舵机人脸跟随

这个项目的目标是使用摄像头捕捉人脸，然后使用2个舵机控制摄像头的方向，使摄像头始终对准人脸。

需要注意的是，下面的代码设置了初识角度，但是这个角度是根据我的舵机和我的摄像头的特性设置的。如果你使用不同的舵机和摄像头，你可能需要调整这些角度。

import sensor
import lcd
import image
import board
import KPU as kpu
from machine import Timer
from machine import PWM


tim0 = Timer(Timer.TIMER0,Timer.CHANNEL0, mode=Timer.MODE_PWM)
pse6=PWM(tim0, freq=50, duty=2.5, pin=board.pin_D[6])
tim1 = Timer(Timer.TIMER1,Timer.CHANNEL0, mode=Timer.MODE_PWM)
pse7=PWM(tim1, freq=50, duty=2.5, pin=board.pin_D[7])
pse6.duty(90/18.0+2.5)
pse7.duty(135/18.0+2.5)
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.run(1)
sensor.skip_frames(10)
sensor.set_vflip(1)
sensor.set_hmirror(0)
lcd.init(freq=15000000,color=0x0000)
anchor= (1.889, 2.5245, 2.9465, 3.94056, 3.99987, 5.3658, 5.155437, 6.92275, 6.718375, 9.01025)
KPU = kpu.load("/sd/facedetect.kmodel")
kpu.init_yolo2(KPU,0.5,0.3,5,anchor)
X1 = 90
Y1 = 135
while True:
    img = sensor.snapshot()
    code = kpu.run_yolo2(KPU,img)
    if code:
        for i in code:
            img = img.draw_rectangle(i.rect(),(255,0,0),2,0)
            x = i.x() + i.w() // 2
            y = i.y() + i.h() // 2
            img = img.draw_cross([x,y],(255,0,0),30,1)
            if x < 150:
                X1 = X1 - 1
                if X1 < 20:
                    X1 = 20
            if x > 170:
                X1 = X1 + 1
                if X1 > 160:
                    X1 = 160
            pse6.duty(X1/18.0+2.5)
            if y < 110:
                Y1 = Y1 - 1
                if Y1 < 95:
                    Y1 = 95
            if y > 130:
                Y1 = Y1 + 1
                if Y1 > 175:
                    Y1 = 175
            pse7.duty(Y1/18.0+2.5)
    lcd.display(img)

舵机人脸跟随​

舵机人脸跟随