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8. Stare at You
This project is also based on the 7. Computer Vision project, with the addition of face detection algorithms.
When you appear in front of the camera, it will recognize your face and adjust its gimbal to keep your face in the center of the frame.
You can view the screen at http://<your IP>:9000/mjpg
.
Run the Code
cd ~/picar-x/example
sudo python3 8.stare_at_you.py
When the code is run, the car’s camera will always be staring at your face.
Code
from picarx import Picarx
from time import sleep
from vilib import Vilib
px = Picarx()
def clamp_number(num,a,b):
return max(min(num, max(a, b)), min(a, b))
def main():
Vilib.camera_start()
Vilib.display()
Vilib.face_detect_switch(True)
x_angle =0
y_angle =0
while True:
if Vilib.detect_obj_parameter['human_n']!=0:
coordinate_x = Vilib.detect_obj_parameter['human_x']
coordinate_y = Vilib.detect_obj_parameter['human_y']
# change the pan-tilt angle for track the object
x_angle +=(coordinate_x*10/640)-5
x_angle = clamp_number(x_angle,-35,35)
px.set_cam_pan_angle(x_angle)
y_angle -=(coordinate_y*10/480)-5
y_angle = clamp_number(y_angle,-35,35)
px.set_cam_tilt_angle(y_angle)
sleep(0.05)
else :
pass
sleep(0.05)
if __name__ == "__main__":
try:
main()
finally:
px.stop()
print("stop and exit")
sleep(0.1)
How it works?
These lines of code in while True
make the camera follow the face.
while True:
if Vilib.detect_obj_parameter['human_n']!=0:
coordinate_x = Vilib.detect_obj_parameter['human_x']
coordinate_y = Vilib.detect_obj_parameter['human_y']
# change the pan-tilt angle for track the object
x_angle +=(coordinate_x*10/640)-5
x_angle = clamp_number(x_angle,-35,35)
px.set_cam_pan_angle(x_angle)
y_angle -=(coordinate_y*10/480)-5
y_angle = clamp_number(y_angle,-35,35)
px.set_cam_tilt_angle(y_angle)
Check if there is a detected human face
Vilib.detect_obj_parameter['human_n'] != 0
If a human face is detected, obtain the coordinates (
coordinate_x
andcoordinate_y
) of the detected face.Calculate new pan and tilt angles (
x_angle
andy_angle
) based on the detected face’s position and adjust them to follow the face.Limit the pan and tilt angles within the specified range using the
clamp_number
function.Set the camera’s pan and tilt angles using
px.set_cam_pan_angle()
andpx.set_cam_tilt_angle()
.