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}