camera.py

import cv2
import numpy as np
import tflite_runtime.interpreter as tflite
import time
import move  # Your move.py must define movement functions

# Load model and labels
MODEL_PATH = "detect.tflite"
LABELS_PATH = "labels.txt"

interpreter = tflite.Interpreter(model_path=MODEL_PATH)
interpreter.allocate_tensors()

input_details = interpreter.get_input_details()
output_details = interpreter.get_output_details()

with open(LABELS_PATH, "r") as f:
    labels = [line.strip() for line in f.readlines()]

def preprocess(frame):
    input_shape = input_details[0]['shape']
    resized = cv2.resize(frame, (input_shape[2], input_shape[1]))
    normalized = resized / 255.0
    return np.expand_dims(normalized.astype(np.float32), axis=0)

def detect_objects(frame):
    input_data = preprocess(frame)
    interpreter.set_tensor(input_details[0]['index'], input_data)
    interpreter.invoke()
    output_data = interpreter.get_tensor(output_details[0]['index'])[0]
    return output_data

def respond_to_detection(results):
    for i, score in enumerate(results):
        if score > 0.6:
            label = labels[i]
            print(f"Detected: {label} ({score:.2f})")

            # Example: move based on object
            if label == "person":
                move.stop()
            elif label == "cat":
                move.turn_left()
            elif label == "dog":
                move.turn_right()
            elif label == "bottle":
                move.move_forward()
            return  # Act on first confident detection

def main():
    cap = cv2.VideoCapture(0)

    if not cap.isOpened():
        print("❌ Camera not accessible")
        return

    print("📷 Starting camera. Press 'q' to quit.")

    try:
        while True:
            ret, frame = cap.read()
            if not ret:
                break

            results = detect_objects(frame)
            respond_to_detection(results)

            cv2.imshow("Camera Feed", frame)
            if cv2.waitKey(1) & 0xFF == ord('q'):
                break
    finally:
        cap.release()
        cv2.destroyAllWindows()
        move.stop()
        print("🛑 Camera stopped and robot halted.")

if __name__ == "__main__":
    main()