001/** 002 * Copyright (c) 2011, The University of Southampton and the individual contributors. 003 * All rights reserved. 004 * 005 * Redistribution and use in source and binary forms, with or without modification, 006 * are permitted provided that the following conditions are met: 007 * 008 * * Redistributions of source code must retain the above copyright notice, 009 * this list of conditions and the following disclaimer. 010 * 011 * * Redistributions in binary form must reproduce the above copyright notice, 012 * this list of conditions and the following disclaimer in the documentation 013 * and/or other materials provided with the distribution. 014 * 015 * * Neither the name of the University of Southampton nor the names of its 016 * contributors may be used to endorse or promote products derived from this 017 * software without specific prior written permission. 018 * 019 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 020 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 021 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 022 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR 023 * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 024 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 025 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON 026 * ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 027 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 028 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 029 */ 030package org.openimaj.demos.servotrack; 031 032import java.util.List; 033 034import org.openimaj.image.MBFImage; 035import org.openimaj.image.colour.RGBColour; 036import org.openimaj.image.processing.face.detection.DetectedFace; 037import org.openimaj.image.processing.face.detection.HaarCascadeDetector; 038import org.openimaj.math.geometry.point.Point2d; 039import org.openimaj.math.geometry.point.Point2dImpl; 040import org.openimaj.video.VideoDisplay; 041import org.openimaj.video.VideoDisplayListener; 042import org.openimaj.video.capture.VideoCapture; 043 044public class FaceTrack { 045 public static void main(String[] args) throws Exception { 046 final VideoCapture capture = new VideoCapture(640, 480, VideoCapture.getVideoDevices().get(0)); 047 final PTServoController servos = new PTServoController("/dev/tty.usbmodemfa131"); 048 final HaarCascadeDetector faceDetector = HaarCascadeDetector.BuiltInCascade.frontalface_alt2.load(); 049 faceDetector.setMinSize(80); 050 final Point2d frameCentre = new Point2dImpl(capture.getWidth() / 2, capture.getHeight() / 2); 051 052 VideoDisplay.createVideoDisplay(capture).addVideoListener(new VideoDisplayListener<MBFImage>() { 053 054 @Override 055 public void beforeUpdate(MBFImage frame) { 056 if (frame == null) 057 return; 058 059 final List<DetectedFace> faces = faceDetector.detectFaces(frame.flatten()); 060 061 if (faces == null || faces.size() == 0) { 062 // move back towards center 063 final int tilt = (90 - servos.getTilt()) / 5; 064 servos.changeTiltBy(tilt); 065 066 final int pan = (90 - servos.getPan()) / 5; 067 servos.changePanBy(pan); 068 } else { 069 frame.drawShape(faces.get(0).getBounds(), RGBColour.RED); 070 071 // move towards face 072 final Point2d pt = faces.get(0).getBounds().calculateCentroid(); 073 074 final Point2d delta = pt.minus(frameCentre); 075 076 final double damp = 0.03; 077 078 if (delta.getX() < 0) { 079 servos.changePanBy(-(int) (damp * delta.getX())); 080 } else if (delta.getX() > 0) { 081 servos.changePanBy(-(int) (damp * delta.getX())); 082 } 083 084 if (delta.getY() < 0) { 085 servos.changeTiltBy((int) (damp * delta.getY())); 086 } else if (delta.getY() > 0) { 087 servos.changeTiltBy((int) (damp * delta.getY())); 088 } 089 } 090 091 // try { 092 // Thread.sleep(1500); 093 // } catch (final InterruptedException e) { 094 // // TODO Auto-generated catch block 095 // e.printStackTrace(); 096 // } 097 } 098 099 @Override 100 public void afterUpdate(VideoDisplay<MBFImage> display) { 101 // do nothing 102 } 103 }); 104 105 } 106}