Vision Programming NiryoOne

#!/usr/local/bin/python
# -*- coding: utf-8 -*-
import os, sys
import cv2
import numpy as np
import rospy
from std_msgs.msg import Int32

Start = False

rospy.init_node('my_third_node')
pub = rospy.Publisher('camera',Int32,queue_size=10)

#initialise cascade type
face_cascade = cv2.CascadeClassifier('/haarcascade_frontalface_alt2.xml')

# Open the device at the ID 1 (USB)
cap = cv2.VideoCapture(0)

#To set the resolution
#remove cv.cv depeding on version
cap.set(cv2.CAP_PROP_FRAME_WIDTH, 640)
cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 480)

#REPLACE WITH VOICE LATER
while(True):    
    ret, frame = cap.read()
    gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY) #convert to grey for haarcascade as per documentation


    faces = face_cascade.detectMultiScale(gray, scaleFactor=1.5, minNeighbors=5) #1.5, 5 standard values ; scaling factor increase for higher accuracy
    # x,y = x,y coordinates, h,w = height, weight unit pixel
    for (x, y, w, h) in faces:
        print(x,y,w,h)
        pub.publish(x)
        pub.publish(y)
        pub.publish(w)
        pub.publish(h)

        #roi = region of interest
        roi_gray = gray[y:y+h+35, x:x+w+20]
        #roi_color = frame[y:y+h+35, x:x+w+20]
        img_item = "saved-img.png"
        cv2.imwrite(img_item, roi_gray)


        #bounding rectangle
        stroke = 2
        end_cord_x = x + w
        end_cord_y = y + w
        #arg 1;2;3: frame to draw, start coord, end coord
        cv2.rectangle(frame, (x,y), (end_cord_x,end_cord_y), (255, 0, 0))
        # Start == True
        # if Start == True:
        #         cap.release()
        #         cv2.destroyAllWindows()
    cv2.imshow('frame', frame)
#Check whether user selected camera is opened successfully.
if not (cap.isOpened()):    print('Could not open video device')

# When everything done, release the capture
cap.release()
cv2.destroyAllWindows()