Spaces:
Sleeping
Sleeping
| import numpy as np | |
| import cv2 | |
| import random | |
| from datetime import datetime | |
| from gpiozero import Servo | |
| import os | |
| from picamera2 import Picamera2 | |
| import time | |
| class Sensor: | |
| def __init__(self, min_angle=0, max_angle=np.pi, servo_pin = 18): | |
| self.picam2 = Picamera2() | |
| sensor_resolution = self.picam2.sensor_resolution | |
| still_config = self.picam2.create_still_configuration(main={"size": sensor_resolution}) | |
| self.picam2.configure(still_config) | |
| self.picam2.start() | |
| time.sleep(2) | |
| self.min_angle = min_angle | |
| self.max_angle = max_angle | |
| # Initialize servo on GPIO pin 18 with custom pulse widths | |
| self.servo = Servo( | |
| servo_pin, | |
| min_pulse_width=500 / 1_000_000, | |
| max_pulse_width=2500 / 1_000_000 | |
| ) | |
| def normalize_angle(self, angle): | |
| n = (angle - self.min_angle) / (self.max_angle - self.min_angle) | |
| n = (n*2) - 1 | |
| return n | |
| def rotate_gear(self, n): | |
| self.servo.value = n | |
| def delete_file(self,filename): | |
| os.system(f"rm '{filename}'") | |
| def take_photo(self): | |
| # timestamp = datetime.now().strftime("%Y-%m-%d %H:%M:%S") | |
| # random_number = random.random() | |
| # filename = f"{timestamp}__{random_number}.jpg" | |
| # os.system(f"rpicam-still -n --immediate -o '{filename}'") | |
| # image = cv2.imread(filename) | |
| # image_rgb = cv2.cvtColor(image, cv2.COLOR_BGR2RGB) | |
| # self.delete_file(filename) | |
| image = self.picam2.capture_array() # image compatible with cv2 | |
| return image | |
| def extract_face(self, yaw): | |
| # Dummy implementation, replace with actual sensor code | |
| # For example, capture an image from a camera at the given yaw angle | |
| n = self.normalize_angle(yaw) | |
| self.rotate_gear(n) | |
| #image = np.zeros((512, 512, 3), dtype=np.uint8) | |
| time.sleep(.2) | |
| image = self.take_photo() | |
| return image | |