Attempts to find humans through OpenCV facedetect. Utilizes a pan / tilt kit and LKOptical track points to track human after detection.

So far you have to use Eclipse and change the FindHuman.java file in the service directory to set your Arduino pin and com port settings, etc. Then start it like you would any other MRL Service.

This java code sets everything up:

1.  // create services ==============================================
2. Runtime.createAndStart("runtime", "Runtime");
3. Arduino arduino = (Arduino) Runtime.createAndStart("arduino", "Arduino");
4. Speech speech = (Speech) Runtime.createAndStart("speech", "Speech");
5. Servopan = (Servo) Runtime.createAndStart("pan", "Servo");
6. Servo tilt = (Servo) Runtime.createAndStart("tilt", "Servo");
7. Twitter witter = (Twitter) Runtime.createAndStart("twitter", "
8. OpenCV opencv = (OpenCV) Runtime.create("opencv", "OpenCV");
9. PID xpid = (PID) Runtime.createAndStart("xpid", "PID");
10. PID ypid = (PID) Runtime.createAndStart("ypid", "PID");
11. Java java = (Java) Runtime.createAndStart("java", "Java");
12. Sphinx ear = (Sphinx) Runtime.createAndStart("sphinx", "Sphinx");
13.  
14. //xpid ==============================================
15. xpid.setMode(1);
16. xpid.setOutputRange(-1, 1);
17. xpid.setPID(7.0, 0.2, 0.5);
18. xpid.setControllerDirection(0);
19. xpid.setSetpoint(80);// #setpoint now is 80 instead of 160 because of 2
20.                                                       // PD filters
21.  
22. // ypid ==============================================
23. ypid.setMode(1);
24. ypid.setOutputRange(-1, 1);
25. ypid.setPID(7.0, 0.2, 0.5);
26. ypid.setControllerDirection(0);
27. ypid.setSetpoint(60); // set point is now 60 instead of 120 because of 2
28.                                                           // PD filters
29. xpid.invert();
30.  
31. //twitter ==============================================
32. // twitter.setSecurity("","","","");
33. twitter.configure();
34. // twitter.tweet("#myrobotlab is Awesome!")
35.  
36. // arduino ==============================================
37. arduino.setSerialDevice("/dev/ttyACM0", 57600, 8, 1, 0);
38.  
39. // opencv ==============================================
40. opencv.startService();
41. opencv.addFilter("Gray", "Gray");
42. // add enough pyramid down filters to get 160x120 resolution
43. // opencv.addFilter("PyramidDown1", "PyramidDown");
44. // opencv.addFilter("PyramidDown2", "PyramidDown");
45. opencv.addFilter("lk", "LKOpticalTrack");
46. opencv.addListener("publishOpenCVData", this.getName(), "input",
47. OpenCVData.class);
48. opencv.setCameraIndex(1);
49.  
50. // ear ============
51. ear.addCommand("find human", opencv.getName(), "capture");
52. ear.addCommand("kill all humans", this.getName(), "stopEverything");
53. ear.addCommand("happy fun", this.getName(), "tweetOn");
54.  ear.addCommand("two two four", this.getName(), "tweetOff");
55. ear.addCommand("talk to me", this.getName(), "speechOn");
56. ear.addCommand("no talking", this.getName(), "speechOff");
57. ear.addComfirmations("yes");
58. ear.addNegations("no");
59. ear.attach(speech);
60. ear.startListening();
61.  
62. // now get the servos working ============================
63. arduino.attach(pan.getName(), 14);
64. arduino.attach(tilt.getName(), 15);
65. pan.moveTo(90);
66. tilt.moveTo(90);
67. lights(0, 1, 0);

And then this method is where all the magic happens. The FaceDetect and LKOptical filters pump an OpenCVData object to this method for processing:

1.   public void input(OpenCVData opencvData) {...}