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main.py
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#!/usr/bin/python
import sys
import os
import cv2
import dlib
import numpy as np
import threading
from time import sleep
import modules.Camera as Camera
import modules.Speak as Speak
import modules.Controller as Controller
import modules.Timer as Timer
import modules.Tracker as Tracker
import modules.Turret as Turret
# ===========================================================================
# This is the main executable for the robot.
# ===========================================================================
#if display, respond to mouse
def on_click(event, cx, cy, flag, param):
if(event==cv2.cv.CV_EVENT_LBUTTONDOWN):
print "moving..." + str(cx),str(cy)
coords = (cx,cy)
newturr = turret.coordToPulse(coords)
currturr = (turret.xy[0],turret.xy[1])
turret.sendTarget(newturr, currturr)
if(event==cv2.cv.CV_EVENT_MBUTTONDOWN):
print "firing..."
turret.fire()
if(event==cv2.cv.CV_EVENT_RBUTTONDOWN):
print "exiting...(to do)"
#load config
from configobj import ConfigObj #this library supports writing/saving config
cfg = ConfigObj(os.path.dirname(os.path.abspath(__file__)) + '/config.ini')
def main() :
global cam, turret
#start cam
cam = Camera.Capture(cfg)
cam.daemon = True
cam.start()
i=0
while (i<50): #allow 5sec for startup
i += 1
sleep(0.1)
if cam.rawframe != None:
break
frame = cam.getFrame() #need during init
#start turret
turret = Turret.Targetting(cfg)
turret.daemon = True
turret.recenter()
turret.start()
#start controller
cmdlistener = Controller.Listener(cfg)
cmdlistener.startlisteners()
key = ""
#display
displaytext = "" #for writing message in window
if os.environ.get('DISPLAY') and int(cfg['camera']['display']):
display = True
print 'display found'
else:
display = False
print 'no display'
if display:
cv2.namedWindow("display", cv2.cv.CV_WINDOW_AUTOSIZE)
cv2.setMouseCallback("display", on_click, 0)
#tracking functions
track = Tracker.Tracking(cfg, display)
tracker = None #dlib object tracking
#motion detection
avgframe = np.float32(frame)
avgtimer = threading.Event() #TODO: put this in Timer thread?
#speak
speak = Speak.Speak(cfg)
speak.say("ready")
cam.resetFPS()
while(1):
#capture frame,position
framexy = turret.xy
frame = cam.getFrame()
if display: #default display
displayframe = frame
#targetting color (hsv)
if track.mode == 4:
cx,cy,displayframe = track.targetHsv(frame)
if cx:
turret.sendTarget(turret.coordToPulse((cx,cy)), framexy)
#targetting object (dlib)
if track.mode == 5:
tracker.update(frame)
rect = tracker.get_position()
cx = (rect.right() + rect.left()) / 2
cy = (rect.top() + rect.bottom()) / 2
turret.sendTarget(turret.coordToPulse((cx,cy)), framexy)
if display:
pt1 = (int(rect.left()), int(rect.top()))
pt2 = (int(rect.right()), int(rect.bottom()))
cv2.rectangle(displayframe, pt1, pt2, (255, 255, 255), 3)
#detect motionhsv, motionobj
elif track.mode == 2 or track.mode == 3:
if avgtimer.isSet():
#learn image for motion detection
cv2.accumulateWeighted(frame, avgframe, 0.8)
resframe = cv2.convertScaleAbs(avgframe)
else:
cnt, motionmask = track.getMotionContour(frame, resframe, track.areathresholdobject if track.mode==3 else track.areathresholdcolor)
if display:
displayframe = cv2.cvtColor(motionmask.copy(), cv2.COLOR_GRAY2RGB)
if not cnt == None:
#motionhsv
if track.mode == 2: #mask for mean
track.bgrtarget = cv2.mean(frame, motionmask)
framehsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
track.hsvtarget = cv2.mean(framehsv, motionmask)
track.setColorRange()
turret.armed = True
displaytext = "Targetting " + Speak.BGRname(track.bgrtarget)
speak.say(displaytext)
track.mode = 4 #hsvtarget
cam.resetFPS()
#motionobj
if track.mode == 3: #object points
x,y,w,h = cv2.boundingRect(cnt)
if x>3 and y>3: # and x+w<cam.w-3 and y+h<cam.h-3: #object inside frame #TODO: which sides?
points = (x,y,x+w,y+h)
tracker = dlib.correlation_tracker()
tracker.start_track(frame, dlib.rectangle(*points))
displaytext = "Targetting object"
speak.say(displaytext)
track.mode = 5 #dlib
cam.resetFPS()
else:
cv2.rectangle(displayframe, (x, y), (x+w, y+h), (0,0,255), 2)
#face
elif track.mode == 1:
detector = dlib.get_frontal_face_detector()
faces = detector(frame)
best_area = 0
best_face = None
for d in faces:
area = (d.left()-d.right())*(d.top()-d.bottom())
if area > best_area:
best_area = area
best_face = d
if not best_face == None: #face points
points = (best_face.left(),best_face.top(),best_face.right(),best_face.bottom())
tracker = dlib.correlation_tracker()
tracker.start_track(frame, dlib.rectangle(*points))
displaytext = "Targetting human"
speak.say(displaytext)
track.mode = 5 #dlib
#if face, go for shirt color
# xs = int(x + (x/2)) #shirt
# ys = int(y+(h*1.7)) #shirt
# framecenter = frame[ys-track.sampleradius:ys+track.sampleradius, xs-track.sampleradius:xs+track.sampleradius]
# framecenterhsv = cv2.cvtColor(framecenter, cv2.COLOR_BGR2HSV)
# track.hsvtarget = [int(cv2.mean(framecenterhsv)[0]), int(cv2.mean(framecenterhsv)[1]), int(cv2.mean(framecenterhsv)[2])]
# track.setColorRange()
# track.bgrtarget = [int(cv2.mean(framecenter)[0]), int(cv2.mean(framecenter)[1]), int(cv2.mean(framecenter)[2])]
# speak.say("Hey, you in the " + Speak.BGRname(track.bgrtarget) + " shirt")
# track.mode = 4 #hsvtarget
#display frame
if display:
if displaytext:
textsize = 0.003 * cam.w
cv2.putText(displayframe, displaytext, (5,cam.h-5), cv2.FONT_HERSHEY_SIMPLEX, textsize, (0,255,255))
cv2.imshow('display', displayframe)
cv2.waitKey(1)
# Command Handler --------------------------
if cmdlistener.cmdsent.isSet():
key = cmdlistener.cmd
cmdlistener.reset()
#quit/restart
if key=="?" or key=="h":
f = open(os.path.dirname(os.path.abspath(__file__)) + '/help.txt','r')
print(f.read())
elif key=="q" or key=="r":
turret.quit()
cam.quit()
cmdlistener.quit()
cfg.write()
if display:
cv2.destroyAllWindows()
if key=="q":
speak.say("quitting. bye")
return 0
if key=="r":
speak.say("restarting")
return 1
#--- Targeting ---
elif key==" ": #reset all
speak.say("Reset")
displaytext = ""
turret.armed = False
track.mode = 0
turret.recenter()
cam.resetFPS()
elif key=="t": #sample center of image
sampleradius = 0.02 * (cam.w / float(cfg['camera']['scaledown']))
framecenter = frame[(cam.h/2)-sampleradius:(cam.h/2)+sampleradius, (cam.w/2)-sampleradius:(cam.w/2)+sampleradius]
framecenterhsv = cv2.cvtColor(framecenter, cv2.COLOR_BGR2HSV)
track.hsvtarget = [int(cv2.mean(framecenterhsv)[0]), int(cv2.mean(framecenterhsv)[1]), int(cv2.mean(framecenterhsv)[2])]
track.setColorRange()
track.bgrtarget = [int(cv2.mean(framecenter)[0]), int(cv2.mean(framecenter)[1]), int(cv2.mean(framecenter)[2])]
displaytext = "Targetting " + Speak.BGRname(track.bgrtarget)
speak.say(displaytext)
track.mode = 4
cam.resetFPS()
elif key=="1": #start face detect
displaytext = "Seeking humans."
speak.say(displaytext)
track.mode = 1 #face
cam.resetFPS()
#track.faceCascade = cv2.CascadeClassifier("haarcascade_frontalface_default.xml")
elif key=="2" or key=="3": #start motion detect: 2:hsv or 3:dlib
displaytext = "Motion " + ("by color" if key=="2" else "by object")
speak.say(displaytext)
Timer.Countdown(5, avgtimer).thread.start()
sleep(.1) #timer set
track.mode = int(key) #motiondetect
#--- Controls ---
elif key=="j": #joke/taunt
speak.taunt()
elif key=="g": #test fire
turret.fire()
#--- Settings ---
elif key=="i": #fps
print(cam.getFPS())
cam.resetFPS()
elif key=="p": #toggle armed
turret.armed = not turret.armed
if turret.armed:
speak.say("armed")
else:
speak.say("disarmed")
elif key=="n": #toggle noisy
if speak.quiet:
speak.quiet = 0
speak.say("talking")
else:
speak.say("quiet")
sleep(.1)
speak.quiet = 1
cfg['speak']['quiet'] = speak.quiet
elif key=="+": #volume
speak.volume(.1)
speak.say("check")
elif key=="-":
speak.volume(-.1)
speak.say("check")
elif key=="y": #restart speak
speak = Speak.Speak()
speak.say("ok")
elif key=="w": #pause display
cam.resetFPS()
if not display and os.environ.get('DISPLAY') and int(cfg['camera']['display']):
display = True
print("- display resumed -")
else:
display = False
print("- display paused -")
#--- Tolerance ---
else:
adjustpercent = 0.10 #step +/- percent for manual key adjustments
adjust = lambda val,sign: val * (1 + (sign*adjustpercent))
if key=="l" or key=="m": #target sensitivity
turret.firesensitivity = adjust(turret.firesensitivity, 1 if key=="l" else -1)
cfg['tolerance']['firesensitivity'] = turret.firesensitivity
if key=="a" or key=="z": #threshhold area
track.areathresholdcolor = adjust(track.areathresholdcolor, 1 if key=="a" else -1)
cfg['tolerance']['colortrack']['areathreshold'] = track.areathresholdcolor
if key=="s" or key=="x": #threshhold area
track.areathresholdobject = adjust(track.areathresholdobject, 1 if key=="s" else -1)
cfg['tolerance']['objecttrack']['areathreshold'] = track.areathresholdobject
print "Area(Color):", track.areathresholdcolor, "Area(Object):", track.areathresholdobject, "Trigger:", turret.firesensitivity
if __name__ == "__main__" :
#start
sys.exit(main())