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 org.openimaj.image.MBFImage;
033import org.openimaj.image.colour.RGBColour;
034import org.openimaj.image.pixel.FValuePixel;
035import org.openimaj.image.saliency.AchantaSaliency;
036import org.openimaj.math.geometry.point.Point2d;
037import org.openimaj.math.geometry.point.Point2dImpl;
038import org.openimaj.video.VideoDisplay;
039import org.openimaj.video.VideoDisplayListener;
040import org.openimaj.video.capture.VideoCapture;
041
042public class SaliencyTrack {
043        public static void main(String[] args) throws Exception {
044                final VideoCapture capture = new VideoCapture(640, 480, VideoCapture.getVideoDevices().get(0));
045                final PTServoController servos = new PTServoController("/dev/tty.usbmodemfa131");
046                final Point2d frameCentre = new Point2dImpl(capture.getWidth() / 2, capture.getHeight() / 2);
047
048                VideoDisplay.createVideoDisplay(capture).addVideoListener(new VideoDisplayListener<MBFImage>() {
049                        AchantaSaliency sal = new AchantaSaliency();
050
051                        @Override
052                        public void beforeUpdate(MBFImage frame) {
053                                sal.analyseImage(frame);
054                                final FValuePixel pt = sal.getSaliencyMap().maxPixel();
055
056                                frame.internalAssign(new MBFImage(sal.getSaliencyMap(), sal.getSaliencyMap(), sal.getSaliencyMap()));
057                                frame.drawPoint(pt, RGBColour.RED, 5);
058
059                                final Point2d delta = pt.minus(frameCentre);
060
061                                final double damp = 0.03;
062
063                                if (delta.getX() < 0) {
064                                        servos.changePanBy(-(int) (damp * delta.getX()));
065                                } else if (delta.getX() > 0) {
066                                        servos.changePanBy(-(int) (damp * delta.getX()));
067                                }
068
069                                if (delta.getY() < 0) {
070                                        servos.changeTiltBy((int) (damp * delta.getY()));
071                                } else if (delta.getY() > 0) {
072                                        servos.changeTiltBy((int) (damp * delta.getY()));
073                                }
074                        }
075
076                        @Override
077                        public void afterUpdate(VideoDisplay<MBFImage> display) {
078                                // do nothing
079                        }
080                });
081
082        }
083}