optimized for pics

Roboy · Sep 16, 2019 · c6b81fc · c6b81fc
1 parent 68a4644
commit c6b81fc
Showing 1 changed file with 127 additions and 152 deletions.
diff --git a/scripts/snapchat_server.py b/scripts/snapchat_server.py
@@ -23,32 +23,6 @@
 from std_msgs.msg import String
 
 
-# bufferless VideoCapture
-class VideoCapture:
-
- def __init__(self, name):
- self.cap = cv2.VideoCapture(name)
- self.q = Queue.Queue()
- t = Thread(target=self._reader)
- t.daemon = True
- t.start()
-
- # read frames as soon as they are available, keeping only most recent one
- def _reader(self):
- while True:
- ret, frame = self.cap.read()
- if not ret:
- break
- if not self.q.empty():
- try:
- self.q.get_nowait() # discard previous (unprocessed) frame
- except Queue.Empty:
- pass
- self.q.put(frame)
-
- def read(self):
- return self.q.get()
-
 def handleRequest(req):
  print ("Chosen filter: "+req.name)
 
@@ -67,9 +41,9 @@ def handleRequest(req):
  return True
 
 def callback(msg):
+ print("msg arrived")
  global flash
  if msg.data == "cheese":
- time.sleep(3)
  ledscolor.publish("white")
  print("flashd to file")
  flash = True
@@ -229,191 +203,192 @@ def cvloop():
  i = 0
  # while run_event.is_set(): #while the thread is active we loop
  while True:
+ ret, image = video_capture.read()
  if flash:
  print("flashed")
  ledscolor.publish("white")
  save = True
  flash_timestamp = time.time()
  flash = False
  i = 10
-
- #
- # if time.time() - flash_timestamp > 1:
- # print("turned off flash")
- # ledscolor.publish("black")
- # time.sleep(1.5)
- # print("reading")
- ret, image = video_capture.read()
 
- #image = imutils.resize(image, width=3000)
- # image = image[0:376, 0:500]
- gray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
- faces = detector(gray, 0)
+ #
+ # if time.time() - flash_timestamp > 1:
+ # print("turned off flash")
+ # ledscolor.publish("black")
+ # time.sleep(1.5)
+ # print("reading")
+ ret, image = video_capture.read()
+
+ #image = imutils.resize(image, width=3000)
+ # image = image[0:376, 0:500]
+ gray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
+ faces = detector(gray, 0)
 
- for face in faces: #if there are faces
- (x,y,w,h) = (face.left(), face.top(), face.width(), face.height())
- # *** Facial Landmarks detection
- shape = predictor(gray, face)
- shape = face_utils.shape_to_np(shape)
- incl = calculate_inclination(shape[17], shape[26]) #inclination based on eyebrows
+  for face in faces: #if there are faces
+  (x,y,w,h) = (face.left(), face.top(), face.width(), face.height())
+  # *** Facial Landmarks detection
+  shape = predictor(gray, face)
+  shape = face_utils.shape_to_np(shape)
+  incl = calculate_inclination(shape[17], shape[26]) #inclination based on eyebrows
 
- # condition to see if mouth is open
- is_mouth_open = (shape[66][1] -shape[62][1]) >= 10 #y coordiantes of landmark points of lips
+  # condition to see if mouth is open
+  is_mouth_open = (shape[66][1] -shape[62][1]) >= 10 #y coordiantes of landmark points of lips
 
 
- #mustache condition
- if (SPRITES[1] and not SPRITES[0]):
- (x1,y1,w1,h1) = get_face_boundbox(shape, 6)
- apply_sprite(image, spr+"mustache.png",w1+10,x1-5,y1+5, incl)
+  #mustache condition
+  if (SPRITES[1] and not SPRITES[0]):
+  (x1,y1,w1,h1) = get_face_boundbox(shape, 6)
+  apply_sprite(image, spr+"mustache.png",w1+10,x1-5,y1+5, incl)
 
- #pixelated sunglasses condition
- if (SPRITES[2] and not SPRITES[0]):
- (x3,y3,_,h3) = get_face_boundbox(shape, 1)
- apply_sprite(image, spr+"pixelated_sunglasses.png",w,x,y3, incl, ontop = False)
+  #pixelated sunglasses condition
+  if (SPRITES[2] and not SPRITES[0]):
+  (x3,y3,_,h3) = get_face_boundbox(shape, 1)
+  apply_sprite(image, spr+"pixelated_sunglasses.png",w,x,y3, incl, ontop = False)
 
- #crown condition
- if (SPRITES[5] and not SPRITES[0]):
- apply_sprite(image, spr+"crown.png",w+30,x-20,y, incl)
+  #crown condition
+  if (SPRITES[5] and not SPRITES[0]):
+  apply_sprite(image, spr+"crown.png",w+30,x-20,y, incl)
 
- #hat condition
- if (SPRITES[3] and not SPRITES[0] and not SPRITES[5]):
- apply_sprite(image, spr+"hat.png",w+30,x-20,y, incl)
+  #hat condition
+  if (SPRITES[3] and not SPRITES[0] and not SPRITES[5]):
+  apply_sprite(image, spr+"hat.png",w+30,x-20,y, incl)
 
 
 
- #roboy + mustache + sunglasses + crown + rainbow condition
- elif (SPRITES[0] and SPRITES[1] and SPRITES[2] and SPRITES[5] and is_mouth_open):
- apply_sprite_rainbow(image, spr+"roboy_sunglasses_mustache_crown_rainbow.png",w+35,x-15,y-85, incl, ontop = False)
+  #roboy + mustache + sunglasses + crown + rainbow condition
+  elif (SPRITES[0] and SPRITES[1] and SPRITES[2] and SPRITES[5] and is_mouth_open):
+  apply_sprite_rainbow(image, spr+"roboy_sunglasses_mustache_crown_rainbow.png",w+35,x-15,y-85, incl, ontop = False)
 
- #roboy + mustache + sunglasses + crown condition
- elif (SPRITES[0] and SPRITES[1] and SPRITES[2] and SPRITES[5]):
- apply_sprite(image, spr+"roboy_sunglasses_mustache_crown.png",w+35,x-18,y-85, incl, ontop = False)
+  #roboy + mustache + sunglasses + crown condition
+  elif (SPRITES[0] and SPRITES[1] and SPRITES[2] and SPRITES[5]):
+  apply_sprite(image, spr+"roboy_sunglasses_mustache_crown.png",w+35,x-18,y-85, incl, ontop = False)
 
 
- #roboy + mustache + sunglasses + hat + rainbow condition
- elif (SPRITES[0] and SPRITES[1] and SPRITES[2] and SPRITES[3] and is_mouth_open):
- apply_sprite_rainbow(image, spr+"roboy_sunglasses_mustache_hat_rainbow.png",w+40,x-17,y-65, incl, ontop = False)
+  #roboy + mustache + sunglasses + hat + rainbow condition
+  elif (SPRITES[0] and SPRITES[1] and SPRITES[2] and SPRITES[3] and is_mouth_open):
+  apply_sprite_rainbow(image, spr+"roboy_sunglasses_mustache_hat_rainbow.png",w+40,x-17,y-65, incl, ontop = False)
 
- #roboy + mustache + sunglasses + hat condition
- elif (SPRITES[0] and SPRITES[1] and SPRITES[2] and SPRITES[3]):
- apply_sprite(image, spr+"roboy_sunglasses_mustache_hat.png",w+38,x-20,y-70, incl, ontop = False)
+  #roboy + mustache + sunglasses + hat condition
+  elif (SPRITES[0] and SPRITES[1] and SPRITES[2] and SPRITES[3]):
+  apply_sprite(image, spr+"roboy_sunglasses_mustache_hat.png",w+38,x-20,y-70, incl, ontop = False)
 
 
- #roboy + mustache + sunglasses + rainbow condition
- elif (SPRITES[0] and SPRITES[1] and SPRITES[2] and is_mouth_open):
- apply_sprite_rainbow(image, spr+"roboy_sunglasses_mustache_rainbow.png",w+35,x-15,y-45, incl, ontop = False)
+  #roboy + mustache + sunglasses + rainbow condition
+  elif (SPRITES[0] and SPRITES[1] and SPRITES[2] and is_mouth_open):
+  apply_sprite_rainbow(image, spr+"roboy_sunglasses_mustache_rainbow.png",w+35,x-15,y-45, incl, ontop = False)
 
- #roboy + mustache + sunglasses condition
- elif (SPRITES[0] and SPRITES[1] and SPRITES[2]):
- apply_sprite(image, spr+"roboy_sunglasses_mustache.png",w+40,x-20,y-50, incl, ontop = False)
+  #roboy + mustache + sunglasses condition
+  elif (SPRITES[0] and SPRITES[1] and SPRITES[2]):
+  apply_sprite(image, spr+"roboy_sunglasses_mustache.png",w+40,x-20,y-50, incl, ontop = False)
 
 
- #roboy + mustache + crown + rainbow condition
- elif (SPRITES[0] and SPRITES[1] and SPRITES[5] and is_mouth_open):
- apply_sprite_rainbow(image, spr+"roboy_mustache_crown_rainbow.png",w+35,x-15,y-85, incl, ontop = False)
+  #roboy + mustache + crown + rainbow condition
+  elif (SPRITES[0] and SPRITES[1] and SPRITES[5] and is_mouth_open):
+  apply_sprite_rainbow(image, spr+"roboy_mustache_crown_rainbow.png",w+35,x-15,y-85, incl, ontop = False)
 
- #roboy + mustache + crown condition
- elif (SPRITES[0] and SPRITES[1] and SPRITES[5]):
- apply_sprite(image, spr+"roboy_mustache_crown.png",w+35,x-18,y-85, incl, ontop = False)
+  #roboy + mustache + crown condition
+  elif (SPRITES[0] and SPRITES[1] and SPRITES[5]):
+  apply_sprite(image, spr+"roboy_mustache_crown.png",w+35,x-18,y-85, incl, ontop = False)
 
 
- #roboy + mustache + hat + rainbow condition
- elif (SPRITES[0] and SPRITES[1] and SPRITES[3] and is_mouth_open):
- apply_sprite_rainbow(image, spr+"roboy_mustache_hat_rainbow.png",w+40,x-17,y-65, incl, ontop = False)
+  #roboy + mustache + hat + rainbow condition
+  elif (SPRITES[0] and SPRITES[1] and SPRITES[3] and is_mouth_open):
+  apply_sprite_rainbow(image, spr+"roboy_mustache_hat_rainbow.png",w+40,x-17,y-65, incl, ontop = False)
 
- #roboy + mustache + hat condition
- elif (SPRITES[0] and SPRITES[1] and SPRITES[3]):
- apply_sprite(image, spr+"roboy_mustache_hat.png",w+38,x-20,y-70, incl, ontop = False)
+  #roboy + mustache + hat condition
+  elif (SPRITES[0] and SPRITES[1] and SPRITES[3]):
+  apply_sprite(image, spr+"roboy_mustache_hat.png",w+38,x-20,y-70, incl, ontop = False)
 
 
- #roboy + sunglasses + crown + rainbow condition
- elif (SPRITES[0] and SPRITES[2] and SPRITES[5] and is_mouth_open):
- apply_sprite_rainbow(image, spr+"roboy_sunglasses_crown_rainbow.png",w+35,x-15,y-85, incl, ontop = False)
+  #roboy + sunglasses + crown + rainbow condition
+  elif (SPRITES[0] and SPRITES[2] and SPRITES[5] and is_mouth_open):
+  apply_sprite_rainbow(image, spr+"roboy_sunglasses_crown_rainbow.png",w+35,x-15,y-85, incl, ontop = False)
 
- #roboy + sunglasses + crown condition
- elif (SPRITES[0] and SPRITES[2] and SPRITES[5]):
- apply_sprite(image, spr+"roboy_sunglasses_crown.png",w+35,x-18,y-85, incl, ontop = False)
+  #roboy + sunglasses + crown condition
+  elif (SPRITES[0] and SPRITES[2] and SPRITES[5]):
+  apply_sprite(image, spr+"roboy_sunglasses_crown.png",w+35,x-18,y-85, incl, ontop = False)
 
 
- #roboy + sunglasses + hat + rainbow condition
- elif (SPRITES[0] and SPRITES[2] and SPRITES[3] and is_mouth_open):
- apply_sprite_rainbow(image, spr+"roboy_sunglasses_hat_rainbow.png",w+40,x-17,y-65, incl, ontop = False)
+  #roboy + sunglasses + hat + rainbow condition
+  elif (SPRITES[0] and SPRITES[2] and SPRITES[3] and is_mouth_open):
+  apply_sprite_rainbow(image, spr+"roboy_sunglasses_hat_rainbow.png",w+40,x-17,y-65, incl, ontop = False)
 
- #roboy + sunglasses + hat condition
- elif (SPRITES[0] and SPRITES[2] and SPRITES[3]):
- apply_sprite(image, spr+"roboy_sunglasses_hat.png",w+38,x-20,y-70, incl, ontop = False)
+  #roboy + sunglasses + hat condition
+  elif (SPRITES[0] and SPRITES[2] and SPRITES[3]):
+  apply_sprite(image, spr+"roboy_sunglasses_hat.png",w+38,x-20,y-70, incl, ontop = False)
 
 
- #roboy + mustache + rainbow condition
- elif (SPRITES[1] and SPRITES[0] and is_mouth_open):
- apply_sprite_rainbow(image, spr+"roboy_mustache_rainbow.png",w+35,x-15,y-45, incl, ontop = False)
+  #roboy + mustache + rainbow condition
+  elif (SPRITES[1] and SPRITES[0] and is_mouth_open):
+  apply_sprite_rainbow(image, spr+"roboy_mustache_rainbow.png",w+35,x-15,y-45, incl, ontop = False)
 
- #roboy + mustache condition
- elif (SPRITES[1] and SPRITES[0]):
- apply_sprite(image, spr+"roboy_mustache.png",w+40,x-20,y-50, incl, ontop = False)
+  #roboy + mustache condition
+  elif (SPRITES[1] and SPRITES[0]):
+  apply_sprite(image, spr+"roboy_mustache.png",w+40,x-20,y-50, incl, ontop = False)
 
 
- #roboy + sunglasses + rainbow condition
- elif (SPRITES[0] and SPRITES[2] and is_mouth_open):
- apply_sprite_rainbow(image, spr+"roboy_sunglasses_rainbow.png",w+35,x-15,y-45, incl, ontop = False)
+  #roboy + sunglasses + rainbow condition
+  elif (SPRITES[0] and SPRITES[2] and is_mouth_open):
+  apply_sprite_rainbow(image, spr+"roboy_sunglasses_rainbow.png",w+35,x-15,y-45, incl, ontop = False)
 
- #roboy + sunglasses condition
- elif (SPRITES[0] and SPRITES[2]):
- apply_sprite(image, spr+"roboy_sunglasses.png",w+40,x-20,y-50, incl, ontop = False)
+  #roboy + sunglasses condition
+  elif (SPRITES[0] and SPRITES[2]):
+  apply_sprite(image, spr+"roboy_sunglasses.png",w+40,x-20,y-50, incl, ontop = False)
 
 
- #roboy + hat + rainbow condition
- elif (SPRITES[0] and SPRITES[3] and is_mouth_open):
- apply_sprite_rainbow(image, spr+"roboy_hat_rainbow.png",w+40,x-17,y-65, incl, ontop = False)
+  #roboy + hat + rainbow condition
+  elif (SPRITES[0] and SPRITES[3] and is_mouth_open):
+  apply_sprite_rainbow(image, spr+"roboy_hat_rainbow.png",w+40,x-17,y-65, incl, ontop = False)
 
- #roboy + hat condition
- elif (SPRITES[0] and SPRITES[3]):
- apply_sprite(image, spr+"roboy_hat.png",w+38,x-20,y-70, incl, ontop = False)
+  #roboy + hat condition
+  elif (SPRITES[0] and SPRITES[3]):
+  apply_sprite(image, spr+"roboy_hat.png",w+38,x-20,y-70, incl, ontop = False)
 
 
- #roboy + crown + rainbow condition
- elif (SPRITES[0] and SPRITES[5] and is_mouth_open):
- apply_sprite_rainbow(image, spr+"roboy_crown_rainbow.png",w+35,x-15,y-85, incl, ontop = False)
+  #roboy + crown + rainbow condition
+  elif (SPRITES[0] and SPRITES[5] and is_mouth_open):
+  apply_sprite_rainbow(image, spr+"roboy_crown_rainbow.png",w+35,x-15,y-85, incl, ontop = False)
 
- #roboy + crown condition
- elif (SPRITES[0] and SPRITES[5]):
- apply_sprite(image, spr+"roboy_crown.png",w+35,x-18,y-85, incl, ontop = False)
+  #roboy + crown condition
+  elif (SPRITES[0] and SPRITES[5]):
+  apply_sprite(image, spr+"roboy_crown.png",w+35,x-18,y-85, incl, ontop = False)
 
 
- #roboy + rainbow condition
- elif (SPRITES[0] and is_mouth_open):
- apply_sprite_rainbow(image, spr+"roboy_rainbow.png",w+35,x-15,y-45, incl, ontop = False)
+  #roboy + rainbow condition
+  elif (SPRITES[0] and is_mouth_open):
+  apply_sprite_rainbow(image, spr+"roboy_rainbow.png",w+35,x-15,y-45, incl, ontop = False)
 
- #roboy condition
- elif SPRITES[0]:
- apply_sprite(image, spr+"roboy.png",w+40,x-20,y-50, incl, ontop = False)
+  #roboy condition
+  elif SPRITES[0]:
+  apply_sprite(image, spr+"roboy.png",w+40,x-20,y-50, incl, ontop = False)
 
 
- # else:
- # if (is_mouth_open and not SPRITES[0]):
- # (x0,y0,w0,h0) = get_face_boundbox(shape, 6) #bound box of mouth
- # apply_sprite(image, spr+"rainbow.png",w0,x0,y0, incl, ontop = False)
+  # else:
+  # if (is_mouth_open and not SPRITES[0]):
+  # (x0,y0,w0,h0) = get_face_boundbox(shape, 6) #bound box of mouth
+  # apply_sprite(image, spr+"rainbow.png",w0,x0,y0, incl, ontop = False)
 
 
- #flies condition
- if (SPRITES[4]):
- #to make the "animation" we read each time a different image of that folder
- # the images are placed in the correct order to give the animation impresion
- apply_sprite(image, dir_+flies[i],w,x,y, incl)
- i+=1
- i = 0 if i >= len(flies) else i #when done with all images of that folder, begin again
+  #flies condition
+  if (SPRITES[4]):
+  #to make the "animation" we read each time a different image of that folder
+  # the images are placed in the correct order to give the animation impresion
+  apply_sprite(image, dir_+flies[i],w,x,y, incl)
+  i+=1
+  i = 0 if i >= len(flies) else i #when done with all images of that folder, begin again
 
 
- # OpenCV represents image as BGR; PIL but RGB, we need to change the chanel order
- # image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
- # if save:
+  # OpenCV represents image as BGR; PIL but RGB, we need to change the chanel order
+  # image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
+  # if save:
 
- #if i > 0:
- # cv2.imwrite("test"+str(i)+".jpeg", image)
- # i -= 1
- # print("save img " + str(i))
+  #if i > 0:
+  # cv2.imwrite("test"+str(i)+".jpeg", image)
+  # i -= 1
+  # print("save img " + str(i))
 
- if save and time.time() - flash_timestamp > 1.0:
+  # if save and time.time() - flash_timestamp > 1.0:
  print("saved img")
  cv2.imwrite('test.jpeg', image)
  ledscolor.publish("black")