108 大眼仔, 進化, (4) 看著我的臉 (Arduino, SG90, Animatronic Eye, OpenCV, Processing, I2C)

大眼仔, 人臉追蹤

大眼仔的人臉追蹤功能, 雖然還有個明顯缺點, 但至少能拿出來見人了. XD. (YouTube 影片)

解釋一下運作原理:

1. 將大眼仔相對 web cam 的位置, 分成五種級距 (左二, 左一, 中, 右一, 右二).
2. 將 Processing + OpenCV 傳回來的人臉框位置, 也分成五種級距 (左二, 左一, 中, 右一, 右二).
3. 定義不同位置的大眼仔如何回應人臉框位置.

   

   不同位置的大眼仔, 轉頭的角度會有不同.

這個示範, 萊恩大兵用了兩片 Arduino 板子, 每片板子接兩個大眼仔, 各定義其位置為左二, 左一與右一, 右二. (兩片板子則透過 I2C 溝通). 

搖頭晃腦..

程式碼

(Arduino, for master device)

//
// OT108Eyeballs_i2c_m.ino
// - Use I2C bus to control multiple devices
// - Master device
//

#include <Wire.h>
#include <Servo.h>
#include <AniEyeball.h>

#define N_SLAVE   1
#define N_EYEBALL 2
#define FACE_TRACKING_MODE 1

AniEyeball ot108eyeball[N_EYEBALL];

// 眼皮_PIN # i
// 眼球_PIN # i 1
const byte servoPin[N_EYEBALL*2] = {2,3,4,5};

// 定義大眼仔的相對位置
const byte flagAnyEyeballPos[N_EYEBALL] = {FT_R1, FT_R2};
const int WORKING_MODE = FACE_TRACKING_MODE;

// for command string handling (from serial port)
char inData[80];
byte index = 0;
byte count = 0;

#define NO_PREFIX       0
#define S_PREFIX        1
#define P_PREFIX        1
#define E_PREFIX        1

#define TOKEN_S         "s"
#define TOKEN_P         "p"
#define TOKEN_E         "e"

byte pfxS = NO_PREFIX;
byte pfxP = NO_PREFIX; 
byte pfxE = NO_PREFIX; 
byte sAll = 0; // all slaves mode
byte sNum = 0; // slave-#
byte pNum = 0; // pattern-#
byte eNum = 0; // eyeball-#
byte fFinish = 0;

void setup()
{
  Wire.begin();
  
  Serial.begin(9600);

  for (int i=0; i<N_EYEBALL; i  )
  {
   ot108eyeball[i].setPinP(servoPin[i*2]);
   ot108eyeball[i].setPinB(servoPin[i*2 1]);

    if (WORKING_MODE == FACE_TRACKING_MODE)
      ot108eyeball[i].setFaceTrackingFlag(flagAnyEyeballPos[i]);    
  }
}

void loop()
{
  while (Serial.available() > 0)
  {
    char aChar = Serial.read();
    if (aChar == '\n')
    {
      // End of string detected. Time to parse
      char *p = inData; //assign the string to *p
      int counter = 0;  //initialise the counter
      String str;
            
      str = strtok(p, ",");
      while (str != NULL)
      {
        Serial.println(str);
        ParseCommand(str);
        counter  ;
        str = strtok(NULL, ",");
      }

      index = 0;
      inData[index] = NULL;      
      Serial.write("done\n");
    }
    else
    {
      inData[index] = aChar;
      index  ;
      inData[index] = '\0'; // Keep the string NULL terminated
    }
  }

  if (fFinish)
  {
    // 全部命令解析完成, 來操控 slave 吧
    if (sAll)
    {
      for (int i=0; i<N_SLAVE; i  )
      {   
        //
        // 暫且忽略 e 命令吧, 以後有空再補上
        //
        Wire.beginTransmission(i 1);
        Wire.write(pNum);
        Wire.endTransmission();        
      }
    }
    else
    {
      // 特定 salves
      Wire.beginTransmission(sNum);      
      Wire.write(pNum);   
      Wire.endTransmission();
    }

    // 不光是 slave 要做事, master 自己也要做啊.
    for (int i=0; i<N_EYEBALL; i  )
    {
      if (WORKING_MODE == FACE_TRACKING_MODE)
        ot108eyeball[i].faceTrackingMoving(pNum);
      else
        ot108eyeball[i].acting(pNum);
    } 
  
    resetFlags();    
  }

  // if no inputs from remote, how about letting master device's eyeballs moving 
  // tweeting();
}

void ParseCommand(String str)
{
  // the input commands formats:
  //   * s
  //      - all: all slaves
  //      - (num): slave-#(num)   
  //   * e
  //      - (num): eyeball-#(num)
  //   * p
  //      - (num): pattern-#(num)  
  //
  // the command example:
  //   s,all,p,1    -> all slaves, run pattern-1
  //   s,5,e,1,p,3  -> slave-5, eyeball-1, run pattern-3
  //   s,5,p,3      -> slave-5, all eyeballs, run pattern-3   

   if (str == TOKEN_S && pfxS == NO_PREFIX) // 開始 s 命令
   {
      pfxS = S_PREFIX; 
   }
   else if (str == "all" && pfxS == S_PREFIX) // s 命令, all
   {                               
      sAll = 1;
      pfxS = NO_PREFIX; // s 命令結束      
   }
   else if (pfxP == NO_PREFIX && pfxE == NO_PREFIX && pfxS == S_PREFIX) // 仍在解析 s 命令, 尚未走到 p 或 e 命令
   {
      sNum = str.toInt();
      pfxS = NO_PREFIX; // s 命令結束
   }
   else if (str == TOKEN_E && pfxE == NO_PREFIX && pfxP == NO_PREFIX && pfxS == NO_PREFIX) // 開始 e 命令
   {
      pfxE = E_PREFIX;
   }
   else if (str == TOKEN_P && pfxP == NO_PREFIX && pfxE == NO_PREFIX && pfxS == NO_PREFIX) // 開始 p 命令
   {
      pfxP = P_PREFIX;
   }
   else if (pfxE == E_PREFIX && pfxP == NO_PREFIX && pfxS == NO_PREFIX) // 解析 e 命令的參數
   {
     eNum = str.toInt();
     pfxE = NO_PREFIX; // e 命令結束
   }
   else if (pfxP == P_PREFIX && pfxE == NO_PREFIX && pfxS == NO_PREFIX) // 解析 p 命令的參數
   {
      pNum = str.toInt();
      pfxP = NO_PREFIX; // p 命令結束
      fFinish = 1;
   }
}

void resetFlags()
{
  pfxS = NO_PREFIX;
  pfxP = NO_PREFIX; 
  pfxE = NO_PREFIX; 
  sAll = 0;
  sNum = 0;
  pNum = 0;
  eNum = 0;
  fFinish = 0;
}

(Arduino, for slave device)

//
// OT108Eyeballs_i2c_s.ino
// - Use I2C bus to control multiple devices
// - Slave device
//

#include <Wire.h>
#include <Servo.h>
#include <AniEyeball.h>

#define N_EYEBALL 2
#define FACE_TRACKING_MODE 1

const int SLAVE_ADDRESS = 1;

AniEyeball ot108eyeball[N_EYEBALL];

// 眼皮_PIN # i
// 眼球_PIN # i 1
const byte servoPin[N_EYEBALL*2] = {2,3,4,5};

// 定義大眼仔的相對位置
const byte flagAnyEyeballPos[N_EYEBALL] = {FT_R1, FT_R2};
const int WORKING_MODE = FACE_TRACKING_MODE;

char inByte = 0;

void setup()
{
  Wire.begin(SLAVE_ADDRESS);    // join I2C bus as a slave with address 1
  Wire.onReceive(receiveEvent); // register event
  
  Serial.begin(9600);

  for (int i=0; i<N_EYEBALL; i  )
  {
    ot108eyeball[i].setPinP(servoPin[i*2]);
    ot108eyeball[i].setPinB(servoPin[i*2 1]);

    if (WORKING_MODE == FACE_TRACKING_MODE)
      ot108eyeball[i].setFaceTrackingFlag(flagAnyEyeballPos[i]);
  }
}

void loop()
{
  // 可能要有緩衝, 以免灌進太多指令, 來不及處理
  if (inByte)
  {
    for (int i=0; i<N_EYEBALL; i  )
    {
      if (WORKING_MODE == FACE_TRACKING_MODE)
        ot108eyeball[i].faceTrackingMoving(inByte);
      else
        ot108eyeball[i].acting(inByte);
    }    
    inByte = 0;    
  }
  else
  {
    //ot108eyeball[i].tweeting();
  }

}

void receiveEvent(int howMany)
{
  // master 傳來的命令格式為一數值, 代表 pattern-#.
  while (Wire.available()) 
  {
    inByte = Wire.read();
  }
}

(Processing + OpenCV) (感謝 Philip Zheng 提供程式與大力幫忙)

 

import processing.serial.*;
import processing.video.*;
 
import org.opencv.core.Core;
import org.opencv.core.Mat;
import org.opencv.core.MatOfRect;
import org.opencv.core.Point;
import org.opencv.core.Rect;
import org.opencv.core.Scalar;
import org.opencv.core.CvType;
import org.opencv.core.Size;
import org.opencv.objdetect.CascadeClassifier;
import org.opencv.imgproc.Imgproc;
import org.opencv.objdetect.Objdetect;
 
import java.awt.image.BufferedImage;
import java.awt.image.WritableRaster;
import java.awt.image.Raster;

Serial myPort;  // Create object from Serial class
String cmdstring = "";
int timeInterval = 500;
int lastUpdate;

Capture cap;
int pixCnt;
BufferedImage bm;
 
CascadeClassifier faceDetector;
MatOfRect faceDetections;
 
void setup() {
  size(640, 480);
  System.loadLibrary(Core.NATIVE_LIBRARY_NAME);
  println(Core.VERSION);
 
  cap = new Capture(this, width, height);
  cap.start();
  bm = new BufferedImage(width, height, BufferedImage.TYPE_4BYTE_ABGR);
  pixCnt = width*height*4;
 
  faceDetector = new CascadeClassifier(dataPath("haarcascade_frontalface_default.xml"));
  faceDetections = new MatOfRect();
  
  myPort = new Serial(this, Serial.list()[5], 9600);
  lastUpdate = millis() - timeInterval;
}
 
void convert(PImage _i) {
  bm.setRGB(0, 0, _i.width, _i.height, _i.pixels, 0, _i.width);
  Raster rr = bm.getRaster();
  byte [] b1 = new byte[pixCnt];
  rr.getDataElements(0, 0, _i.width, _i.height, b1);
  Mat m1 = new Mat(_i.height, _i.width, CvType.CV_8UC4);
  m1.put(0, 0, b1);
 
  Mat m2 = new Mat(_i.height, _i.width, CvType.CV_8UC1);
  Imgproc.cvtColor(m1, m2, Imgproc.COLOR_BGRA2GRAY);   
 
  faceDetector.detectMultiScale(m2, faceDetections, 3, 1, 
  Objdetect.CASCADE_DO_CANNY_PRUNING, new Size(40, 40), new Size(240, 240));
 
  bm.flush();
  m2.release();
  m1.release();
}
 
void draw() 
{
  if (!cap.available()) 
    return;
  background(0);
  cap.read();
  convert(cap);
  image(cap, 0, 0);
  for (Rect rect: faceDetections.toArray()) 
  {
    noFill();
    stroke(255, 0, 0);
    rect(rect.x, rect.y, rect.width, rect.height);
    
    //arduino serial command will be here
    if (millis()-lastUpdate >= timeInterval)
    {
      print("1 sec... ");
      println(rect.x);
      if (rect.x <= 170)
        cmdstring = "s,1,p,-2\n";
      else if (rect.x > 170 && rect.x <= 270)
        cmdstring = "s,1,p,-1\n";
      else if (rect.x > 270 && rect.x <= 370)
        cmdstring = "s,1,p,0\n";
      else if (rect.x > 370 && rect.x <= 470)
        cmdstring = "s,1,p,1\n";
      else
        cmdstring = "s,1,p,2\n";

      myPort.write(cmdstring);
      lastUpdate = millis();
    }
  }
}

後記

這示範有幾個地方待改進, 先記下來, 以後有空再慢慢改.

• 人臉框與實際人臉的移動方向左右相反.
• 人臉得很靠近 webcam 才辨識的準.
• 應該改成人群追蹤, 會比較適合開放空間的展示.

[萊恩大兵的其它文章]

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