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183 | ###############################################################################
# #
# file: 6_multic_core_tft.py #
# #
# authors: Andre Heil - avh34 #
# Jingyao Ren - jr386 #
# #
# date: December 1st 2015 #
# #
# brief: This is similar to the 4_multi_core.py except now we're displaying #
# the output on the piTFT screen rather than on the monitor. #
# #
###############################################################################
### Imports ###################################################################
from picamera.array import PiRGBArray
from picamera import PiCamera
from functools import partial
import multiprocessing as mp
import cv2
import os
import time
import pigpio
import pygame
import sys
### Setup #####################################################################
os.putenv( 'SDL_FBDEV', '/dev/fb1' )
os.putenv( 'SDL_MOUSEDRV', 'TSLIB' )
os.putenv( 'SDL_MOUSEDEV', '/dev/input/touchscreen' )
resX = 320
resY = 240
cx = resX / 2
cy = resY / 2
pygame.init()
lcd = pygame.display.set_mode( ( 320, 240 ) )
pygame.mouse.set_visible( False )
panX = 19.2
panY = 19.2
pi = pigpio.pi()
pi.set_mode( 4, pigpio.OUTPUT )
pi.set_PWM_frequency( 4, 50 )
pi.set_PWM_dutycycle( 4, panX )
pi.set_mode( 17, pigpio.OUTPUT )
pi.set_PWM_frequency( 17, 50 )
pi.set_PWM_dutycycle( 17, panY )
# Setup the camera
camera = PiCamera()
camera.resolution = ( resX, resY )
camera.framerate = 60
# Use this as our output
rawCapture = PiRGBArray( camera, size=( resX, resY ) )
# The face cascade file to be used
face_cascade = cv2.CascadeClassifier( '/home/pi/opencv-2.4.9/data/lbpcascades/lbpcascade_frontalface.xml' )
font = pygame.font.SysFont( "monospace", 15 )
t_start = time.time()
fps = 0
### Helper Functions ##########################################################
def get_faces( img ):
gray = cv2.cvtColor( img, cv2.COLOR_BGR2GRAY )
faces = face_cascade.detectMultiScale( gray )
return faces, img
def draw_frame( img, faces ):
global panX
global panY
global fps
global time_t
# Draw a rectangle around every face
for ( x, y, w, h ) in faces:
cv2.rectangle( img, ( x, y ),( x + w, y + h ), ( 200, 255, 0 ), 2 )
cv2.putText( img, "Face No." + str( len( faces ) ), ( x, y ), cv2.FONT_HERSHEY_SIMPLEX, 0.5, ( 0, 0, 255 ), 2 )
if ( len ( faces ) == 1 ):
tx = x + w/2
ty = y + h/2
if ( cx - tx > 20 and panX <= 25 ):
panX += .1
pi.set_PWM_dutycycle( 4, panX )
elif ( cx - tx < -20 and panX >= 12 ):
panX -= .1
pi.set_PWM_dutycycle( 4, panX )
if ( cy - ty > 20 and panY >= 12 ):
panY -= .1
pi.set_PWM_dutycycle( 17, panY )
elif ( cy - ty < -20 and panY <= 25 ):
panY += .1
pi.set_PWM_dutycycle( 17, panY )
# Calculate and show the FPS
fps = fps + 1
sfps = fps / (time.time() - t_start)
lfps = font.render( "FPS: " + str( sfps ), 1, ( 255, 0, 0 ) )
# Have to write the image to a temporary file so it can be used by pygame
cv2.imwrite( 'tmp.jpg', img )
img = pygame.image.load( 'tmp.jpg' )
lcd.blit( img, ( 0, 0 ) )
lcd.blit( lfps, ( 0, 0 ) )
pygame.display.update()
### Main ######################################################################
if __name__ == '__main__':
pool = mp.Pool( processes=4 )
fcount = 0
camera.capture( rawCapture, format="bgr" )
r1 = pool.apply_async( get_faces, [ rawCapture.array ] )
r2 = pool.apply_async( get_faces, [ rawCapture.array ] )
r3 = pool.apply_async( get_faces, [ rawCapture.array ] )
r4 = pool.apply_async( get_faces, [ rawCapture.array ] )
f1, i1 = r1.get()
f2, i2 = r2.get()
f3, i3 = r3.get()
f4, i4 = r4.get()
rawCapture.truncate( 0 )
for frame in camera.capture_continuous( rawCapture, format="bgr", use_video_port=True ):
image = frame.array
if fcount == 1:
r1 = pool.apply_async( get_faces, [ image ] )
f2, i2 = r2.get()
draw_frame( i2, f2 )
elif fcount == 2:
r2 = pool.apply_async( get_faces, [ image ] )
f3, i3 = r3.get()
draw_frame( i3, f3 )
elif fcount == 3:
r3 = pool.apply_async( get_faces, [ image ] )
f4, i4 = r4.get()
draw_frame( i4, f4 )
elif fcount == 4:
r4 = pool.apply_async( get_faces, [ image ] )
f1, i1 = r1.get()
draw_frame( i1, f1 )
fcount = 0
fcount += 1
rawCapture.truncate( 0 )
for event in pygame.event.get():
if ( event.type is pygame.MOUSEBUTTONDOWN ):
pi.stop()
pygame.quit()
pool.close()
sys.exit()
|