Распознавание лиц: Python + Arduino (Управление Servo+Arduino из Python+OpenCV)

import time
import serial
 
# Configure the COM port
port = "COM8"  # Replace with the appropriate COM port name
baudrate = 9600
# Open the COM port
ser = serial.Serial(port, baudrate=baudrate)
print("Serial connection established.")
 
try:
 
    # Send commands to the Arduino
    while True:
        
        command = input("Enter a command ('0:0', '180:180'): ")
        ser.write(command.encode())
        
except KeyboardInterrupt:
    pass
 
finally:
    # Close the serial connection
    if ser.is_open:
        command = '0:0' # zero position
        ser.write(command.encode())
        ser.close()
        print("Serial connection closed.")

import numpy as np
import cv2
 
import serial
port = "COM8"  # Replace with the appropriate COM port name
baudrate = 9600
# Open the COM port
arduino = serial.Serial(port, baudrate=baudrate)
 
 
face_cascade = cv2.CascadeClassifier(cv2.data.haarcascades + 'haarcascade_frontalface_default.xml')
eye_cascade = cv2.CascadeClassifier(cv2.data.haarcascades + 'haarcascade_eye.xml')
    
capture = cv2.VideoCapture(0,cv2.CAP_DSHOW)
#capture.set(cv2.CAP_PROP_FRAME_WIDTH, 1024)
#capture.set(cv2.CAP_PROP_FRAME_HEIGHT, 720)
 
Tim=0
 
xi = int(capture.get(3))
cxi = int(xi/2)
yi = int(capture.get(4))
cyi = int(yi/2)
 
while True:
    ret, frame = capture.read()
    
    gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
    
    faces = face_cascade.detectMultiScale(gray, 1.3, 5)
    eyes = eye_cascade.detectMultiScale(gray, 1.3, 5)
 
    cv2.line(frame, (cxi,0),(cxi,yi),(120,120,120),1)
    cv2.line(frame, (0,cyi),(xi,cyi),(120,120,120),1)
    ct = ''
 
    for (x, y, w, h) in faces:
        frame = cv2.rectangle(frame, (x, y), (x + w, y + h), (0, 255, 255), 2)
        cx=int(x+w/2)
        cy=int(y+h/2)
        dx=int(90+cxi-cx)
        dy=int(90+cyi-cy)
        ct=str(dx)+':'+str(dy) # Send to COM port
        cv2.circle(frame, (cx,cy), 5, (0, 0, 255) , -1) #-1 
        cv2.line(frame, (cxi,cyi), (cx,cy),(0, 0, 255), 3)
 
        cv2.putText(frame, ct, (0, 20), cv2.FONT_HERSHEY_DUPLEX, 0.9, (0, 0, 250), 1) 
        # Send commands to the Arduino
 
        # ser.write(f"{angle}n".encode())
        command = ct #input('Enter a command (e.g., 'ON', 'OFF'): ')
        arduino.write(command.encode())
        #print(command)
 
    cv2.imshow('From Camera', frame)
 
    k = cv2.waitKey(30) & 0xFF
    if k == 27:
        if arduino.is_open:
          command = '0:0'
          arduino.write(command.encode())
          arduino.close()
          print("Serial connection closed.")
        break
 
capture.release()
cv2.destroyAllWindows()

import time
import serial
 
# Configure the COM port
port = "COM8"  # Replace with the appropriate COM port name
baudrate = 115200
# Open the COM port
ser = serial.Serial(port, baudrate=baudrate)
sle=1.1
print("Serial connection established.")
time.sleep(3)
 
#command = '0:0'#input("Enter a command ('0:0', '180:180'): ")
#ser.write(command.encode())
#time.sleep(sle)
#print(0)
 
command = '30:30'
ser.write(command.encode())
time.sleep(sle)
print(30)
 
command = '60:60'
ser.write(command.encode())
time.sleep(sle)
print(60)
 
command = '90:90'
ser.write(command.encode())
time.sleep(sle)
print(90)
 
command = '120:120'
ser.write(command.encode())
time.sleep(sle)
print(120)
 
command = '150:150'
ser.write(command.encode())
time.sleep(sle)
print(150)
 
command = '180:180'
ser.write(command.encode())
time.sleep(sle)
print(180)
 
command = '0:0'
ser.write(command.encode())
time.sleep(sle)
print(0)
 
ser.close()
print("Serial connection closed.")

import numpy as np
import cv2 as cv
import serial
import time
port = "COM8"
baudrate = 115200
arduino = serial.Serial(port, baudrate=baudrate, timeout=2)
 
ix,iy = 0,0
 
# mouse callback function
def draw_servo(event,x,y,flags,param):
    global ix,iy,drawing,mode
    if event == cv.EVENT_MOUSEMOVE:
        ix,iy = int(x/2),int(y/2)
        cv.rectangle(img,(0,0),(180,21),(0,0,0),-1)
        cv.putText(img, str(ix)+' '+str(iy), (0, 20), cv.FONT_HERSHEY_DUPLEX, 0.9, (0, 0, 250), 1) 
        data = bytes([ix,iy])
        arduino.write(data)
        arduino.flush()  # Очищаем буфер после отправки
 
 
img = np.zeros((360,360,3), np.uint8)
cv.namedWindow('image')
cv.setMouseCallback('image',draw_servo)
while(1):
    cv.imshow('image',img)
    k = cv.waitKey(1) & 0xFF
    if k == 27:
        break
cv.destroyAllWindows()