Raspberry Pi Security Cam (Kevin and Justin)

detector.py

import cv2
 
class Detector():
	def __init__(self, image_name):
		self.image_name = image_name	# The image file name
		self.image = []			# OpenCV image array
		self.drawn = 0			# Count of how many detector-boxes have been drawn
		self.drawColors = [(255,0,0),(0,255,0),(0,0,255),(255,255,0),(255,0,255),(0,255,255)] #RGB Values
		self.path = "xml/"		# The path to the haarcascades data xml files
		self.rects = []			# Discovered rectangles from Image Analysis
 
	def detect(self, xml):			# Detect people in image and save the image bounds around them
		cascade = cv2.CascadeClassifier(self.path + xml)
		self.image = cv2.imread(self.image_name)  # Loads the image into a numpy array
		gray = cv2.cvtColor(self.image, cv2.COLOR_BGR2GRAY)
		hits = cascade.detectMultiScale(	  # Grayscale and analyze image using 
			gray,				  #  the selected cascade classifier file
			scaleFactor=1.1,
			minNeighbors=5,
			minSize=(10, 10),
			flags=cv2.cv.CV_HAAR_SCALE_IMAGE
		)
		self.rects.append(hits)		# Add detected people to rect-list for drawing
		return hits			# Can use len(hits) to check if anyone was found
 
	# The following functions provide an xml file to be used as the cascade classifier
	#  to detect different things, such as face, upper body, or pedestrian
	def face(self):
		return self.detect('haarcascade_frontalface_default.xml')
 
	def face2(self):
		return self.detect('haarcascade_frontalface_alt.xml')
 
	def face3(self):
		return self.detect('haarcascade_frontalface_alt2.xml')
 
	def full_body(self):
		return self.detect('haarcascade_fullbody.xml')
 
	def upper_body(self):
		return self.detect('haarcascade_upperbody.xml')
 
	def pedestrian(self):
		return self.detect("hogcascade_pedestrians.xml")
 
	# This function will draw the rectangles around all objects found and then 
	#  overwrite the original image file.
	def draw(self):
		for hits in self.rects:
			color = self.drawColors[self.drawn % len(self.drawColors)] # Rect color selection
			self.drawn += 1
			for (x,y,w,h) in hits:
				cv2.rectangle(self.image, (x, y), (x+w, y+h), color, 1) # Draws the Rect
		cv2.imwrite(self.image_name, self.image)	# Saves the file over the original image name
		return hits

RasCam Constants.py

from pubnub.pnconfiguration import PNConfiguration
from pubnub.pubnub import PubNub
from detector import Detector
import RPi.GPIO as GPIO
import time
import picamera
import sys, os
import json,httplib
import base64
 
#This is the input number for our PIR sensor
sensor = 4
 
#We set mode to BCM
GPIO.setmode(GPIO.BCM)
 
#Set up Sensor as input
GPIO.setup(sensor, GPIO.IN, GPIO.PUD_DOWN)
 
previous_state = False
current_state = False
 
#Connect to Parse
connection = httplib.HTTPSConnection('api.parse.com', 443)
connection.connect()
 
 
#Connect to PubNub
pnconfig = PNConfiguration()

pnconfig.subscribe_key = 'your_sub_key'
pnconfig.publish_key = 'your_pub_key'
pnconfig.uuid = 'pi'
 
pubnub = PubNub(pnconfig)
 
#initialize camera
cam = picamera.PiCamera()
 
#define PubNum Channels
channel    = 'iotchannel'
subchannel = 'liveCamStatus'
 
 
#Camera Settings
imgCount   = 1
frameSleep = 0.5    # Seconds between burst-snaps
camSleep   = 5      # Seconds between Detections

RasCam Functions.py

#Catch and Print Error
def _error(m):
    print(m)
 
#Kill PubNub subscription thread
def _kill(m, n):
    pubnub.unsubscribe().channels("subchannel").execute()
 
 
def is_person(image):
    det = Detector(image)
    faces = len(det.face())
    print "FACE: ", det.drawColors[det.drawn-1 % len(det.drawColors)], faces
    uppers = len(det.upper_body())
    print "UPPR: ", det.drawColors[det.drawn-1 % len(det.drawColors)], uppers
    fulls = len(det.full_body())
    print "FULL: ", det.drawColors[det.drawn-1 % len(det.drawColors)], fulls
    peds = len(det.pedestrian())
    print "PEDS: ", det.drawColors[det.drawn-1 % len(det.drawColors)], peds
    det.draw()
    det.overlay()
   
    return faces + uppers + fulls + peds
 
#This function will examine our image and make decision
def processImage(imgFile):
    global connection
    if is_person(imgFile):
        #Our image contains a person so print True
        print "True"
        #Encode our image file as base64, neccessary to store image into Parse
        with open(imgFile, "rb") as image_file:
            encoded_string = base64.b64encode(image_file.read())
        try:
            #Lets send our image to Parse
            ##Fill in the name of your custom Parse Class, we send the base64 string and name of our image
            connection.request('POST', '/1/classes/Your_Parse_Class_Here', json.dumps({
                "fileData": encoded_string,
                "fileName": imgFile,
            }), {
                ##Grab your Parse keys and fill them in here. Keys can be found by going to Settings->Keys
                "X-Parse-Application-Id": "Your_X-Parse-Application-Id",
                "X-Parse-REST-API-Key": "Your_X-Parse-REST-API-Key",
                "Content-Type": "application/json"
            })
            result = json.loads(connection.getresponse().read())
            #If all goes well print "Photo Uploaded"!
            print "Photo Uploaded!"
        #If our connection to Parse doesnt work
        except:
            #Close the connection and try again
            connection.close()
            connection = httplib.HTTPSConnection('api.parse.com', 443)
            connection.connect()
            print "Error Uploading."
        #Send a message to PubNub with the name of our image to channel
        pubnub.publish(channel, imgFile)
    else:   # Not a person
        print "False"
    #delete the file locally
    os.remove(imgFile)
    sys.exit(0) 

RasCam JS.js

//initialize an instance of PubNu
    var pubnub = PUBNUB.init({
      publish_key: 'Your_pub_key',
      subscribe_key: 'Your_sub_key'
    });
 
        Parse.initialize("Your_Parse_Application_ID", "Your_Parse_Javascript_Key");
        var Your_Parse_Class_name = Parse.Object.extend("Your_Parse_Class_name");
        var query = new Parse.Query(Your_Parse_Class_name);
        //Lets pull our photos with the most recent at top
        query.addDescending('createdAt');
        query.find({
        success: function(results) {
          // Do something with the returned Parse.Object values
          for (var i = 0; i < queryLimit; i++) { 
            var object = results[i];
            var filedata = "data:image/png;base64," + object.get('fileData')
            
            //create an element of type image
            var elem = document.createElement("img");
            //set the source of the image to our base64 encoded data
            elem.setAttribute("src", filedata);
 
            //set the name of the image to the time it was created at
            var filename = object.createdAt.toString();
            var text = document.createElement("h1");
            text.innerHTML = filename.split("GMT")[0];
            
            //add the image to our div
            document.getElementById("placehere");
          }
        },
        error: function(error) {
          alert("Error: " + error.code + " " + error.message);
        }
      });
 
  //Subscribe to PubNub to listen for new photos in realtime 
  pubnub.subscribe({
    channel: 'iotchannel',
    message: function(m){
      var Your_Parse_Class_name = Parse.Object.extend("Your_Parse_Class_name");
      var query = new Parse.Query(Your_Parse_Class_name);
      query.addDescending('createdAt');
      //Look for a photo with the same name as the message you got from PubNub
      query.equalTo("fileName", m);
      query.find({
        success: function(results) {
          // Do something with the returned Parse.Object values
          for (var i = 0; i < queryLimit; i++) { 
            var object = results[i];
            var filedata = "data:image/png;base64," + object.get('fileData')
            
            //create an element of type image
            var elem = document.createElement("img");
            //set the source of the image to our base64 encoded data
            elem.setAttribute("src", filedata);
 
            //set the name of the image to the time it was created at
            var filename = object.createdAt.toString();
            var text = document.createElement("h1");
            text.innerHTML = filename.split("GMT")[0];
            
            //add the image to our div
            document.getElementById("placehere");
          }
        },
        error: function(error) {
          alert("Error: " + error.code + " " + error.message);
        }
      });
 
    },
 
    error: function (error) {
      // Handle error here
      console.log(JSON.stringify(error));
    }
  });
   
  //This channel will look for the number of people on the channel using Presence
  pubnub.subscribe({
     channel: "liveCam",
     presence: function(m){
      console.log(m)
      $(".occupancy").text("There are " + m['occupancy'] + " viewers here right now");
 
    },
     message: function(m){console.log(m)}
 
  });
 
  //This channel will look to check the status of the Camera by seeing if it is subscribed to liveCamStatus or not
  pubnub.subscribe({
     channel: "liveCamStatus",
     presence: function(m){
      console.log(m)
      if(m['uuid'] == "pi"){
        if (m['action']=="join"){
          document.getElementById("status").className = "cameraON";
          document.getElementById("status").innerHTML = "On";
 
        } 
        else {
          document.getElementById("status").className = "cameraOff";
          document.getElementById("status").innerHTML = "Off";
        }
      } 
    },
     message: function(m){console.log(m);}
  });

RasCam MainLoop.py

try:
    #Subscribe to subchannel, set callback function to  _kill and set error fucntion to _error
    pubnub.subscribe(channels=subchannel, callback=_kill, error=_error) ## Change to callback
       
    while True:
        previous_state = current_state
        #our current state is set to our PIR sensor state
        current_state = GPIO.input(sensor)
        
        #if our PIR sensor state changes
        if current_state != previous_state:
            new_state = "HIGH" if current_state else "LOW"
            
            #Then we know motion has been detected
            if current_state:  
                #Lets turn on camera preview so we can see what the camera is snapping a picture of
                cam.start_preview() # Comment in future
                cam.preview_fullscreen = False
                cam.preview_window = (10,10, 320,240)
                print('Motion Detected')
                
                #set a variable with the current time to use as image file name
                curTime = (time.strftime("%I:%M:%S")) + ".jpg"
                #take a photo, give it a name, and resize it to fit into Parse
                cam.capture(curTime, resize=(320,240))
                #Now turn off the camera preview after photo is taken
                cam.stop_preview()
#If we interrupt main thread with a Keyboard Interrupt
except KeyboardInterrupt:
  #Turn off any camea preview
  cam.stop_preview()
  #unsubscribe from subchannel
  pubnub.unsubscribe(subchannel)
  sys.exit(0)