v1.4实现机器人一起踢乒乓球功能，使用maixcam，离线运行。

v1.4/maixcam/test_face.py

@@ -0,0 +1,88 @@
+# ------------------------------
+# 人脸检测处理
+# ------------------------------
+from maix import image, app, time
+from config import *
+
+def process_faces(img, objs):
+    
+    max_face = None
+    max_width = 0
+    
+    if objs:
+        for obj in objs:
+            if obj.w > max_width:
+                max_width = obj.w
+                max_face = obj
+        
+        # 绘制人脸框（仅跟踪模式开启时执行）
+        for obj in objs:
+            color = image.COLOR_GREEN if obj == max_face else image.COLOR_RED
+            img.draw_rect(obj.x, obj.y, obj.w, obj.h, color=color, thickness=2)
+    
+    if max_face:
+        center_x = int(max_face.x + max_face.w / 2)
+        center_y = int(max_face.y + max_face.h / 2)
+        img.draw_keypoints([center_x, center_y], image.COLOR_GREEN, size=3)
+        return (center_x, center_y, int(max_face.w))
+    else:
+        return (-1, -1, -1)
+
+# ------------------------------
+# 人脸追踪
+# ------------------------------
+def calculate_deviation_face(center, image_center, serial_dev):
+
+    center_x, center_y = center
+    
+    # 偏差计算
+    deviation_x = center_x - image_center[0]
+    deviation_y = center_y - image_center[1]
+    
+    # 输出像素偏差
+    if abs(deviation_x) > 10 or abs(deviation_y) > 10 :
+        cmd = f"DX:{deviation_x},DY:{deviation_y};"  # 图像尺寸: w320xh224
+        serial_dev.write_str(cmd)
+        print(cmd)
+        return (cmd)
+    else:
+        return (None)
+
+# ------------------------------
+# 主循环（同步）
+# ------------------------------
+def trace_face_main(resources):
+
+    detector = resources["detector"]
+    cam = resources["cam"]
+    disp = resources["disp"]
+    serial_dev = resources["serial_dev"]
+    img_width = resources["img_width"]
+    img_height = resources["img_height"]
+    image_center = resources["image_center"]
+    
+    while not app.need_exit():
+
+        img = cam.read().flip(image.FlipDir.Y)
+        objs = detector.detect(img, conf_th=0.4, iou_th=0.45)
+        center_x, center_y, face_width = process_faces(img, objs)
+
+        # 绘制基础状态
+        img.draw_string(20, 20, f"Center: ({center_x}, {center_y})", image.COLOR_GREEN, 1.0)
+        img.draw_string(20, 40, f"Max Width: {face_width}", image.COLOR_YELLOW, 1.0)
+        
+        # 人脸追踪（仅跟踪模式开启时执行）
+        if  center_x != -1 and center_y != -1:
+            cmd = calculate_deviation_face((center_x, center_y), image_center,  serial_dev)
+            if cmd:
+                img.draw_string(20, 60, f"Tracking: {cmd}", image.COLOR_BLUE, 1.0)
+        elif  center_x == -1:
+            cmd = f"DX:9999,DY:9999;"  # 未找到
+            serial_dev.write_str(cmd)
+            print(cmd)
+            img.draw_string(20, 60, "No face detected", image.COLOR_RED, 1.0)
+        else:
+            img.draw_string(20, 60, "Track Mode: OFF", image.COLOR_ORANGE, 1.0)
+        
+        disp.show(img)
+        time.sleep_ms(1)