.manual_mode):          #if not in manual mode
215 |             self.random_servos_position()  #select a random pan and tilt target
216 |         print(self.manual_mode)
217 | 
218 |     def random_servos_position(self):
219 |         self.target_tilt = random.uniform(self.min_tilt, self.max_tilt)
220 |         self.target_pan = random.uniform(self.min_pan, self.max_pan)
221 | 
222 | 
223 |     def toggle_recording(self):
224 |         if(self.rec):
225 |             self.rec = False                   #stop recording
226 |             self.PauseButton.setText("Resume") #change pause button text
227 |         else:
228 |             self.rec = True
229 |             self.PauseButton.setText("Pause")
230 |             self.record()
231 | 
232 | 
233 |     def record(self):  #video recording
234 | 
235 |         while(self.rec):
236 |             ret, img = self.cap.read() #CAPTURE IMAGE
237 | 
238 |             if(self.is_connected):            #if arduino connected
239 |                 if(self.manual_mode):         #and manual mode on
240 |                     processed_img = img       #don't process image
241 |                 else:
242 |                     processed_img = self.image_process(img) #process image (check for faces and draw circle and cross)
243 |             else:                             #if arduino  not connected
244 |                 processed_img = img           #don't process image
245 | 
246 |             self.update_GUI(processed_img)    #update image in window
247 |             cv2.waitKey(0)                    #no delay between frames
248 | 
249 |             self.move_servos() #move servos
250 | 
251 |             if (not self.rec):     #allows while loop to stop if pause button pressed
252 |                 break
253 | 
254 |     def update_GUI(self, openCV_img): # Convert openCV image and update pyQt label
255 | 
256 |         try: #if this doesn't work check camera ID
257 |             openCV_img = cv2.resize(openCV_img, (960, 540))  #this is stretching the image a bit but if not done it won't fit the UI
258 |             height, width, channel = openCV_img.shape
259 |             bytesPerLine = 3 * width
260 |             qImg = QImage(openCV_img.data, width, height, bytesPerLine, QImage.Format_RGB888).rgbSwapped()
261 | 
262 |             pixmap = QPixmap(qImg)
263 |             self.label.setPixmap(pixmap)
264 | 
265 |         except:
266 |             self.label.setText("check camera ID")
267 | 
268 |         self.show()
269 | 
270 |     def move_servos(self):
271 |         if (self.is_connected):
272 | 
273 |             if self.LED_ON and not self.manual_mode:
274 |                 if not self.face_detected: #set led mode (0:red, 1:yellow 2:green)
275 |                     led_mode = 0
276 |                 else:
277 |                     if self.target_locked:
278 |                         led_mode = 1
279 |                     else :
280 |                         led_mode = 2
281 | 
282 |             elif self.LED_ON and self.manual_mode:
283 |                 led_mode = 3 #turn all led's on
284 |             else:
285 |                 led_mode = 4 #turn led's off
286 | 
287 |             data_to_send = "<" + str(int(self.target_pan)) + "," + str(int(self.target_tilt)) + "," + str(led_mode) + ">"
288 |             self.ard.runTest(data_to_send)
289 |             #the data sent to the arduino will look something like the this (<154, 23, 0>)
290 |             #the arduino will look for the start character "<"
291 |             #then save everything following until it finds the end character ">"
292 |             #at that point the arduino will have saved a message looking like this "154, 23, 0"
293 |             #it will then split the message at every coma and use the pieces of data to move the servos acordingly
294 | 
295 |             #And yes I should have used bytes or something a bit better
296 |             #I wrote this a while back and at that time I had even more to learn than I do now!
297 |             #I still lazy and can't be asked to change it now as it works .
298 | 
299 | 
300 |     def roam(self):
301 |         if(self.roam_pause_count < 0 ):      #if roam count inferior to 0
302 | 
303 |             self.roam_pause_count = self.roam_pause                                        #reset roam count
304 |             self.roam_target_pan = int(random.uniform(self.min_pan, self.max_pan))
305 |             self.roam_target_tilt = int(random.uniform(self.min_tilt, self.max_tilt))
306 | 
307 |         else:        #if roam count > 1
308 |                      #increment pan target toward roam target
309 |             if (int(self.target_pan) > self.roam_target_pan):
310 |                 self.target_pan -= 1
311 |             elif (int(self.target_pan) < self.roam_target_pan):
312 |                 self.target_pan += 1
313 |             else:    #if roam target reached decrease roam pause count
314 |                 self.roam_pause_count -= 1
315 | 
316 |             if (int(self.target_tilt) > self.roam_target_tilt):
317 |                 self.target_tilt -= 1
318 |             elif (int(self.target_tilt) < self.roam_target_tilt):
319 |                 self.target_tilt += 1
320 |             else:
321 |                 self.roam_pause_count -= 1
322 | 
323 | 
324 |     def image_process(self, img):  #handle the image processing
325 |         #to add later : introduce frame scipping (check only 1 every nframe)
326 | 
327 |         processed_img = opr.find_face(img, self.max_target_distance)  # try to find face and return processed image
328 |         # if face found during processing , the data return will be as following :
329 |         #[True, image_to_check, distance_from_center_X, distance_from_center_Y, locked]
330 |         #if not it will just retun False
331 | 
332 |         if(processed_img[0]):             #if face found
333 |             self.face_detected = True
334 |             self.empty_frame_number = self.max_empty_frame  #reset empty frame count
335 |             self.target_locked = processed_img[4]
336 |             self.calculate_camera_move(processed_img[2], processed_img[3])  # calculate new targets depending on distance between face and image center
337 |             return processed_img[1]
338 |         else:
339 |             self.face_detected = False
340 |             self.target_locked = False
341 |             if(self.empty_frame_number> 0):
342 |                 self.empty_frame_number -= 1  #decrease frame count until it equal 0
343 |             else:
344 |                 self.roam()              #then roam
345 |             return img
346 | 
347 | 
348 |     def calculate_camera_move(self, distance_X, distance_Y):
349 | 
350 |         #self.target_pan += distance_X * self.PanSensivity
351 | 
352 |         if(self.InvertPan): #handle inverted pan
353 |             self.target_pan -= distance_X * self.PanSensivity
354 |             if(self.target_pan>self.min_pan):
355 |                 self.target_pan = self.min_pan
356 |             elif (self.target_pan < self.max_pan):
357 |                 self.target_pan = self.max_pan
358 | 
359 |         else:
360 |             self.target_pan += distance_X * self.PanSensivity
361 |             if(self.target_pan>self.max_pan):
362 |                 self.target_pan = self.max_pan
363 |             elif (self.target_pan < self.min_pan):
364 |                 self.target_pan = self.min_pan
365 | 
366 | 
367 |         #self.target_tilt += distance_Y * self.TiltSensivity
368 | 
369 |         if(self.InvertTilt): #handle inverted tilt
370 |             self.target_tilt -= distance_Y * self.TiltSensivity
371 |             if(self.target_tilt>self.min_tilt):
372 |                 self.target_tilt = self.min_tilt
373 |             elif (self.target_tilt < self.max_tilt):
374 |                 self.target_tilt = self.max_tilt
375 |         else:
376 |             self.target_tilt += distance_Y * self.TiltSensivity
377 |             if(self.target_tilt>self.max_tilt):
378 |                 self.target_tilt = self.max_tilt
379 |             elif (self.target_tilt < self.min_tilt):
380 |                 self.target_tilt = self.min_tilt
381 | 
382 | if __name__ == '__main__':
383 |     app = QApplication(sys.argv)
384 |     ex = App()
385 |     app.exec_()
386 |     #sys.exit(app.exec_())
387 | 


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