Modules

Face-detection

Face Detection

Description

Do face detection using openCV library.

Dependancies

This uobject requires openCV computer vision library.

Use in urbiscript

  var face = new FaceDetection("camera.val", "path_to_some_opencv_detector.xml")

  face.number; // number of visible faces
  face.visible; // if someone is visible
  face.area;
  face.x; // position in x of the face center
  face.y; // position in y of the face center
  face.ray;

Example of use

  • With Aldebaran NAO:

Makes the NAO follow some pink/orange object with the head:

Launch the FaceDetection UObject remotely on the NAO: 

  urbi-launch -r colormap.so -- -H <ip_of_nao> -p 54000

or install it on the NAO and do from urbi 

  loadLibrary("colormap.so")

Then connect with netcat or any telnet-like tool to the NAO and type: 

  var detector = "/usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml";
  var Global.face = FaceDetection.new ("camera.val", detector);
  var Global.speed = 0.2;

  t:whenever (face.visible)
  {
    // Move the head toward the face
    headYaw.val  = headYaw.val  + speed * camera.xfov * face.x &
    headPitch.val = headPitch.val - speed * camera.yfov * face.y
  },

  // Activate head motors and camera.
  camera.load = headPitch.load = headYaw.load = 1;

  // Decrease camera refresh rate
  camera.rate = 1;

  // Activate the tracking
  // There are two mode for this uobject: auto update at camera rate, do:
  face.load = 1;

  // Or do yourself the update, in this case do:
  // face.load = 0
  // u: every (1s) face.setImage (camera.val),

Replace "/usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml" by the path to this openCV detector on your computer.

Options: