7. 人脸跟踪

在本项目中，PiDog 将安静地坐在原地。当你鼓掌时，它会转头看你，并在识别到你后和你打招呼。

运行代码

cd ~/pidog/examples
sudo python3 7_face_track.py

代码运行后，PiDog 会启动摄像头并打开人脸检测功能。 你可以在浏览器中访问 http://+ PiDog's IP +/mjpg （例如： http://192.168.18.138:9000/mjpg ）以查看摄像头画面。

接着，PiDog 将坐下并启用声音方向传感器模块来监听你的鼓掌方向。 当 PiDog 听到掌声（或其他响声）时，它会转头朝声源方向寻找你。

如果它检测到人脸（识别到目标），就会摇尾巴并发出汪汪叫声向你问好。

代码

备注

你可以对以下代码进行 修改/重置/复制/运行/停止。请确保进入源码路径（如 pidog\examples）后进行操作。修改后可直接运行查看效果。

#!/usr/bin/env python3
from pidog import Pidog
from time import sleep
from vilib import Vilib
from preset_actions import bark

my_dog = Pidog()
sleep(0.1)

def face_track():
    Vilib.camera_start(vflip=False, hflip=False)
    Vilib.display(local=True, web=True)
    Vilib.human_detect_switch(True)
    sleep(0.2)
    print('start')
    yaw = 0
    roll = 0
    pitch = 0
    flag = False
    direction = 0

    my_dog.do_action('sit', speed=50)
    my_dog.head_move([[yaw, 0, pitch]], pitch_comp=-40, immediately=True, speed=80)
    my_dog.wait_all_done()
    sleep(0.5)
    # 清除伺服器动作造成的声音干扰
    if my_dog.ears.isdetected():
        direction = my_dog.ears.read()

    while True:
        if flag == False:
            my_dog.rgb_strip.set_mode('breath', 'pink', bps=1)
        # 如果检测到声音，则转向
        if my_dog.ears.isdetected():
            flag = False
            direction = my_dog.ears.read()
            pitch = 0
            if direction > 0 and direction < 160:
                yaw = -direction
                if yaw < -80:
                    yaw = -80
            elif direction > 200 and direction < 360:
                yaw = 360 - direction
                if yaw > 80:
                    yaw = 80
            my_dog.head_move([[yaw, 0, pitch]], pitch_comp=-40, immediately=True, speed=80)
            my_dog.wait_head_done()
            sleep(0.05)

        ex = Vilib.detect_obj_parameter['human_x'] - 320
        ey = Vilib.detect_obj_parameter['human_y'] - 240
        people = Vilib.detect_obj_parameter['human_n']

        # 如果识别到人脸，向其打招呼
        if people > 0 and flag == False:
            flag = True
            my_dog.do_action('wag_tail', step_count=2, speed=100)
            bark(my_dog, [yaw, 0, 0], pitch_comp=-40, volume=80)
            if my_dog.ears.isdetected():
                direction = my_dog.ears.read()

        if ex > 15 and yaw > -80:
            yaw -= 0.5 * int(ex/30.0+0.5)

        elif ex < -15 and yaw < 80:
            yaw += 0.5 * int(-ex/30.0+0.5)

        if ey > 25:
            pitch -= 1*int(ey/50+0.5)
            if pitch < - 30:
                pitch = -30
        elif ey < -25:
            pitch += 1*int(-ey/50+0.5)
            if pitch > 30:
                pitch = 30

        print('direction: %s |number: %s | ex, ey: %s, %s | yrp: %s, %s, %s '
            % (direction, people, ex, ey, round(yaw, 2), round(roll, 2), round(pitch, 2)),
            end='\r',
            flush=True,
            )
        my_dog.head_move([[yaw, 0, pitch]], pitch_comp=-40, immediately=True, speed=100)
        sleep(0.05)


if __name__ == "__main__":
    try:
        face_track()
    except KeyboardInterrupt:
        pass
    except Exception as e:
        print(f"\033[31mERROR: {e}\033[m")
    finally:
        Vilib.camera_close()
        my_dog.close()