├── .gitignore
├── README.md
├── facetracker_servo_arduino.py
├── facetracker_servo_gpio.py
└── haarcascade_frontalface_alt.xml


/.gitignore:
--------------------------------------------------------------------------------
 1 | *.py[cod]
 2 | 
 3 | # C extensions
 4 | *.so
 5 | 
 6 | # Packages
 7 | *.egg
 8 | *.egg-info
 9 | dist
10 | build
11 | eggs
12 | parts
13 | bin
14 | var
15 | sdist
16 | develop-eggs
17 | .installed.cfg
18 | lib
19 | lib64
20 | 
21 | # Installer logs
22 | pip-log.txt
23 | 
24 | # Unit test / coverage reports
25 | .coverage
26 | .tox
27 | nosetests.xml
28 | 
29 | # Translations
30 | *.mo
31 | 
32 | # Mr Developer
33 | .mr.developer.cfg
34 | .project
35 | .pydevproject
36 | 


--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
1 | py_servo_facetracker
2 | ====================
3 | 
4 | Face detection and pan & tilt tracking with OpenCV and Python 


--------------------------------------------------------------------------------
/facetracker_servo_arduino.py:
--------------------------------------------------------------------------------
  1 | #!/usr/bin/python
  2 | """
  3 | This program is demonstration for face and object detection using haar-like features.
  4 | The program finds faces in a camera image or video stream and displays a red box around them,
  5 | then centers the webcam via two servos so the face is at the center of the screen
  6 | Based on facedetect.py in the OpenCV samples directory
  7 | """
  8 | import sys
  9 | from optparse import OptionParser
 10 | import serial
 11 | import cv2.cv as cv
 12 |  
 13 | # Parameters for haar detection
 14 | # From the API:
 15 | # The default parameters (scale_factor=2, min_neighbors=3, flags=0) are tuned
 16 | # for accurate yet slow object detection. For a faster operation on real video
 17 | # images the settings are:
 18 | # scale_factor=1.2, min_neighbors=2, flags=CV_HAAR_DO_CANNY_PRUNING,
 19 | # min_size=<minimum possible face size
 20 |  
 21 | min_size = (20, 20)
 22 | image_scale = 2
 23 | haar_scale = 1.2
 24 | min_neighbors = 2
 25 | haar_flags = cv.CV_HAAR_DO_CANNY_PRUNING
 26 | 
 27 | max_pwm = 180
 28 | min_pwm = 1
 29 | midScreenWindow = 40  # acceptable 'error' for the center of the screen.
 30 | panStepSize = 1 # degree of change for each pan update
 31 | tiltStepSize = -1 # degree of change for each tilt update
 32 | servoPanPosition = 90 # initial pan position
 33 | servoTiltPosition = 160 # initial tilt position
 34 | panGpioPin = 0  # arduino pan servo id (NOT pin number)
 35 | tiltGpioPin = 1  # arduino tilt servo id (NOT pin number)
 36 |  
 37 | def detect_and_draw(img, cascade):
 38 |     gray = cv.CreateImage((img.width,img.height), 8, 1)
 39 |     small_img = cv.CreateImage((cv.Round(img.width / image_scale),
 40 |                    cv.Round (img.height / image_scale)), 8, 1)
 41 |  
 42 |     # convert color input image to grayscale
 43 |     cv.CvtColor(img, gray, cv.CV_BGR2GRAY)
 44 |  
 45 |     # scale input image for faster processing
 46 |     cv.Resize(gray, small_img, cv.CV_INTER_LINEAR)
 47 |  
 48 |     cv.EqualizeHist(small_img, small_img)
 49 |  
 50 |     midFace = None
 51 |  
 52 |     if(cascade):
 53 |         t = cv.GetTickCount()
 54 |         # HaarDetectObjects takes 0.02s
 55 |         faces = cv.HaarDetectObjects(small_img, cascade, cv.CreateMemStorage(0),
 56 |                                      haar_scale, min_neighbors, haar_flags, min_size)
 57 |         t = cv.GetTickCount() - t
 58 |         if faces:
 59 |             for ((x, y, w, h), n) in faces:
 60 |                 # the input to cv.HaarDetectObjects was resized, so scale the
 61 |                 # bounding box of each face and convert it to two CvPoints
 62 |                 pt1 = (int(x * image_scale), int(y * image_scale))
 63 |                 pt2 = (int((x + w) * image_scale), int((y + h) * image_scale))
 64 |                 cv.Rectangle(img, pt1, pt2, cv.RGB(255, 0, 0), 3, 8, 0)
 65 |                 # get the xy corner co-ords, calc the midFace location
 66 |                 x1 = pt1[0]
 67 |                 x2 = pt2[0]
 68 |                 y1 = pt1[1]
 69 |                 y2 = pt2[1]
 70 |                 midFaceX = x1+((x2-x1)/2)
 71 |                 midFaceY = y1+((y2-y1)/2)
 72 |                 midFace = (midFaceX, midFaceY)
 73 |  
 74 |     cv.ShowImage("result", img)
 75 |     return midFace
 76 |     
 77 | def move(servo, angle):
 78 |     '''Moves the specified servo to the supplied angle.
 79 | 
 80 |     Arguments:
 81 |         servo
 82 |           the servo number to command, an integer from 1-4
 83 |         angle
 84 |           the desired servo angle, an integer from 0 to 180
 85 | 
 86 |     (e.g.) >>> servo.move(2, 90)
 87 |            ... # "move servo #2 to 90 degrees"'''
 88 | 
 89 |     if (min_pwm <= angle <= max_pwm):
 90 |         ser.write(chr(255))
 91 |         ser.write(chr(servo))
 92 |         ser.write(chr(angle))
 93 |     else:
 94 |         print "Servo angle must be an integer between 0 and 180.\n"
 95 |  
 96 | if __name__ == '__main__':
 97 |     #ser=serial.Serial(port='/dev/ttyUSB0',baudrate=9600,timeout=1)
 98 |     ser=serial.Serial(port='/dev/ttyACM0',baudrate=9600,timeout=1)
 99 |  
100 |     # parse cmd line options, setup Haar classifier
101 |     parser = OptionParser(usage = "usage: %prog [options] [camera_index]")
102 |     parser.add_option("-c", "--cascade", action="store", dest="cascade", type="str", help="Haar cascade file, default %default", default = "./haarcascade_frontalface_alt.xml")
103 |     (options, args) = parser.parse_args()
104 |  
105 |     cascade = cv.Load(options.cascade)
106 |  
107 |     if len(args) != 1:
108 |         parser.print_help()
109 |         sys.exit(1)
110 |  
111 |     input_name = args[0]
112 |     if input_name.isdigit():
113 |         capture = cv.CreateCameraCapture(int(input_name))
114 |     else:
115 |         print "We need a camera input! Specify camera index e.g. 0"
116 |         sys.exit(0)
117 |  
118 |     cv.NamedWindow("result", 1)
119 |  
120 |     if capture:
121 |         frame_copy = None
122 |         
123 |         move(panGpioPin, servoPanPosition)
124 |         move(tiltGpioPin, servoTiltPosition)
125 |  
126 |         while True:
127 |             frame = cv.QueryFrame(capture)
128 |             if not frame:
129 |                 cv.WaitKey(0)
130 |                 break
131 |             if not frame_copy:
132 |                 frame_copy = cv.CreateImage((frame.width,frame.height),
133 |                                             cv.IPL_DEPTH_8U, frame.nChannels)
134 |             if frame.origin == cv.IPL_ORIGIN_TL:
135 |                 cv.Copy(frame, frame_copy)
136 |             else:
137 |                 cv.Flip(frame, frame_copy, 0)
138 |             
139 |             midScreenX = (frame.width/2)
140 |             midScreenY = (frame.height/2)
141 |   
142 |             midFace = detect_and_draw(frame_copy, cascade)
143 |             
144 |             if midFace is not None:
145 |                 midFaceX = midFace[0]
146 |                 midFaceY = midFace[1]
147 |                 
148 |                 #Find out if the X component of the face is to the left of the middle of the screen.
149 |                 if(midFaceX < (midScreenX - midScreenWindow)):
150 |                     #Update the pan position variable to move the servo to the right.
151 |                     servoPanPosition += panStepSize
152 |                     print str(midFaceX) + " > " + str(midScreenX) + " : Pan Right : " + str(servoPanPosition)
153 |                 #Find out if the X component of the face is to the right of the middle of the screen.
154 |                 elif(midFaceX > (midScreenX + midScreenWindow)):
155 |                     #Update the pan position variable to move the servo to the left.
156 |                     servoPanPosition -= panStepSize
157 |                     print str(midFaceX) + " < " + str(midScreenX) + " : Pan Left : " + str(servoPanPosition)
158 |                 else:
159 |                     print str(midFaceX) + " ~ " + str(midScreenX) + " : " + str(servoPanPosition)
160 |                 
161 |                 servoPanPosition = min(servoPanPosition, max_pwm)
162 |                 servoPanPosition = max(servoPanPosition, min_pwm)               
163 |                 move(panGpioPin, servoPanPosition)
164 |                 
165 |                 #Find out if the Y component of the face is below the middle of the screen.
166 |                 if(midFaceY < (midScreenY - midScreenWindow)):
167 |                     if(servoTiltPosition <= max_pwm):
168 |                         #Update the tilt position variable to lower the tilt servo.
169 |                         servoTiltPosition -= tiltStepSize
170 |                         print str(midFaceY) + " > " + str(midScreenY) + " : Tilt Down : " + str(servoTiltPosition)
171 |                 #Find out if the Y component of the face is above the middle of the screen.
172 |                 elif(midFaceY > (midScreenY + midScreenWindow)):
173 |                     if(servoTiltPosition >= 1):
174 |                         #Update the tilt position variable to raise the tilt servo.
175 |                         servoTiltPosition += tiltStepSize
176 |                         print str(midFaceY) + " < " + str(midScreenY) + " : Tilt Up : " + str(servoTiltPosition)
177 |                 else:
178 |                     print str(midFaceY) + " ~ " + str(midScreenY) + " : " + str(servoTiltPosition)
179 |                 
180 |                 servoTiltPosition = min(servoTiltPosition, max_pwm)
181 |                 servoTiltPosition = max(servoTiltPosition, min_pwm)  
182 |                 move(tiltGpioPin, servoTiltPosition)
183 |                 
184 |             if cv.WaitKey(10) >= 0: # 10ms delay
185 |                 break
186 |  
187 |     cv.DestroyWindow("result")
188 | 


--------------------------------------------------------------------------------
/facetracker_servo_gpio.py:
--------------------------------------------------------------------------------
  1 | #!/usr/bin/python
  2 | """
  3 | This program is demonstration for face and object detection using haar-like features.
  4 | The program finds faces in a camera image or video stream and displays a red box around them,
  5 | then centers the webcam via two servos so the face is at the center of the screen
  6 | Based on facedetect.py in the OpenCV samples directory
  7 | """
  8 | import sys
  9 | from optparse import OptionParser
 10 | import cv2.cv as cv
 11 | import os
 12 | 
 13 | # Parameters for haar detection
 14 | # From the API:
 15 | # The default parameters (scale_factor=2, min_neighbors=3, flags=0) are tuned
 16 | # for accurate yet slow object detection. For a faster operation on real video
 17 | # images the settings are:
 18 | # scale_factor=1.2, min_neighbors=2, flags=CV_HAAR_DO_CANNY_PRUNING,
 19 | # min_size=<minimum possible face size
 20 | 
 21 | min_size = (20, 20)
 22 | image_scale = 2
 23 | haar_scale = 1.2
 24 | min_neighbors = 2
 25 | haar_flags = cv.CV_HAAR_DO_CANNY_PRUNING
 26 | 
 27 | max_pwm = 249
 28 | min_pwm = 1
 29 | midScreenWindow = 40  # acceptable 'error' for the center of the screen.
 30 | panStepSize = 2 # degree of change for each pan update
 31 | tiltStepSize = -2 # degree of change for each tilt update
 32 | servoPanPosition = 125 # initial pan position
 33 | servoTiltPosition = 160 # initial tilt position
 34 | panGpioPin = 2  # servoblaster pin 2 : gpio pin 18
 35 | tiltGpioPin = 5  # servoblaster pin 5 : gpio pin 23
 36 | 
 37 | def detect_and_draw(img, cascade):
 38 |     gray = cv.CreateImage((img.width,img.height), 8, 1)
 39 |     small_img = cv.CreateImage((cv.Round(img.width / image_scale),
 40 |                    cv.Round (img.height / image_scale)), 8, 1)
 41 |  
 42 |     # convert color input image to grayscale
 43 |     cv.CvtColor(img, gray, cv.CV_BGR2GRAY)
 44 |  
 45 |     # scale input image for faster processing
 46 |     cv.Resize(gray, small_img, cv.CV_INTER_LINEAR)
 47 |  
 48 |     cv.EqualizeHist(small_img, small_img)
 49 |  
 50 |     midFace = None
 51 |  
 52 |     if(cascade):
 53 |         t = cv.GetTickCount()
 54 |         # HaarDetectObjects takes 0.02s
 55 |         faces = cv.HaarDetectObjects(small_img, cascade, cv.CreateMemStorage(0),
 56 |                                      haar_scale, min_neighbors, haar_flags, min_size)
 57 |         t = cv.GetTickCount() - t
 58 |         if faces:
 59 |             for ((x, y, w, h), n) in faces:
 60 |                 # the input to cv.HaarDetectObjects was resized, so scale the
 61 |                 # bounding box of each face and convert it to two CvPoints
 62 |                 pt1 = (int(x * image_scale), int(y * image_scale))
 63 |                 pt2 = (int((x + w) * image_scale), int((y + h) * image_scale))
 64 |                 cv.Rectangle(img, pt1, pt2, cv.RGB(255, 0, 0), 3, 8, 0)
 65 |                 # get the xy corner co-ords, calc the midFace location
 66 |                 x1 = pt1[0]
 67 |                 x2 = pt2[0]
 68 |                 y1 = pt1[1]
 69 |                 y2 = pt2[1]
 70 |                 midFaceX = x1+((x2-x1)/2)
 71 |                 midFaceY = y1+((y2-y1)/2)
 72 |                 midFace = (midFaceX, midFaceY)
 73 |  
 74 |     cv.ShowImage("result", img)
 75 |     return midFace
 76 |     
 77 | def move(servo, angle):
 78 |     '''Moves the specified servo to the supplied angle.
 79 | 
 80 |     Arguments:
 81 |         servo
 82 |           the servo number to command, an integer from 0-7
 83 |         angle
 84 |           the desired pulse width for servoblaster, an integer from 0 to 249
 85 | 
 86 |     (e.g.) >>> servo.move(2, 90)
 87 |            ... # "move servo #2 to 90 degrees"'''
 88 | 
 89 |     if (min_pwm <= angle <= max_pwm):
 90 |         command = 'echo %s=%s > /dev/servoblaster' % (str(servo), str(angle))
 91 |         os.system(command)
 92 |         #print command
 93 |     else:
 94 |         print "Servo angle must be an integer between 0 and 249.\n"
 95 |  
 96 | if __name__ == '__main__':
 97 |     # parse cmd line options, setup Haar classifier
 98 |     parser = OptionParser(usage = "usage: %prog [options] [camera_index]")
 99 |     parser.add_option("-c", "--cascade", action="store", dest="cascade", type="str", help="Haar cascade file, default %default", default = "./haarcascade_frontalface_alt.xml")
100 |     (options, args) = parser.parse_args()
101 |  
102 |     cascade = cv.Load(options.cascade)
103 |  
104 |     if len(args) != 1:
105 |         parser.print_help()
106 |         sys.exit(1)
107 |  
108 |     input_name = args[0]
109 |     if input_name.isdigit():
110 |         capture = cv.CreateCameraCapture(int(input_name))
111 |     else:
112 |         print "We need a camera input! Specify camera index e.g. 0"
113 |         sys.exit(0)
114 |  
115 |     cv.NamedWindow("result", 1)
116 |  
117 |     if capture:
118 |         frame_copy = None
119 | 
120 |         move(panGpioPin, servoPanPosition)
121 |         move(tiltGpioPin, servoTiltPosition)
122 | 
123 |         while True:
124 |             frame = cv.QueryFrame(capture)
125 |             if not frame:
126 |                 cv.WaitKey(0)
127 |                 break
128 |             if not frame_copy:
129 |                 frame_copy = cv.CreateImage((frame.width,frame.height),
130 |                                             cv.IPL_DEPTH_8U, frame.nChannels)
131 |             if frame.origin == cv.IPL_ORIGIN_TL:
132 |                 cv.Copy(frame, frame_copy)
133 |             else:
134 |                 cv.Flip(frame, frame_copy, 0)
135 |             
136 |             midScreenX = (frame.width/2)
137 |             midScreenY = (frame.height/2)
138 |   
139 |             midFace = detect_and_draw(frame_copy, cascade)
140 |             
141 |             if midFace is not None:
142 |                 midFaceX = midFace[0]
143 |                 midFaceY = midFace[1]
144 |                                 
145 |                 #Find out if the X component of the face is to the left of the middle of the screen.
146 |                 if(midFaceX < (midScreenX - midScreenWindow)):
147 |                     #Update the pan position variable to move the servo to the right.
148 |                     servoPanPosition += panStepSize
149 |                     print str(midFaceX) + " > " + str(midScreenX) + " : Pan Right : " + str(servoPanPosition)
150 |                 #Find out if the X component of the face is to the right of the middle of the screen.
151 |                 elif(midFaceX > (midScreenX + midScreenWindow)):
152 |                     #Update the pan position variable to move the servo to the left.
153 |                     servoPanPosition -= panStepSize
154 |                     print str(midFaceX) + " < " + str(midScreenX) + " : Pan Left : " + str(servoPanPosition)
155 |                 else:
156 |                     print str(midFaceX) + " ~ " + str(midScreenX) + " : " + str(servoPanPosition)
157 |                 
158 |                 servoPanPosition = min(servoPanPosition, max_pwm)
159 |                 servoPanPosition = max(servoPanPosition, min_pwm)               
160 |                 move(panGpioPin, servoPanPosition)
161 | 
162 |                 #Find out if the Y component of the face is below the middle of the screen.
163 |                 if(midFaceY < (midScreenY - midScreenWindow)):
164 |                     if(servoTiltPosition <= max_pwm):
165 |                         #Update the tilt position variable to lower the tilt servo.
166 |                         servoTiltPosition -= tiltStepSize
167 |                         print str(midFaceY) + " > " + str(midScreenY) + " : Tilt Down : " + str(servoTiltPosition)
168 |                 #Find out if the Y component of the face is above the middle of the screen.
169 |                 elif(midFaceY > (midScreenY + midScreenWindow)):
170 |                     if(servoTiltPosition >= 1):
171 |                         #Update the tilt position variable to raise the tilt servo.
172 |                         servoTiltPosition += tiltStepSize
173 |                         print str(midFaceY) + " < " + str(midScreenY) + " : Tilt Up : " + str(servoTiltPosition)
174 |                 else:
175 |                     print str(midFaceY) + " ~ " + str(midScreenY) + " : " + str(servoTiltPosition)
176 |                 
177 |                 servoTiltPosition = min(servoTiltPosition, max_pwm)
178 |                 servoTiltPosition = max(servoTiltPosition, min_pwm)  
179 |                 move(tiltGpioPin, servoTiltPosition)
180 |                                
181 |             if cv.WaitKey(10) >= 0: # 10ms delay
182 |                 break
183 |  
184 |     cv.DestroyWindow("result")
185 | 


--------------------------------------------------------------------------------