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https://github.com/ft-NotArt/ShyEye.git
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+ | ShyEye without anxiety when surrounded
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NotArt
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ShyEye/eyeMove/eyeMove.ino
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116
ShyEye/eyeMove/eyeMove.ino
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#include "Servo.h"
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/*
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These are just indications used to understand what value is passed through Serial to Arduino
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*/
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// Move to the left
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#define SERVO_LMOV 0
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#define SERVO_LUMOV 1
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#define SERVO_LDMOV 2
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// Move to the right
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#define SERVO_RMOV 3
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#define SERVO_RUMOV 4
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#define SERVO_RDMOV 5
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// Don't move x axis
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#define SERVO_NOMOV 6
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#define SERVO_UMOV 7
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#define SERVO_DMOV 8
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#define LOOK_LEFT -45
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#define LOOK_RIGHT 45
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#define LOOK_UP 45
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#define LOOK_DOWN -45
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#define START_POS 90
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Servo servoX;
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Servo servoY;
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int eyeDir;
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bool isServoXAttached = true;
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bool isServoYAttached = true;
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void setup() {
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servoX.attach(9); // Attach servoX to pin 9
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servoY.attach(10); // Attach servoY to pin 10
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servoX.write(START_POS);
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servoY.write(START_POS);
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delay(1000);
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Serial.begin(9600);
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Serial.setTimeout(1);
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// Used for debugging
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pinMode(LED_BUILTIN, OUTPUT);
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}
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void stopServo(Servo &servo, bool &isAttached) {
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if (isAttached) { // Only detach if it's currently attached
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servo.detach();
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isAttached = false;
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}
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}
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void moveServo(Servo &servo, int angle, bool &isAttached, int pin) {
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if (!isAttached) { // Only attach if it's currently detached
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servo.attach(pin);
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isAttached = true;
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}
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servo.write(angle);
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}
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void loop() {
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while (!Serial.available());
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eyeDir = Serial.readString().toInt();
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switch (eyeDir) {
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case SERVO_LMOV:
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moveServo(servoX, START_POS + LOOK_LEFT, isServoXAttached, 9);
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stopServo(servoY, isServoYAttached);
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break;
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case SERVO_LUMOV:
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moveServo(servoX, START_POS + LOOK_LEFT, isServoXAttached, 9);
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moveServo(servoY, START_POS + LOOK_UP, isServoYAttached, 10);
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break;
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case SERVO_LDMOV:
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moveServo(servoX, START_POS + LOOK_LEFT, isServoXAttached, 9);
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moveServo(servoY, START_POS + LOOK_DOWN, isServoYAttached, 10);
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break;
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case SERVO_RMOV:
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moveServo(servoX, START_POS + LOOK_RIGHT, isServoXAttached, 9);
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stopServo(servoY, isServoYAttached);
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break;
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case SERVO_RUMOV:
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moveServo(servoX, START_POS + LOOK_RIGHT, isServoXAttached, 9);
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moveServo(servoY, START_POS + LOOK_UP, isServoYAttached, 10);
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break;
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case SERVO_RDMOV:
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moveServo(servoX, START_POS + LOOK_RIGHT, isServoXAttached, 9);
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moveServo(servoY, START_POS + LOOK_DOWN, isServoYAttached, 10);
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break;
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case SERVO_UMOV:
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stopServo(servoX, isServoXAttached);
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moveServo(servoY, START_POS + LOOK_UP, isServoYAttached, 10);
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break;
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case SERVO_DMOV:
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stopServo(servoX, isServoXAttached);
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moveServo(servoY, START_POS + LOOK_DOWN, isServoYAttached, 10);
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break;
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default:
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stopServo(servoX, isServoXAttached);
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stopServo(servoY, isServoYAttached);
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break;
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}
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}
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130
ShyEye/faceDetection.py
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130
ShyEye/faceDetection.py
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import cv2
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import serial
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import time
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# Used for debug mainly, set to True to see what the camera is recording
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DRAW_CAMERA = True
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"""
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These are just indications used to understand what value is passed through Serial to arduino
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In the arduino code, same values will be used but as defines
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Setting those in this order enables me to only do +1/+2 to choose up or down in addition to left/right direction
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"""
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# Move to the left
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SERVO_LMOV = 0
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SERVO_LUMOV = 1
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SERVO_LDMOV = 2
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# Move to the right
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SERVO_RMOV = 3
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SERVO_RUMOV = 4
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SERVO_RDMOV = 5
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# Don't move x axis
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SERVO_NOMOV = 6
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SERVO_UMOV = 7
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SERVO_DMOV = 8
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SERVO_SPD = 2
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def draw_square(frame, faces, color):
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for (x, y, w, h) in faces:
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face_region = frame[y:y+h, x:x+w]
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cv2.rectangle(frame, (x, y), (x + w, y + h), color, 1)
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return frame
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arduino = serial.Serial(port='/dev/ttyACM0', baudrate=9600, timeout=.1)
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video_capture = cv2.VideoCapture(0)
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face_cascade = cv2.CascadeClassifier(cv2.data.haarcascades + "haarcascade_frontalface_default.xml")
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side_cascade = cv2.CascadeClassifier(cv2.data.haarcascades + "haarcascade_profileface.xml")
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detected_faces = []
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detected_profiles = []
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ret, frame = video_capture.read()
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if ret:
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frameH, frameW = frame.shape[:2]
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eyeX = int (frameW / 2)
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eyeY = int (frameH / 2)
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while True:
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ret, frame = video_capture.read()
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if not ret:
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break
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gray_frame = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
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faces = face_cascade.detectMultiScale(gray_frame, scaleFactor=1.1, minNeighbors=5, minSize=(30, 30))
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detected_faces = faces
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faces = side_cascade.detectMultiScale(gray_frame, scaleFactor=1.1, minNeighbors=5, minSize=(30, 30))
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detected_profiles = faces
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target = [int ((frameW / 2) - 10), int ((frameH / 2) - 10), 20, 20]
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eyeDir = SERVO_NOMOV
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if len(detected_faces) >= 3 :
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# anxiety code
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feur = 3
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elif len(detected_profiles) != 0 and len(detected_faces) != 0 :
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arduino.write(bytes(f"{SERVO_NOMOV}", "utf-8"))
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else :
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if len(detected_profiles) != 0 and len(detected_faces) == 0 :
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# get target as the biggest face detected
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for face in detected_profiles :
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if face[3] > target[3] : # deep copy as I want to modify target w/out modifying detected_profiles
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target[0] = face[0]
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target[1] = face[1]
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target[2] = face[2]
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target[3] = face[3]
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# define target as the center of selected face
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target[0] = int (target[0] + (target[2] / 2) - 10)
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target[1] = int (target[1] + (target[3] / 2) - 10)
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target[2] = 20
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target[3] = 20
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# adjust the 'eye' position as the camera turn around
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if eyeX < target[0] or eyeX > (target[0] + target[2]) :
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if eyeX < target[0] :
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eyeX += SERVO_SPD
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eyeDir = SERVO_LMOV
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else :
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eyeX -= SERVO_SPD
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eyeDir = SERVO_RMOV
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else :
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eyeDir = SERVO_NOMOV
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if eyeY < target[1] or eyeY > (target[1] + target[3]) :
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if eyeY < target[1] :
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eyeY += SERVO_SPD
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eyeDir += 2
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else :
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eyeY -= SERVO_SPD
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eyeDir += 1
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arduino.write(bytes(f"{eyeDir}", "utf-8"))
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if DRAW_CAMERA :
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# draw detected_faces/profiles on green/blue
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frame = draw_square(frame, detected_faces, (0, 255, 0))
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frame = draw_square(frame, detected_profiles, (255, 0, 0))
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# draw target rectangle in red
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cv2.rectangle(frame, (target[0], target[1]), (target[0] + target[2], target[1] + target[3]), (0, 0, 255), 1)
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# draw crosshair in white
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cv2.rectangle(frame, (eyeX - 5, eyeY), (eyeX + 5, eyeY), (255, 255, 255), 1)
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cv2.rectangle(frame, (eyeX, eyeY - 5), (eyeX, eyeY + 5), (255, 255, 255), 1)
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# open a window and show recorded video
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cv2.imshow("Faces", frame)
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if cv2.waitKey(1) != -1:
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break
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video_capture.release()
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cv2.destroyAllWindows()
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