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1   /**
2    * Copyright (c) 2011, The University of Southampton and the individual contributors.
3    * All rights reserved.
4    *
5    * Redistribution and use in source and binary forms, with or without modification,
6    * are permitted provided that the following conditions are met:
7    *
8    *   * 	Redistributions of source code must retain the above copyright notice,
9    * 	this list of conditions and the following disclaimer.
10   *
11   *   *	Redistributions in binary form must reproduce the above copyright notice,
12   * 	this list of conditions and the following disclaimer in the documentation
13   * 	and/or other materials provided with the distribution.
14   *
15   *   *	Neither the name of the University of Southampton nor the names of its
16   * 	contributors may be used to endorse or promote products derived from this
17   * 	software without specific prior written permission.
18   *
19   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
20   * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
21   * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
22   * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
23   * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
24   * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
25   * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
26   * ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
27   * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
28   * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
29   */
30  package org.openimaj.demos.servotrack;
31  
32  import org.openimaj.image.MBFImage;
33  import org.openimaj.image.colour.RGBColour;
34  import org.openimaj.image.pixel.FValuePixel;
35  import org.openimaj.image.saliency.AchantaSaliency;
36  import org.openimaj.math.geometry.point.Point2d;
37  import org.openimaj.math.geometry.point.Point2dImpl;
38  import org.openimaj.video.VideoDisplay;
39  import org.openimaj.video.VideoDisplayListener;
40  import org.openimaj.video.capture.VideoCapture;
41  
42  public class SaliencyTrack {
43  	public static void main(String[] args) throws Exception {
44  		final VideoCapture capture = new VideoCapture(640, 480, VideoCapture.getVideoDevices().get(0));
45  		final PTServoController servos = new PTServoController("/dev/tty.usbmodemfa131");
46  		final Point2d frameCentre = new Point2dImpl(capture.getWidth() / 2, capture.getHeight() / 2);
47  
48  		VideoDisplay.createVideoDisplay(capture).addVideoListener(new VideoDisplayListener<MBFImage>() {
49  			AchantaSaliency sal = new AchantaSaliency();
50  
51  			@Override
52  			public void beforeUpdate(MBFImage frame) {
53  				sal.analyseImage(frame);
54  				final FValuePixel pt = sal.getSaliencyMap().maxPixel();
55  
56  				frame.internalAssign(new MBFImage(sal.getSaliencyMap(), sal.getSaliencyMap(), sal.getSaliencyMap()));
57  				frame.drawPoint(pt, RGBColour.RED, 5);
58  
59  				final Point2d delta = pt.minus(frameCentre);
60  
61  				final double damp = 0.03;
62  
63  				if (delta.getX() < 0) {
64  					servos.changePanBy(-(int) (damp * delta.getX()));
65  				} else if (delta.getX() > 0) {
66  					servos.changePanBy(-(int) (damp * delta.getX()));
67  				}
68  
69  				if (delta.getY() < 0) {
70  					servos.changeTiltBy((int) (damp * delta.getY()));
71  				} else if (delta.getY() > 0) {
72  					servos.changeTiltBy((int) (damp * delta.getY()));
73  				}
74  			}
75  
76  			@Override
77  			public void afterUpdate(VideoDisplay<MBFImage> display) {
78  				// do nothing
79  			}
80  		});
81  
82  	}
83  }