2014/06/28

108 大眼仔, 進化, (5) 迎著人來人往 (Arduino, SG90, Animatronic Eye, OpenCV, Processing, I2C)

Youtube 影片連結: 大眼仔, 人群追蹤.
今天要來為大眼仔系列文章做個完結. :-) 


 靠著 Philip Zheng 的幫忙, 大眼仔總算做到人群偵測, 可以迎著人來人往了. 和人臉追蹤的情境 (用戶停駐在 webcam 前面觀看螢幕) 不太一樣, 人群偵測的情境比較會是在開放空間, 有複數的人群走來走去. 這邊問題就來了..

  •  大眼仔該盯著誰看呢?
萊恩大兵的設計, 是將空間分成五個區塊, 然後分類每個人像框落在哪一區塊裡 (考慮胖瘦的差異, 會以人像框的中線為基準線). 大眼仔的目光就投向人最多的區塊.


 在講程式的實作前, 先聊一下心得與未來還可改善的地方. (怕寫在最後沒人看. XD)

電源線的改良

雖然萊恩大兵已尊奉這條線為神器了, 還是要講一下

以複數 Arduino 板子(透過 I2C 串聯在一起), 再揹複數大眼仔的使用情境來看, 這條電源線得做到:
  • 供應 (Arduino + 大眼仔*n)*m 所需的 5V 電源. 
  • 電源線的長度須能適應大眼仔的擺置. 
    再長一點, 再長一點.
  • 複數 Arduino 板子之間, 是用 I2C 串聯在一起的, 這會需要另一組的電源供應 (3.3V).

大眼仔機構改良

可考慮改良機構, 讓大眼仔彼此可以組合或推疊, 擺置起來會更有變化.
雖然有千軍萬馬的感覺, 可是, 沒有陣型啊..

程式 (老問題)


  •  偵測的敏感度 (both 人臉追蹤 and 人群偵測) 待提升.
  •  左右反相的問題.

實作細節

  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. 將空間分五區塊 (左二, 左一, 中, 右一, 右二), 再把 Processing + OpenCV 傳回來的人像框分類在適當的區塊裡, 最後找出哪個區塊人最多. 
  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.
  4. 線路的佈建, 也是用兩片 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). 
    (Arduino + 大眼仔*2) * 2

程式碼

(Arduino/ master and slave)
請參考 108 大眼仔, 進化, (4) 看著我的臉 (Arduino, SG90, Animatronic Eye, OpenCV, Processing, I2C)

 (Processing + OpenCV)

 
import processing.serial.*;
import processing.video.*;
 
import java.util.*;
import java.nio.*;
 
import org.opencv.core.Core;
import org.opencv.core.Mat;
import org.opencv.core.CvType;
import org.opencv.core.Scalar;
import org.opencv.objdetect.HOGDescriptor;
import org.opencv.core.MatOfRect;
import org.opencv.core.MatOfDouble;
import org.opencv.core.Rect;
import org.opencv.core.Size;
import org.opencv.imgproc.Imgproc;
 
Serial myPort;  // Create object from Serial class
String cmdstring = "";
int timeInterval = 500;
int lastUpdate;

Capture cap;
PImage small;
HOGDescriptor hog;
 
byte [] bArray;
int [] iArray;
int pixCnt1, pixCnt2;
int w, h;
float ratio;
int [] zones = {0, 0, 0, 0, 0}; // for calculating # of people in a zone 
 
void setup() {
  size(640, 480);
  ratio = 0.5;
  w = int(width*ratio);
  h = int(height*ratio);
 
  background(0);
  // Define and initialise the default capture device.
  cap = new Capture(this, width, height);
  cap.start();
 
  // Load the OpenCV native library.
  System.loadLibrary(Core.NATIVE_LIBRARY_NAME);
  println(Core.VERSION);
 
  // pixCnt1 is the number of bytes in the pixel buffer.
  // pixCnt2 is the number of integers in the PImage pixels buffer.
  pixCnt1 = w*h*4;
  pixCnt2 = w*h;
 
  // bArray is the temporary byte array buffer for OpenCV cv::Mat.
  // iArray is the temporary integer array buffer for PImage pixels.
  bArray = new byte[pixCnt1];
  iArray = new int[pixCnt2];
 
  small = createImage(w, h, ARGB);
  hog = new HOGDescriptor();
  hog.setSVMDetector(HOGDescriptor.getDefaultPeopleDetector());
  noFill();
  stroke(255, 255, 0);
  
  myPort = new Serial(this, Serial.list()[5], 9600);
  lastUpdate = millis() - timeInterval;
}
 
void draw() {
  if (cap.available()) {
    cap.read();
  } 
  else {
    return;
  }
  image(cap, 0, 0);
  // Resize the video to a smaller PImage.
  small.copy(cap, 0, 0, width, height, 0, 0, w, h);
  // Copy the webcam image to the temporary integer array iArray.
  arrayCopy(small.pixels, iArray);
 
  // Define the temporary Java byte and integer buffers. 
  // They share the same storage.
  ByteBuffer bBuf = ByteBuffer.allocate(pixCnt1);
  IntBuffer iBuf = bBuf.asIntBuffer();
 
  // Copy the webcam image to the byte buffer iBuf.
  iBuf.put(iArray);
 
  // Copy the webcam image to the byte array bArray.
  bBuf.get(bArray);
 
  // Create the OpenCV cv::Mat.
  Mat m1 = new Mat(h, w, CvType.CV_8UC4);
 
  // Initialise the matrix m1 with content from bArray.
  m1.put(0, 0, bArray);
  // Prepare the grayscale matrix.
  Mat m3 = new Mat(h, w, CvType.CV_8UC1);
  Imgproc.cvtColor(m1, m3, Imgproc.COLOR_BGRA2GRAY);
 
  MatOfRect found = new MatOfRect();
  MatOfDouble weight = new MatOfDouble();
 
  hog.detectMultiScale(m3, found, weight, 0, new Size(8, 8), new Size(32, 32), 1.05, 2, false);
 
  int idx = 0;
  Rect [] rects = found.toArray();
  int num = rects.length;
  if (num > 0) {
    if (millis()-lastUpdate >= timeInterval) {
      for (int i=0; i<num; i  ) {   

        // which zone the people belongs to?
        float x = (rects[i].x   rects[i].width/2) / ratio;   
        if (x <= 128)
          zones[0]  ;
        else if (x > 128 && x <= 256)
          zones[1]  ;
        else if (x > 256 && x <= 384)
          zones[2]  ;
        else if (x > 384 && x <= 512)
          zones[3]  ;
        else
          zones[4]  ;
      }

      // which zone has the most people
      for (int i=0; i<5; i  ) {
        if (zones[i] >= zones[idx]) 
          idx = i;
      }

      // inform Arduino
      cmdstring = "s,1,p,"   (idx-2)   "\n";
      print(cmdstring);
      myPort.write(cmdstring);

      // reset zones[]
      for (int i=0; i<5; i  )
        zones[i] = 0;

      lastUpdate = millis();
    }

    for (int i=0; i<rects.length; i  )      
      rect(rects[i].x/ratio, rects[i].y/ratio, rects[i].width/ratio, rects[i].height/ratio);
  }
  text("Frame Rate: "   round(frameRate), 500, 50);
}


Okay, 就是這些了. 期待有一天大眼仔能重登舞台.

[萊恩大兵的其它文章]

自製大四軸
* 自製大四軸, (1) 零組件篇, 遙控器 (Drone, Quadcopter, Futaba, Maker, Arduino, Animatronic Eye)
* 自製大四軸, (2) 零組件篇, 飛控板 (Drone, Quadcopter, MultiWii, Arduino, Futaba, Maker)
* 自製大四軸, (3) 零組件篇, 自行雷切木質機架 (Drone, Quadcopter, Maker, Laser Cut)
* 自製大四軸, (4) 零組件篇, 馬達與電變調整 (Drone, Quadcopter, Maker, Electric Speed Control, Motor)
* 自製大四軸, (5) 組裝篇, 四軸飛行器成形 (Drone, Quadcopter, MultiWii, Arduino, Maker, Electric Speed Control, Motor)
* 自製大四軸, (6) 調整篇, 飛行前兩三事 (Drone, Quadcopter, Maker, Futaba, Arduino, MultiWii)
* 自製大四軸, (7) 充電篇, iMax B6 充電器操作記要 (Charger, Battery)

自動報球速的棒球
CC2540 Bluetooth Low Energy
* 筆記, CC2540 Bluetooth Low Energy, (1) 開發環境 架設 (Bluetooth, CC2540)
* 筆記, CC2540 Bluetooth Low Energy, (2) 跑第一個範例程式 (Bluetooth, CC2540)
* 筆記, CC2540 Bluetooth Low Energy, (3) SimpleBLEPeripheral 簡單介紹 (Bluetooth, CC2540)
* 筆記, CC2540 Bluetooth Low Energy, (4) 在智慧手機上執行範例程式 (Bluetooth, CC2540)
* 筆記, CC2540 Bluetooth Low Energy, (5) 偵測與發送 iBeacon 訊號 (Bluetooth, CC2540, iBeacon)
* 實作, iBeacon 發訊器 x 防丟器 (Bluetooth, CC2540, iBeacon)
* 實作, iBeacon 尋寶遊戲 (Bluetooth, CC2540, iBeacon, iOS app)
* 實作, BLE + iOS app, 遙控燈泡君 (Bluetooth, CC2540, iOS app)
* 做實驗, 用 iBeacon 做自動控制的可行性 (Bluetooth, iBeacon, CC2540, Automation, URL Scheme, iOS app)

藍色小鋪一起來做
* 藍色小鋪一起來做, (1) 用 beacon 控制開關的枱燈
* 藍色小鋪一起來做, (2) 講解 BLE CC2540 UART 通訊範例程式 (Bluetooth, CC2540, UART)
* 藍色小鋪一起來做, (3) 藍牙枱燈專案實作 (上) (Bluetooth, CC2540)
* 藍色小鋪一起來做, (4) 藍牙枱燈專案實作 (下) (Bluetooth, CC2540)
* 藍色小鋪一起來做, (5) iBeacon scanner 專案示範與解說 (Bluetooth, CC2540, iBeacon)
* 藍色小鋪一起來做, (6) 完成, 用 iBeacon 控制開關的枱燈 (Bluetooth, CC2540, iBeacon)

小惡魔 無線溫度感測器

108 大眼仔
Plot Clock
* 自造 Time Plotting Clock, (5) 遠端遙控
* 自造 Time Plotting Clock, (4) 英文字母
* 自造 Time Plotting Clock, (3) 校正
* 自造 Time Plotting Clock, (2) 組裝
* 自造 Time Plotting Clock, (1) 零件採購

* 體驗, 原住民互動故事書@宜蘭大同鄉泰雅生活館
* 體驗, 蛋生音互動裝置@兒童美術館 (Arduino, 3D Printing, HC-SR04, Interactive)

* 實作, 電容感應音樂樹
* 實作, Arduino 聲納雷達 (HC-SR04, SG90)
* 豈止於大, 謝銠鈑的鋁罐燈 (Arduino, MAX7219, LED)

* 修理, 樂高馬達 8883 (LEGO 8883 Power Functions M-Motor)
* 修理, (part 2) 樂高馬達 8883 (LEGO 8883 Power Functions M-Motor)
* 修理, 液晶螢幕 (LCD)

於

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