import config
import datetime
import StringIO
import subprocess
from PIL import Image
from PIL import ImageFont
from PIL import ImageDraw
from face_client import FaceClient
from person import Person
from mouth_function import saySomething
import pickle
import time
import os
import keyring
import sys
import math
#---------Motion detection and face recognition-----------
# Capture a small test image (for motion detection)
# Keep image in RAM until we need to do face recognition
def captureTestImage():
command = "raspistill -w %s -h %s -t 1 -n -vf -e bmp -o -" % (100, 75)
imageData = StringIO.StringIO()
imageData.write(subprocess.check_output(command, shell=True))
imageData.seek(0)
im = Image.open(imageData)
buffer = im.load()
imageData.close()
return im, buffer
# Probe Sky Biometry for Face recognization
def recognizeFace(theImg,filenameFull):
font = ImageFont.truetype("/usr/share/fonts/truetype/ttf-dejavu/DejaVuSans-Bold.ttf", 14)
theFileLocation = "http://" + config.publicIP + "/temp.jpg"
client = FaceClient(keyring.get_password('skybio','api_key'),keyring.get_password('skybio','api_secret'))
img = Image.open(theImg)
width, height = img.size
draw = ImageDraw.Draw(img)
print theFileLocation
photo = client.faces_recognize('all',theFileLocation, namespace = 'python')
print photo
# Number of people in photo
numFaces = len(photo['photos'][0]['tags'])
print "Detected " + str(numFaces) + " faces."
textCaption = ""
iii=0
theSpeech = ""
while iii<numFaces:
for person in config.personList:
# for j, person in enumerate(personList):
try:
theId = photo['photos'][0]['tags'][iii]['uids'][0]['uid']
foundName = theId
print "I see " + foundName
xPos = width*(int(photo['photos'][0]['tags'][iii]['eye_right']['x']))/100
yPos = height*(int(photo['photos'][0]['tags'][iii]['eye_right']['y']))/100
if person.name in foundName: #and photo['photos'][0]['tags'][iii]['attributes']['gender']['value'] == person.gender:
theSpeech = theSpeech + "%s" % person.greeting
timeDifference = datetime.datetime.now() - person.lastSeen
person.lastSeen = datetime.datetime.now()
#personList[j].lastSeen = person.lastSeen
days = math.floor(timeDifference.total_seconds() / 60 / 60 / 24)
hours = math.floor(timeDifference.total_seconds() / 60 / 60 )
minutes = math.floor(timeDifference.total_seconds() / 60 )
if days > 0:
theSpeech = theSpeech + "It's been %d days since I have seen you, %s. " % (days,person.name)
elif hours > 4:
theSpeech = theSpeech + "It's been %d hours since I have seen you, %s. " % (hours,person.name)
elif minutes > 0:
theSpeech = theSpeech + "It's been %d minutes since I have seen you, %s. " % (minutes,person.name)
draw.text((xPos, yPos),person.name,(255,255,0),font=font)
draw.text((0, 0),time.strftime("%c"),(255,255,0),font=font)
collection = ['eyes','sadness','mood','glasses']
for x in collection:
try:
eyes = photo['photos'][0]['tags'][iii]['attributes'][x]['value']
conf = photo['photos'][0]['tags'][iii]['attributes'][x]['confidence']
if conf > 20:
print " " + x + " = " + eyes
yPos = yPos + 20
draw.text((xPos, yPos)," " + x + ": " + eyes,(255,255,0),font=font)
if x == 'mood':
theSpeech = theSpeech + "Why are you " + eyes + "? "
except:
print "No " + x
except:
print "Error locating face in person database."
print "Unexpected error:", sys.exc_info()[0]
raise
iii = iii + 1
if len(theSpeech)>2: # proxy for if something happened
img.save(filenameFull)
img.save("/var/www/face.jpg")
pickle.dump(config.personList, open("ai_data/personlist.p","wb") )
return theSpeech
# Check whether a face has been seen recently
def seenAFaceInAwhile():
# first check if anybody has been seen
hasSeenSomeone = 0
for person in config.personList:
timeDifference = datetime.datetime.now() - person.lastSeen
#personList[j].lastSeen = person.lastSeen
days = round(timeDifference.total_seconds() / 60 / 60 / 24)
hours = round(timeDifference.total_seconds() / 60 / 60 )
minutes = round(timeDifference.total_seconds() / 60 )
if minutes<10 and days < 1 and hours < 1:
hasSeenSomeone = 1
return hasSeenSomeone
# Save a full size image to disk
def saveImage():
keepDiskSpaceFree(config.diskSpaceToReserve)
time = datetime.datetime.now()
filenameFull = config.filepath + config.filenamePrefix + "-%04d%02d%02d%02d%02d%02d" % (time.year, time.month, time.day, time.hour, time.minute, time.second)+ "." + config.fileType
# save onto webserver
filename = "/var/www/temp.jpg"
subprocess.call("sudo raspistill -w "+ str(config.saveWidth) +" -h "+ str(config.saveHeight) + " -t 1 -n -vf -e " + config.fileType + " -q 15 -o %s" % filename, shell=True)
print "Captured image: %s" % filename
theSpeech = recognizeFace(filename,filenameFull)
if len(theSpeech)>2:
print theSpeech
saySomething(theSpeech,"en")
config.lookForFaces = 0
# Keep free space above given level
def keepDiskSpaceFree(bytesToReserve):
if (getFreeSpace() < bytesToReserve):
for filename in sorted(os.listdir(".")):
if filename.startswith(filenamePrefix) and filename.endswith("." + fileType):
os.remove(filename)
print "Deleted %s to avoid filling disk" % filename
if (getFreeSpace() > bytesToReserve):
return
# Get available disk space
def getFreeSpace():
st = os.statvfs(".")
du = st.f_bavail * st.f_frsize
return du
def lookAtSurroundings(threadName):
motionDetectedLast = datetime.datetime.now()
motionDetectedNow = datetime.datetime.now()
print "Started listening on thread %s" % threadName
## look at surroundings
# Get first image
image1, buffer1 = captureTestImage()
# Reset last capture time
lastCapture = time.time()
while (1):
# check if CPU intensive processes are running
output = os.popen("pgrep vlc").read()
isRunning = 0
if len(output) > 0:
isRunning = 1
# if config.gettingStillImages and config.gettingStillAudio:
# if config.timeTimeout == 0:
# config.timeTimeout = 10
# print "No one is around, closing eyes for %d seconds" % config.timeTimeout
# time.sleep(config.timeTimeout)
# config.gettingStillImages = 0
# motionDetectedLast = datetime.datetime.now()
if config.gettingVoiceInput==1:
time.sleep(6)
elif isRunning:
time.sleep(20)
else:
# Get comparison image
image2, buffer2 = captureTestImage()
pixelSum = 0
numCountedPixels = 0
motionHasBeenDetected = False
# Count changed pixels
changedPixels = 0
for x in xrange(0, 100):
# Scan one line of image then check sensitivity for movement
for y in xrange(0, 75):
# Just check green channel as it's the highest quality channel
pixdiff = abs(buffer1[x,y][1] - buffer2[x,y][1])
pixelSum += buffer1[x,y][1]
numCountedPixels += 1
if pixdiff > config.threshold:
changedPixels += 1
# Changed logic - If movement sensitivity exceeded then
# Save image and Exit before full image scan complete
if changedPixels > config.sensitivity:
lastCapture = time.time()
print "Motion detected! changedPixels > sensitivity (" + str(changedPixels) + " > " + str(config.sensitivity) + ")"
motionDetectedLast = datetime.datetime.now()
motionHasBeenDetected = True
config.timeTimeout = 0 # reset timeout
if not seenAFaceInAwhile():
config.gettingVisualInput = 1
saveImage() # face detection
config.gettingVisualInput = 0
break
continue
print "Changed pixels : " + str(changedPixels)
if (numCountedPixels>500):
lightChange = pixelSum / numCountedPixels
print "Pixel sum : %2.1f" % lightChange
if (lightChange < 5):
os.system("echo 'rf a1 on' | nc localhost 1099")
os.system("echo 'rf c1 on' | nc localhost 1099")
# Check force capture
if config.forceCapture:
if time.time() - lastCapture > config.forceCaptureTime:
changedPixels = config.sensitivity + 1
# Swap comparison buffers
image1 = image2
buffer1 = buffer2
timeDifference = datetime.datetime.now() - motionDetectedLast
minutes = round(timeDifference.total_seconds() / 60 )
if timeDifference.total_seconds() > config.videoHangout:
config.gettingStillImages = 1
else:
config.gettingStillImages = 0
if config.lookForFaces:
config.gettingVisualInput = 1
saveImage() # face detection
config.gettingVisualInput = 0
