Question

我已按照本教程使用伺服电机进行面部跟踪网站：https://embeditelectronics.com/blog/project/face-tracker/ github：https://github.com/embeditelectronics/Face-Tracker/blob/master/python-face-tracker/face.py 但问题是他在本教程中使用的硬件与我使用的硬件不同现在我正在使用adafruit PCA9685将伺服器连接到树莓派

我尝试使用github提供的示例根据我的adafruit板更改代码

from picamera.array import PiRGBArray
from picamera import PiCamera
import time
import cv2
# from pisoc import *
import Adafruit_PCA9685
pwm = Adafruit_PCA9685.PCA9685()

position=90

class Point(object):
    def __init__(self, x, y):
        self.x = x
        self.y = y

def Track(pan, tilt, center, target = Point(160, 120), threshold = Point(16, 24), delta = Point(4, 3)):
    global position
    position=90
    if (center.x > target.x + threshold.x):

        position=position-delta.x
        pwm.set_pwm(0, 0,position)

        # pan.SetAngle(pan.ReadAngle() - delta.x)
    elif (center.x < target.x - threshold.x):
        position=position+delta.x
        pwm.set_pwm(0, 0,position)

        # pan.SetAngle(pan.ReadAngle() + delta.x)
    if (center.y > target.y + threshold.y):
        position=position+delta.x
        pwm.set_pwm(1, 0,position)
        # tilt.SetAngle(tilt.ReadAngle() + delta.y)
    elif (center.y < target.y - threshold.y):
        position=position-delta.x
        pwm.set_pwm(1, 0,position)
        # tilt.SetAngle(tilt.ReadAngle() - delta.y)

if __name__ == "__main__":
    # PiSoC(log_level = 'debug')
    pan= pwm.set_pwm(0, 0,position)
    tilt=pwm.set_pwm(1,0,position)
    # pan = Servo(0, max_angle = 320)
    # tilt = Servo(1, max_angle = 240)
    camera = PiCamera()
    camera.resolution = (640, 480)
    camera.framerate = 32
    rawCapture = PiRGBArray(camera, size = camera.resolution)

    face_cascade = cv2.CascadeClassifier('/home/pi/Downloads/lbpcascade_frontalface.xml')

    scale = (camera.resolution[0]/320.0, camera.resolution[1]/240.0)

    time.sleep(0.1)
 #   pan.Start()
#    tilt.Start()

    for frame in camera.capture_continuous(rawCapture, format = 'bgr', use_video_port = True):
        image = frame.array

        resized = cv2.resize(image, (320, 240))
        gray = cv2.cvtColor(resized,cv2.COLOR_BGR2GRAY)

        faces = face_cascade.detectMultiScale(gray, 1.1, 5)
        if len(faces) > 0:
            for (x, y, w, h) in faces:
                Track(pan, tilt, Point(x + w/2.0, y+ h/2.0))
                break
        faces_resized = [(int(scale[0]*x), int(scale[1]*y), int(scale[0]*w), int(scale[1]*h)) for (x, y, w, h) in faces]
        for (x,y,w,h) in faces_resized:
            cv2.rectangle(image,(x,y),(x+w,y+h),(255,255,0),2)

        cv2.imshow("Result", image)
        key = cv2.waitKey(1) & 0xFF

        rawCapture.truncate(0)

        if key == ord('q') or key == 27:
            break
  #  pan.Stop()
   # tilt.Stop()

这是完整的代码

但是我遇到的问题是，pi相机可以检测到我的脸，但是伺服电机无法正常工作而且我不理解伺服电机和检测我的脸的代码部分之间的连接，我知道某处缺少连接，但是不确定该东西在哪里而且我什至不确定这是否是进行面部跟踪的最佳方法，我尝试了很多其他方法，最终导致许多失误如果您对此代码有更好的版本或任何教程，请建议我

*******更新****

from picamera.array import PiRGBArray
from picamera import PiCamera
import time
import cv2
# from pisoc import *
import Adafruit_PCA9685
pwm = Adafruit_PCA9685.PCA9685()

position=90
FRAME_W = 180
FRAME_H = 100
cam_pan = 90
cam_tilt = 60
pwm.set_pwm_freq(50)
pwm.set_pwm(0, 0,120)
pwm.set_pwm(1, 0,120)


class Point(object):
    def __init__(self, x, y):
        self.x = x
        self.y = y

def Track(pan, tilt, center, target = Point(160, 120), threshold = Point(16, 24), delta = Point(4, 3)):
    global position
    position=90
    if (center.x > target.x + threshold.x):

        position=position-delta.x
        pwm.set_pwm(0, 0,position)

        # pan.SetAngle(pan.ReadAngle() - delta.x)
    elif (center.x < target.x - threshold.x):
        position=position+delta.x
        pwm.set_pwm(0, 0,position)

        # pan.SetAngle(pan.ReadAngle() + delta.x)
    if (center.y > target.y + threshold.y):
        position=position+delta.x
        pwm.set_pwm(1, 0,position)
        # tilt.SetAngle(tilt.ReadAngle() + delta.y)
    elif (center.y < target.y - threshold.y):
        position=position-delta.x
        pwm.set_pwm(1, 0,position)
        # tilt.SetAngle(tilt.ReadAngle() - delta.y)

if __name__ == "__main__":
    # PiSoC(log_level = 'debug')
    pan= pwm.set_pwm(0, 0,position)
    tilt=pwm.set_pwm(1,0,position)
    # pan = Servo(0, max_angle = 320)
    # tilt = Servo(1, max_angle = 240)
    camera = PiCamera()
    camera.resolution = (640, 480)
    camera.framerate = 32
    rawCapture = PiRGBArray(camera, size = camera.resolution)

    face_cascade = cv2.CascadeClassifier('/home/pi/Downloads/lbpcascade_frontalface.xml')

    scale = (camera.resolution[0]/320.0, camera.resolution[1]/240.0)

    time.sleep(0.1)
 #   pan.Start()
#    tilt.Start()

    for frame in camera.capture_continuous(rawCapture, format = 'bgr', use_video_port = True):
        image = frame.array

        resized = cv2.resize(image, (320, 240))
        gray = cv2.cvtColor(resized,cv2.COLOR_BGR2GRAY)

        faces = face_cascade.detectMultiScale(gray, 1.1, 5)
        if len(faces) > 0:
            for (x, y, w, h) in faces:
                Track(pan, tilt, Point(x + w/2.0, y+ h/2.0))
                break
        faces_resized = [(int(scale[0]*x), int(scale[1]*y), int(scale[0]*w), int(scale[1]*h)) for (x, y, w, h) in faces]
        for (x,y,w,h) in faces_resized:
            cv2.rectangle(image,(x,y),(x+w,y+h),(255,255,0),2)

        cv2.imshow("Result", image)
        key = cv2.waitKey(1) & 0xFF

        rawCapture.truncate(0)

        if key == ord('q') or key == 27:
            break
  #  pan.Stop()
   # tilt.Stop()

现在伺服电机正在移动，但基于面部方向仅向右0.5 /向左0.5

Answer 1

不确定是否已经发现它，但是每次运行该函数时都将位置设置为90，因此它永远不会越过一步，因为再次调用时它总是重置为90。

def轨迹（水平，倾斜，中心，目标=点（160，120），阈值=点（16、24），增量=点（4、3））：全球地位位置= 90 如果（center.x> target.x + threshold.x）：

    position=position-delta.x

您应该将位置的初始化移动到函数外部。

希望有帮助

提示如果您在发布问题时未能获得很多答复，通常是因为答案盯着您，您需要研究或再次检查代码。

树莓派面部追踪器

1 个答案: