概要
-
PimoroniのPan-Tilt HAT Full Kit w/ Micro Servosを購入した
- https://shop.pimoroni.com/products/pan-tilt-hat
- https://www.adafruit.com/products/3353 - Pimoroni Pan-Tilt HAT for Raspberry Pi
- https://www.adafruit.com/products/1967 - Mini Pan-Tilt Kit - Assembled with Micro Servos
-
らずぱい カメラモジュール V2.1 をくっつけて、サンプルのフェイストラッキングのデモを動かす。
https://github.com/pimoroni/PanTiltFacetracker -
(Neo pixel stickは買ってない..)
-
Pythonでラクに制御できる
実行例）pan()とtilt()を使う。-90～90度で指定
pi@raspberrypi:~ $ python
Python 2.7.9 (default, Sep 17 2016, 20:26:04)
[GCC 4.9.2] on linux2
Type "help", "copyright", "credits" or "license" for more information.
from pantilthat import *
angle_pan = 15 # 角度:-90 - +90
angle_tilt = -30 # 角度:-90 - +90
pan(angle_pan)
tilt(angle_tilt)
quit()
pi@raspberrypi:~ $
## 環境
- Raspberry Pi 2 / 3
- Camera Module V2.1 (V1.3でも動作した)
- Raspbian: `2017-01-11-raspbian-jessie.img` (OpenCVで、ウィンドウにカメラ画像を表示させるので、Liteじゃないよ)
## 手順
1. Pan-Tiltキットの組み立て [Assembling Pan-Tilt HAT](https://learn.pimoroni.com/tutorial/sandyj/assembling-pan-tilt-hat)
https://learn.pimoroni.com/tutorial/sandyj/assembling-pan-tilt-hat <br>写真を見ながらやればできるかと。
- Pan-TiltモジュールをHATの基板に固定
- 黒いナイロンねじは、長めなので、きってしまうのもいいね(It's a good idea to trim the protruding end of the nylon bolt with a pair of scissors or tin snips,～)らしい
- サーボモータの線をうらのコネクタに挿す (GND=茶, 5V=赤, PWM-黄)
- Pan(クビを横に振る)をチャンネル１ (SERVO1)
- Tilt(クビを縦に振る)をチャネル２ (SERVO2)
- カメラ固定台組み立て
- V1.3用とV2.1用で、表に出る側の切り込みが違うんだと思う。
- 白いねじは長めにできてるので、切ってもいいね(Again, it's a good idea to trim off the excess nylon bolt with a pair of scissors or tin snips.)、らしい
- カメラ固定台をPan-Tiltモジュールにつける
- カメラのケーブルは上にでるよ
- Neopixel stick ... 購入してないので、スキップ。
- カメラのケーブルをらずぱいに挿す。
- ラズパイの差込口の上にある部品(茶色?とか黒とか?)をちょいと持ち上げる1mmくらい。力を入れすぎると、壊れるよ
- カメラケーブルを差し込んで
- 持ち上げたのを、押し込む、と固定される。
- らずぱい40ピンにHATを挿す。
2. 起動システムの準備(いつもの)
- Raspbianをやいて
- `sudo apt-get update && sudo apt-get upgrade -y` #パッケージ更新
3. Pan-Tilt 関係のパッケージをインストール
`curl -sS https://get.pimoroni.com/pantilthat | bash`
で何か聞かれたら、`y [Enter]`
4. カメラモジュールの有効化<br>`sudo raspi-config nonint do_camera 0 # 0:Enable/1:Disable`
5. `sudo reboot` # 再起動
6. PanTiltモジュールの動作確認
- ターミナルを開いて、
- `python[Enter]` で、python起動
- 以下、コピペ
```py
from pantilthat import *
angle_pan = 15 # 角度:-90 - +90
angle_tilt = -30 # 角度:-90 - +90
pan(angle_pan)
tilt(angle_tilt)
quit()
```
- 動く？ 数字を変えると、向きがかわる angle_pan=0 / angle_tilt = 0で正面向く感じ？
### フェイストラッキングのデモプログラム
https://github.com/pimoroni/PanTiltFacetracker
1. 必要なパッケージ導入<br>`sudo apt-get install python-smbus python-opencv opencv-data`
2. git clone
```bash
git clone https://github.com/pimoroni/PanTiltFacetracker
cd PanTiltFacetracker
- 実行
./facetracker_lbp.py- ウィンドウが開いて、カメラの画像が映る
- 顔 を検出すると、それがセンターにくるように、Pan-Tiltモジュールが動く.
その他
-
ログ
pi@raspberrypi:~ $ curl -sS https://get.pimoroni.com/pantilthat | bash This script will install everything needed to use Pan-Tilt HAT Always be careful when running scripts and commands copied from the internet. Ensure they are from a trusted source. If you want to see what this script does before running it, you should run: \curl -sS https://get.pimoroni.com/pantilthat Note: Pan-Tilt HAT requires I2C communication Do you wish to continue? [y/N] y Checking environment... Updating apt indexes... ......... Reading package lists... ......... Checking hardware requirements... I2C must be enabled for Pan-Tilt HAT to work I2C is now enabled Checking packages required by I2C interface... Pan-Tilt HAT comes with examples and documentation that you may wish to install. Performing a full install will ensure those resources are installed, along with all required dependencies. It may however take a while! Do you wish to perform a full install? [y/N] y Checking install requirements... Checking for dependencies... Installing python-pantilthat... install ok installed Installing python3-pantilthat... install ok installed Checking for additional software... python-picamera is already installed python3-picamera is already installed Downloading examples and documentation... Resources for your Pan-Tilt HAT were copied to /home/pi/Pimoroni/pantilthat All done! Enjoy your Pan-Tilt HAT! pi@raspberrypi:~ $ sudo reboot -
なんか、色がおかしい？
赤いのを映すと青になる、青いのが赤になる..RGB並びの設定がおかしい？
OpenCVから、v4l2の設定ができない?CV_CAP_PROP_FORMAT??
直し方が分からないので、PythonのPiCameraを使用するように変更。-
sudo apt-get install python-picamera -
picameraを使用するようにごにょごにょしたコード。
#!/usr/bin/env python ## http://qiita.com/mt08/items/97d89a09e5129e10f88c from picamera.array import PiRGBArray from picamera import PiCamera import cv2, sys, time, os from pantilthat import * # Frame Size. Smaller is faster, but less accurate. # Wide and short is better, since moving your head # vertically is kinda hard! FRAME_W = 192 FRAME_H = 112 # Default Pan/Tilt for the camera in degrees. # Camera range is from -90 to 90 cam_pan = 90 cam_tilt = 60 # Set up the CascadeClassifier for face tracking #cascPath = 'haarcascade_frontalface_default.xml' # sys.argv[1] cascPath = '/usr/share/opencv/lbpcascades/lbpcascade_frontalface.xml' faceCascade = cv2.CascadeClassifier(cascPath) # Set up the capture with our frame size camera = PiCamera() camera.resolution = (FRAME_W, FRAME_H) camera.framerate = 32 rawCapture = PiRGBArray(camera, size=(FRAME_W, FRAME_H)) time.sleep(0.1) # Turn the camera to the default position pan(cam_pan-90) tilt(cam_tilt-90) light_mode(WS2812) def lights(r,g,b,w): for x in range(18): set_pixel_rgbw(x,r if x in [3,4] else 0,g if x in [3,4] else 0,b,w if x in [0,1,6,7] else 0) show() lights(0,0,0,50) for image in camera.capture_continuous(rawCapture, format="bgr", use_video_port=True): frame = image.array # This line lets you mount the camera the "right" way up, with neopixels above frame = cv2.flip(frame, -1) # Convert to greyscale for detection gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY) gray = cv2.equalizeHist( gray ) # Do face detection faces = faceCascade.detectMultiScale(gray, 1.1, 3, 0, (10, 10)) # Slower method '''faces = faceCascade.detectMultiScale( gray, scaleFactor=1.1, minNeighbors=4, minSize=(20, 20), flags=cv2.cv.CV_HAAR_SCALE_IMAGE | cv2.cv.CV_HAAR_FIND_BIGGEST_OBJECT | cv2.cv.CV_HAAR_DO_ROUGH_SEARCH )''' lights(50 if len(faces) == 0 else 0, 50 if len(faces) > 0 else 0,0,50) for (x, y, w, h) in faces: # Draw a green rectangle around the face cv2.rectangle(frame, (x, y), (x+w, y+h), (0, 255, 0), 2) # Track first face # Get the center of the face x = x + (w/2) y = y + (h/2) # Correct relative to center of image turn_x = float(x - (FRAME_W/2)) turn_y = float(y - (FRAME_H/2)) # Convert to percentage offset turn_x /= float(FRAME_W/2) turn_y /= float(FRAME_H/2) # Scale offset to degrees turn_x *= 2.5 # VFOV turn_y *= 2.5 # HFOV cam_pan += -turn_x cam_tilt += turn_y print(cam_pan-90, cam_tilt-90) # Clamp Pan/Tilt to 0 to 180 degrees cam_pan = max(0,min(180,cam_pan)) cam_tilt = max(0,min(180,cam_tilt)) # Update the servos pan(int(cam_pan-90)) tilt(int(cam_tilt-90)) break frame = cv2.resize(frame, (540,300)) frame = cv2.flip(frame, 1) # Display the image, with rectangle # on the Pi desktop cv2.imshow('Video', frame) key = cv2.waitKey(1) & 0xFF # clear the stream in preparation for the next frame rawCapture.truncate(0) # if the `q` key was pressed, break from the loop if key == ord("q"): break # When everything is done, release the capture cv2.destroyAllWindows()
-
## TODO
- スクショとか、動作動画とか、載せる?
- 笑い男マーク対応?
- 複数顔検出して、一番大きいやつを追跡とか?