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}