Mathematica+Arduino 摄像头检测人脸并跟随
http://bbs.makercollider.com/?/article/27
通过USB摄像头获取图像，如果检测到人脸将计算出中心坐标，把坐标通过串口发送给Arduino，算出人脸坐标偏离画面中心点的距离，然后根据这个偏离值驱动舵机带动摄像头修正指向，从而可以跟随人脸移动。
软件
Mathematica 10/11
Arduino IDE
硬件
Arduino开发板
USB摄像头
9g舵机
舵机云台
连接线若干
连接
把摄像头固定在舵机云台上，在Arduino开发板上插上IO传感器扩展板，舵机接在传感器扩展板的第9个数字引脚上。
注意：
如果选用的是大功率的云台和舵机，需要为舵机独立供电。
本文使用的云台为一个自由度（水平移动），知道了原理后扩展为两个自由度也很简单（水平+垂直）。
演示
Mathematica 代码
[AppleScript] 纯文本查看 复制代码
|
01
02
03
04
05
06
07
08
09
10
11
12
13
14
15
16
|
$ImagingDevice = $ImagingDevices[[2]];dev = DeviceOpen["Serial", "COM3"]Dynamic[ i = CurrentImage[]; boxes = FindFaces[i]; If[boxes =!= {}, {X, Y} = Round[Mean @@ boxes]; Column@ { HighlightImage[i, Circle[{X, Y}, 50], ImageSize -> {320, 240}], DeviceWrite[dev, ToString[X]] }, i] ] |
Arduino 代码
[C] 纯文本查看 复制代码
|
01
02
03
04
05
06
07
08
09
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
|
#include <Servo.h>#define servomaxx 180 // max degree servo horizontal (x) can turn#define screenmaxx 320 // max screen horizontal (x)resolution#define screenmaxy 240 // max screen vertical (y) resolution#define servocenterx 90 // center po#define of x servo#define servopinx 9 // digital pin for servo x#define baudrate 9600 // com port speed. Must match your setting#define distancex 2 // x servo rotation stepsint valx = 0; // store x data from serial portint posx = 0;int incx = 10; // significant increments of horizontal (x) camera movementServo servox;void setup() { Serial.begin(baudrate); // connect to the serial port Serial.setTimeout(20); Serial.println("Starting Cam-servo Face tracker"); pinMode(servopinx, OUTPUT); // declare the LED's pin as output servox.attach(servopinx); // center servos servox.write(servocenterx); delay(200);}void loop () { while (Serial.available() <= 0); // wait for incoming serial data if (Serial.available() >= 1) { // get X axis 2-byte integer from serial valx = Serial.parseInt(); // read last servos positions posx = servox.read(); //Find out if the X component of the face is to the left of the middle of the screen. if (valx < (screenmaxx / 2 - incx)) { if ( posx >= incx ) posx += distancex; //Update the pan position variable to move the servo to the left. } //Find out if the X component of the face is to the right of the middle of the screen. else if (valx > screenmaxx / 2 + incx) { if (posx <= servomaxx - incx) posx -= distancex; //Update the pan position variable to move the servo to the right. } // Servos will rotate accordingly servox.write(posx); }} |
这篇文章还没有评论