Who doesn’t like a good old fashioned Robot or Droid?
It’s about time I pulled my finger out and made some.

A Bender robot I ‘3D Printed’ from files purchased from Droid Division.
So addictive, more pictures to follow!

!/usr/bin/env python

import cv2, sys, time, os
from pantilthat import *

os.system(‘sudo modprobe bcm2835-v4l2’)
os.system(‘v4l2-ctl -p 40’)

FRAME_W = 320
FRAME_H = 200

cam_pan = 40
cam_tilt = 20

cascPath = ‘/usr/share/opencv/lbpcascades/lbpcascade_frontalface.xml’
faceCascade = cv2.CascadeClassifier(cascPath)

cap = cv2.VideoCapture(0)
cap.set(cv2.CAP_PROP_FRAME_WIDTH, 320)
cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 200)
time.sleep(2)

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)

while True:

ret, frame = cap.read()
frame = cv2.flip(frame, -1)

if ret == False:
    print("Error getting image")
    continue

gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
gray = cv2.equalizeHist(gray)

faces = faceCascade.detectMultiScale(frame, 1.1, 3, 0, (10, 10))

lights(50 if len(faces) == 0 else 0, 50 if len(faces) > 0 else 0,0,50)

for (x, y, w, h) in faces:
    cv2.rectangle(frame, (x, y), (x + w, y + h), (0, 255, 0), 4)

    #Get the centre of the face
    #Inverted operations by adding instead of subtracting
    x = x + (w/2)
    y = y + (h/2)

    #Correct relative to centre of image
    #Inverted operations by adding instead of subtracting
    #These changes result in the camera moving in the opposite direction
    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
    #Inverted operation by negating to result in inverted offset
    turn_x   *= -2.5 # VFOV
    turn_y   *= -2.5 # HFOV
    cam_pan   = -turn_x
    cam_tilt  = turn_y

    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)

cv2.imshow('Video', frame)

if cv2.waitKey(1) & 0xFF == ord('q'):
    break