Final commit

main.py

@@ -0,0 +1,266 @@
+import cv2
+import tkinter as tk
+import mediapipe as mp
+import numpy as np
+import os
+import math
+from rembg import remove 
+from PIL import Image
+
+import dobot
+import vector_draw
+
+# Load images with transparency
+mario_hat_image_path = "Filters/MArio.png"
+sunglasses_image_path = "Filters/glasses.png"
+moustache_image_path = "Filters/MoustacheMario.png"
+
+# Load images
+mario_hat = cv2.imread(mario_hat_image_path, cv2.IMREAD_UNCHANGED)
+sunglasses = cv2.imread(sunglasses_image_path, cv2.IMREAD_UNCHANGED)
+moustache = cv2.imread(moustache_image_path, cv2.IMREAD_UNCHANGED)
+
+# Check if images were loaded correctly
+if mario_hat is None:
+    print("Error: Mario hat image not found.")
+    exit()
+if sunglasses is None:
+    print("Error: Sunglasses image not found.")
+    exit()
+if moustache is None:
+    print("Error: Moustache image not found.")
+    exit()
+
+# Initialize MediaPipe FaceMesh
+mp_face_mesh = mp.solutions.face_mesh
+face_mesh = mp_face_mesh.FaceMesh(min_detection_confidence=0.5, min_tracking_confidence=0.5)
+
+# Variables for toggling filters
+mario_hat_active = False
+sunglasses_active = False
+moustache_active = False
+show_angles = False
+
+# Open webcam for capturing live feed
+cap = cv2.VideoCapture(0)
+if not cap.isOpened():
+    print("Error: The webcam cannot be opened")
+    exit()
+
+# Variable to hold the contour frame
+contour_frame = None
+resized_edges = None
+
+def calculate_angles(landmarks):
+    left_eye = np.array(landmarks[33])
+    right_eye = np.array(landmarks[263])
+    nose_tip = np.array(landmarks[1])
+    chin = np.array(landmarks[152])
+    yaw = math.degrees(math.atan2(right_eye[1] - left_eye[1], right_eye[0] - left_eye[0]))
+    pitch = math.degrees(math.atan2(chin[1] - nose_tip[1], chin[0] - nose_tip[0]))
+    return yaw, pitch
+
+def apply_mario_hat(frame, landmarks):
+    global mario_hat
+    if mario_hat_active and mario_hat is not None:
+        forehead = landmarks[10]
+        chin = landmarks[152]
+        left_side = landmarks[234]
+        right_side = landmarks[454]
+        face_width = int(np.linalg.norm(np.array(left_side) - np.array(right_side)))
+        hat_width = int(face_width * 4.0)
+        hat_height = int(hat_width * mario_hat.shape[0] / mario_hat.shape[1])
+        mario_hat_resized = cv2.resize(mario_hat, (hat_width, hat_height))
+        x = int(forehead[0] - hat_width / 2)
+        y = int(forehead[1] - hat_height * 0.7)
+        alpha_channel = mario_hat_resized[:, :, 3] / 255.0
+        hat_rgb = mario_hat_resized[:, :, :3]
+        for i in range(hat_height):
+            for j in range(hat_width):
+                if 0 <= y + i < frame.shape[0] and 0 <= x + j < frame.shape[1]:
+                    alpha = alpha_channel[i, j]
+                    if alpha > 0:
+                        for c in range(3):
+                            frame[y + i, x + j, c] = (1 - alpha) * frame[y + i, x + j, c] + alpha * hat_rgb[i, j, c]
+    return frame
+
+def apply_sunglasses(frame, landmarks):
+    global sunglasses
+    if sunglasses_active and sunglasses is not None:
+        left_eye = landmarks[33]
+        right_eye = landmarks[263]
+        eye_dist = np.linalg.norm(np.array(left_eye) - np.array(right_eye))
+        scaling_factor = 1.75
+        sunglasses_width = int(eye_dist * scaling_factor)
+        sunglasses_height = int(sunglasses_width * sunglasses.shape[0] / sunglasses.shape[1])
+        sunglasses_resized = cv2.resize(sunglasses, (sunglasses_width, sunglasses_height))
+        center_x = int((left_eye[0] + right_eye[0]) / 2)
+        center_y = int((left_eye[1] + right_eye[1]) / 2)
+        x = int(center_x - sunglasses_resized.shape[1] / 2)
+        y = int(center_y - sunglasses_resized.shape[0] / 2)
+        alpha_channel = sunglasses_resized[:, :, 3] / 255.0
+        sunglasses_rgb = sunglasses_resized[:, :, :3]
+        for i in range(sunglasses_resized.shape[0]):
+            for j in range(sunglasses_resized.shape[1]):
+                if alpha_channel[i, j] > 0:
+                    for c in range(3):
+                        frame[y + i, x + j, c] = (1 - alpha_channel[i, j]) * frame[y + i, x + j, c] + alpha_channel[i, j] * sunglasses_rgb[i, j, c]
+    return frame
+
+def apply_moustache(frame, landmarks):
+    global moustache
+    if moustache_active and moustache is not None:
+        nose_base = landmarks[1]
+        mouth_left = landmarks[61]
+        mouth_right = landmarks[291]
+        mouth_width = int(np.linalg.norm(np.array(mouth_left) - np.array(mouth_right)))
+        moustache_width = int(mouth_width * 1.5)
+        moustache_height = int(moustache_width * moustache.shape[0] / moustache.shape[1])
+        moustache_resized = cv2.resize(moustache, (moustache_width, moustache_height))
+        x = int(nose_base[0] - moustache_width / 2)
+        y = int(nose_base[1])
+        alpha_channel = moustache_resized[:, :, 3] / 255.0
+        moustache_rgb = moustache_resized[:, :, :3]
+        for i in range(moustache_height):
+            for j in range(moustache_width):
+                if 0 <= y + i < frame.shape[0] and 0 <= x + j < frame.shape[1]:
+                    alpha = alpha_channel[i, j]
+                    if alpha > 0:
+                        for c in range(3):
+                            frame[y + i, x + j, c] = (1 - alpha) * frame[y + i, x + j, c] + alpha * moustache_rgb[i, j, c]
+    return frame
+
+def update_frame():
+    global mario_hat_active, sunglasses_active, show_angles, contour_frame, moustache_active
+    ret, frame = cap.read()
+    if ret:
+        rgb_frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
+        results = face_mesh.process(rgb_frame)
+        if results.multi_face_landmarks:
+            for face_landmarks in results.multi_face_landmarks:
+                landmarks = [(lm.x * frame.shape[1], lm.y * frame.shape[0]) for lm in face_landmarks.landmark]
+                yaw, pitch = calculate_angles(landmarks)
+                if mario_hat_active:
+                    frame = apply_mario_hat(frame, landmarks)
+                if sunglasses_active:
+                    frame = apply_sunglasses(frame, landmarks)
+                if moustache_active:
+                    frame = apply_moustache(frame, landmarks)
+                if show_angles:
+                    cv2.putText(frame, f"Yaw: {yaw:.2f}", (10, 30), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 2)
+                    cv2.putText(frame, f"Pitch: {pitch:.2f}", (10, 70), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 2)
+        cv2.imshow("Webcam Feed", frame)
+        contour_frame = frame
+    root.after(100, update_frame)
+
+def toggle_mario_hat():
+    global mario_hat_active
+    mario_hat_active = not mario_hat_active
+    status = "activated" if mario_hat_active else "deactivated"
+    print(f"Mario hat filter {status}")
+
+def toggle_sunglasses():
+    global sunglasses_active
+    sunglasses_active = not sunglasses_active
+    status = "activated" if sunglasses_active else "deactivated"
+    print(f"Sunglasses filter {status}")
+
+def toggle_moustache():
+    global moustache_active
+    moustache_active = not moustache_active
+    status = "activated" if moustache_active else "deactivated"
+    print(f"Moustache filter {status}")
+
+def toggle_angles():
+    global show_angles
+    show_angles = not show_angles
+    status = "shown" if show_angles else "hidden"
+    print(f"Angles display {status}")
+
+def show_contour_frame():
+    if contour_frame is not None:
+        # Display the result
+        cv2.imshow('Edges', resized_edges)
+
+
+def save_image():
+    global contour_frame, resized_edges
+    if contour_frame is not None:
+        save_path = "Tmp/captured_face.png"
+        cv2.imwrite(save_path, contour_frame)
+        print(f"Image saved to {save_path}")
+
+        # Store path of the image in the variable input_path 
+        input_path =  'Tmp/captured_face.png' 
+        
+        # Store path of the output image in the variable output_path 
+        output_path = 'Tmp/captured_face_nobg.png' 
+        
+        # Processing the image 
+        input = Image.open(input_path) 
+        
+        # Removing the background from the given Image 
+        output = remove(input) 
+        
+        #Saving the image in the given path 
+        output.save(output_path)
+        image = cv2.imread(output_path, cv2.IMREAD_GRAYSCALE)
+        mask = (image > 1) & (image < 254)
+        blurred_image = cv2.GaussianBlur(image, (9, 9), 0)
+        median_val = np.median(blurred_image[mask])
+        lower_threshold = int(max(0, 0.5 * median_val))
+        upper_threshold = int(min(255, 1.2 * median_val))
+        print(f"Automatic lower threshold: {lower_threshold}")
+        print(f"Automatic upper threshold: {upper_threshold}")
+
+        # Apply Canny edge detection using the calculated thresholds
+        edges = cv2.Canny(blurred_image, lower_threshold, upper_threshold)
+
+        # Resize the output image to a smaller size (e.g., 50% of the original size)
+        output_height, output_width = edges.shape[:2]
+        resized_edges = cv2.resize(edges, (output_width // 2, output_height // 2), interpolation=cv2.INTER_AREA)
+
+        # Save the resized result to a file
+        cv2.imwrite('Tmp/final_output_image.png', resized_edges)
+
+def start_dobot():
+    vector_draw.vector_draw()
+
+# Tkinter GUI setup
+root = tk.Tk()
+root.title("Control Tab")
+root.geometry("300x370")
+root.configure(bg="#004346")
+
+# Buttons on the control window with updated font and colors
+mario_hat_button = tk.Button(root, text="Add Mario Hat", font=("Arial", 12, "bold"), command=toggle_mario_hat, bg="#4C8577", fg="white", padx=10, pady=5, height=1, width=20)
+mario_hat_button.pack(pady=10)
+
+sunglasses_button = tk.Button(root, text="Add Glasses", font=("Arial", 12, "bold"), command=toggle_sunglasses, bg="#4C8577", fg="white", padx=10, pady=5, height=1, width=20)
+sunglasses_button.pack(pady=10)
+
+moustache_button = tk.Button(root, text="Add Mario Moustache", font=("Arial", 12, "bold"), command=toggle_moustache, bg="#4C8577", fg="white", padx=10, pady=5,height=1, width=20)
+moustache_button.pack(pady=10)
+
+save_image_button = tk.Button(root, text="Save/Retake Image", font=("Arial", 12, "bold"), command=save_image, bg="#49A078", fg="white", padx=10, pady=5,height=1, width=20)
+save_image_button.pack(pady=10)
+
+contour_frame_button = tk.Button(root, text="Show Contour Image", font=("Arial", 12, "bold"), command=show_contour_frame, bg="#216869", fg="white", padx=10, pady=5,height=1, width=20)
+contour_frame_button.pack(pady=10)
+
+contour_frame_button = tk.Button(root, text="Start Dobot Drawing", font=("Arial", 12, "bold"), command=start_dobot, bg="#49A078", fg="white", padx=10, pady=5,height=1, width=20)
+contour_frame_button.pack(pady=10)
+
+# Graceful exit
+def on_closing():
+    cap.release()
+    cv2.destroyAllWindows()
+    root.destroy()
+
+root.protocol("WM_DELETE_WINDOW", on_closing)
+
+show_contour_frame()
+
+# Start Tkinter event loop and OpenCV frame updates
+update_frame()
+root.mainloop()

src/demo_jump.py

@@ -1,50 +0,0 @@
-import matplotlib.pyplot as plt
-import sys
-#sys.path.insert(0, './dobot/librairies')
-import dobot
-import time
-
-dobot.setQueuedCmdClear()
-dobot.setQueuedCmdStartExec()
-
-def moyenneMobile(list, length):
-    mm = []
-    for i in range(0, len(list) - length, 1):
-        sum = 0
-        for k in range(0, length, 1):
-            sum += list[i+k]
-
-        mm.append(sum / length)
-    return(mm)
-
-y = []
-z = []
-
-dobot.setPTPJumpParams(60,130,1)
-dobot.setPTPCmd(0, 259.6, 111, 9.8, 0, 1)
-dobot.setPTPCmd(0, 206, -130, 52.8, 0, 1)
-
-print(dobot.getPTPJumpParams())
-
-
-delay = 0.02
-
-for i in range(0, 300):
-    valeurs = dobot.getPose()
-    y.append(-valeurs[1])
-    z.append(valeurs[2])
-
-    time.sleep(delay)
-
-
-# On trace le graphique
-
-plt.xlabel("y")
-plt.ylabel("z")
-plt.plot(y, z, 'r')
-plt.axis([-130, 150, 0, 150])
-
-plt.show()
-
-
-

src/image_drawer.py

@@ -1,69 +0,0 @@
-import matplotlib.pyplot as plt
-import dobot
-import time
-import cv2 as cv
-
-# Drawing parameters
-DRAW_MODE = 1
-DRAW_SPEED = 1      # Drawing speed for 
-DRAW_DEPTH = -67.8  # Initial height (null)
-DRAW_RES = 1        # Space between pixels
-THRESHOLD = 70      # Min. intensityfrom which a pixel must be drawn
-
-INIT_POSITION = [210, -60]
-
-dobot.setQueuedCmdClear()
-dobot.setQueuedCmdStartExec()
-
-def pixel_draw(imagepath):
-
-    # Load Image
-    im = cv.imread(imagepath)
-    if im is None:
-        print("Error: Image not found at", imagepath)
-        exit()
-
-    # Resize Image
-    im = cv.resize(im, (0, 0), fx = 0.05, fy = 0.05, interpolation=cv.INTER_LINEAR)
-
-    # Convert to Grayscale
-    im = cv.cvtColor(im, cv.COLOR_BGR2GRAY)
-    
-    # Window name in which image is displayed
-    window_name = 'Display'
-
-    # Using cv2.imshow() method
-    # Displaying the image
-    im_display = cv.resize(im, (0, 0), fx = 10, fy = 10, interpolation=cv.INTER_LINEAR)
-    print(im)
-    print(im.shape[0], im.shape[1])
-    cv.imshow(window_name, im_display)
-    # waits for user to press any key
-    # (this is necessary to avoid Python kernel form crashing)
-    cv.waitKey(0)
-
-    for x in range(0, im.shape[0]-1):
-        for y in range(0, im.shape[1]-1):
-            value = im[x][y]
-            print(value)
-
-            if value >= THRESHOLD:
-                dobot.setPTPCmd(1, INIT_POSITION[0]+x*DRAW_RES, INIT_POSITION[1]+y*DRAW_RES, DRAW_DEPTH+2.5, 0, 1)
-                dobot.setPTPCmd(1, INIT_POSITION[0]+x*DRAW_RES, INIT_POSITION[1]+y*DRAW_RES, DRAW_DEPTH-(value/255), 0, 1)
-                dobot.setPTPCmd(1, INIT_POSITION[0]+x*DRAW_RES, INIT_POSITION[1]+y*DRAW_RES, DRAW_DEPTH+2.5, 0, 1)
-
-                #dobot.setWaitCmd(5)
-                time.sleep(0.8)
-
-def vector_draw(array):
-    for vector in array:
-        dobot.setCPCmd(DRAW_MODE, array.x, array.y, array.z, DRAW_SPEED, 1)
-
-pixel_draw("C:/Users/alexl/Documents/Cours/S7/IT and Robotics/GrpC_Identikit/assets/sins.jpg")
-
-# Stop the current execution
-"""if input("Appuyez sur Entrer pour arrêter.") == "":
-    dobot.setQueuedCmdForceStopExec()
-    dobot.setQueuedCmdClear()
-"""
-# Define current workspace

src/vitesse.py

@@ -1,46 +0,0 @@
-import matplotlib.pyplot as plt
-import sys
-#sys.path.insert(0, './dobot/librairies')
-import dobot
-import time
-import math
-
-dobot.setQueuedCmdClear()
-dobot.setQueuedCmdStartExec()
-
-dobot.setPTPjointParams(200,200,200,200,200,200,200,200,1)
-
-dobot.setPTPCmd(1, 250, 0, 150, 0, 1)
-
-dobot.setPTPjointParams(200,1400,1400,200,200,1400,1400,200,1)
-
-dobot.setPTPCmd(1, 250, 0, -90, 0, 1)
-
-dobot.setPTPjointParams(200,200,200,200,200,200,200,200,1)
-
-dobot.setPTPCmd(1, 250, 0, 150, 0, 1)
-
-"""
-dobot.setPTPCmd(1, -181, -272, 12, 0, 1)
-
-dobot.setEndEffectorSuctionCup(1,1)
-
-dobot.setWaitCmd(3000,1)
-
-dobot.setPTPjointParams(2000,200,200,200,1100,200,200,200,1)
-print(dobot.getPTPjointParams())
-
-dobot.setPTPCmd(6, 245, 0, 0, 0, 1)
-
-dobot.setPTPjointParams(400,200,200,200,400,200,200,200,1)
-
-dobot.setPTPCmd(1, -181, -272, 12, 0, 1)
-
-time.sleep(3.7)
-
-dobot.setEndEffectorSuctionCup(0,0)
-"""
-
-
-
-

vector_draw.py

@@ -0,0 +1,90 @@
+import matplotlib.pyplot as plt
+import dobot
+import time
+import cv2
+import numpy as np
+import os
+
+def vector_draw():
+    dobot.setQueuedCmdClear()
+    dobot.setQueuedCmdStartExec()
+
+    # Drawing parameters
+    DRAW_SPEED = 1      # Drawing speed for 
+    DRAW_DEPTH = -38    # Initial height (null)
+    INIT_POSITION = [-100, 150]
+
+    # --------------------------------------------------------------------------
+    # IMAGE TREATMENT
+    # --------------------------------------------------------------------------
+    # Load the image in grayscale
+    output_path = os.getcwd() + "\Tmp\captured_face_nobg.png"
+    image = cv2.imread(output_path, cv2.IMREAD_GRAYSCALE)
+
+    # Create a mask to exclude background pixels (assuming background is near white or black)
+    # For example, exclude pixels that are close to white (255) and black (0)
+    mask = (image > 1) & (image < 254)  # Keep only pixels that are not close to white or black
+
+    # Apply Gaussian Blur to reduce noise
+    blurred_image = cv2.GaussianBlur(image, (11, 11), 0)
+
+    # Calculate the median of only the foreground pixels
+    median_val = np.median(blurred_image[mask])
+
+    # Automatically calculate thresholds based on the median pixel intensity
+    lower_threshold = int(max(0, 0.5 * median_val))
+    upper_threshold = int(min(255, 1.2 * median_val))
+    print(f"Automatic lower threshold: {lower_threshold}")
+    print(f"Automatic upper threshold: {upper_threshold}")
+
+    # Apply Canny edge detection using the calculated thresholds
+    edges = cv2.Canny(blurred_image, lower_threshold, upper_threshold)
+
+    # Find Contours
+    contours, _ = cv2.findContours(edges, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
+    print(contours)
+
+    # Initialize an array to store all points
+    all_points = []
+
+    # Define Dobot workspace dimensions (e.g., in mm)
+    robot_workspace = (200, 200*2/3)  # Replace with your Dobot's range in mm
+
+    # Scale function to map image coordinates to Dobot's workspace
+    def scale_coordinates(point, img_dim, robot_dim):
+        img_x, img_y = point
+        img_width, img_height = img_dim
+        robot_x_range, robot_y_range = robot_dim
+        # Map x and y with scaling
+        robot_x = (img_x / img_width) * robot_x_range
+        robot_y = (img_y / img_height) * robot_y_range
+        return robot_x, robot_y
+
+    # Collect points for Dobot
+    for cnt in contours:
+        # Scale and store points
+        for point in cnt:
+            x, y = point[0]
+            x, y = scale_coordinates((x, y), (image.shape[1], image.shape[0]), robot_workspace)
+            all_points.append((x, y))
+        all_points.append((-1,-1))
+
+    # Delete all duplicate points
+    #all_points = list(dict.fromkeys(all_points))
+
+    robot_x_old = 0
+    robot_y_old = 0
+
+    for i, (robot_x, robot_y) in enumerate(all_points):
+        
+        if robot_x == -1 or robot_y == -1:
+            # Lift the pen at the end of each contour
+            dobot.setCPCmd(1, robot_x_old + INIT_POSITION[0], robot_y_old + INIT_POSITION[1], DRAW_DEPTH+15, DRAW_SPEED, 1)
+        else:
+            if robot_x_old == -1 or robot_y_old == -1:
+                dobot.setCPCmd(1, robot_x + INIT_POSITION[0], robot_y + INIT_POSITION[1], DRAW_DEPTH+15, DRAW_SPEED, 1)
+            dobot.setCPCmd(1, robot_x + INIT_POSITION[0], robot_y + INIT_POSITION[1], DRAW_DEPTH, DRAW_SPEED, 1)
+            time.sleep(0.15)
+
+        robot_x_old = robot_x
+        robot_y_old = robot_y