org.openimaj.demos.servotrack.SaliencyTrack Maven / Gradle / Ivy

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A project for various tests that don't quite constitute demos but might be useful to look at.
There is a newer version: 1.3.10
/**
 * Copyright (c) 2011, The University of Southampton and the individual contributors.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without modification,
 * are permitted provided that the following conditions are met:
 *
 *   * 	Redistributions of source code must retain the above copyright notice,
 * 	this list of conditions and the following disclaimer.
 *
 *   *	Redistributions in binary form must reproduce the above copyright notice,
 * 	this list of conditions and the following disclaimer in the documentation
 * 	and/or other materials provided with the distribution.
 *
 *   *	Neither the name of the University of Southampton nor the names of its
 * 	contributors may be used to endorse or promote products derived from this
 * 	software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
 * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
 * ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
package org.openimaj.demos.servotrack;

import org.openimaj.image.MBFImage;
import org.openimaj.image.colour.RGBColour;
import org.openimaj.image.pixel.FValuePixel;
import org.openimaj.image.saliency.AchantaSaliency;
import org.openimaj.math.geometry.point.Point2d;
import org.openimaj.math.geometry.point.Point2dImpl;
import org.openimaj.video.VideoDisplay;
import org.openimaj.video.VideoDisplayListener;
import org.openimaj.video.capture.VideoCapture;

public class SaliencyTrack {
	public static void main(String[] args) throws Exception {
		final VideoCapture capture = new VideoCapture(640, 480, VideoCapture.getVideoDevices().get(0));
		final PTServoController servos = new PTServoController("/dev/tty.usbmodemfa131");
		final Point2d frameCentre = new Point2dImpl(capture.getWidth() / 2, capture.getHeight() / 2);

		VideoDisplay.createVideoDisplay(capture).addVideoListener(new VideoDisplayListener() {
			AchantaSaliency sal = new AchantaSaliency();

			@Override
			public void beforeUpdate(MBFImage frame) {
				sal.analyseImage(frame);
				final FValuePixel pt = sal.getSaliencyMap().maxPixel();

				frame.internalAssign(new MBFImage(sal.getSaliencyMap(), sal.getSaliencyMap(), sal.getSaliencyMap()));
				frame.drawPoint(pt, RGBColour.RED, 5);

				final Point2d delta = pt.minus(frameCentre);

				final double damp = 0.03;

				if (delta.getX() < 0) {
					servos.changePanBy(-(int) (damp * delta.getX()));
				} else if (delta.getX() > 0) {
					servos.changePanBy(-(int) (damp * delta.getX()));
				}

				if (delta.getY() < 0) {
					servos.changeTiltBy((int) (damp * delta.getY()));
				} else if (delta.getY() > 0) {
					servos.changeTiltBy((int) (damp * delta.getY()));
				}
			}

			@Override
			public void afterUpdate(VideoDisplay display) {
				// do nothing
			}
		});

	}
}