Based on the intraface tool, it allows to have a simple robotic head that changes its expression following its partner's one.
This requires to have installed intraface that are no longer available on their website (it was the version IntraFace (Live) v1.2 (7/19/2013) I think: http://humansensing.cs.cmu.edu/intraface/download_intra_live.html) It requires to have installed OpenCV 2.4.6 to. The complete installation guide could be found here: http://www.ozbotz.org/opencv-installation/ In a terminal, go to the intraface folder and then: "geany makefile" (geany or an other application) then, replace the code with the one I give you. If you install OpenCV somewhere other than /usr/local, please make corresponding changes in the Makefile. Save and quit. "cd src" here, paste the robot_s_head.cpp file. "cd ../" "make"
You just have to launch "./Robot_s_head" in the intraface folder, and then enjoy!
You have to install intraface, following these instructions http://humansensing.cs.cmu.edu/intraface/download_functions_cpp.html. Then, you can add the "DemoTracker_modified_OnlySomePointsDisplay.cpp" and launch it.
#Changes between files DemoTracker and "DemoTracker_modified_OnlySomePointsDisplay": First of all, the DemoTracker file allow to have two modes, one to read picture, and one to read our camera. In my programm I take into account camera's pictures. (#define REALTIME)
-
I create a new white frame, where will be the head robot Code: //initialize the frame with color cv::Mat frame2(frame.rows, frame.cols, CV_32FC3, cv::Scalar(255,255,255));
-
The detection points are defined in X0 matrix as following: a. X0[0]--> X0[9] : eyebrows (linked by lines) b. X0[10]--> X0[18] : noze (high part hidden) c. X0[19]--> X0[30] : eyes d. X0[31]--> X0[42] : external mouth (hidden) e. X0[43]--> X0[48] : internal mouth
-
I Create lines between the interesting points (for example 0 to 4 and 5 to 9 to draw eyebrows); Example : for (int i = 0; i < 9; i++) //eyebrows { if (i==4) continue; //between the two eyebrows P1 = cv::Point((int)(frame2.cols/2) - (int)X0.at(0,10) /to center the face with respect to its noze/ + (int)X0.at(0,i) , (int)(frame2.rows/2)-(int)X0.at(1,10)/to center the face/ + (int)X0.at(1,i) ); P2 = cv::Point((int)(frame2.cols/2) + (int)X0.at(0,i+1) - (int)X0.at(0,10), (int)(frame2.rows/2)+ (int)X0.at(1,i+1)-(int)X0.at(1,10) ); cv::line(frame2/picture we create/,P1/begin of the line/,P2/end of the line/ , cv::Scalar(0,0,0)/color/, 3/size/); }
-
I create a simple big point in the center of eye points
-
I add the possibility to blink sometimes Code: //Eyes creation if(count > 200) //blink { [...] cv::line(frame2,EL,P1, cv::Scalar(0,0,0), 3); cv::line(frame2,ER,P2, cv::Scalar(0,0,0), 3); if (count > 205) count=0; }else //no blink { [...] cv::circle(frame2/image/,EL/centre/, 10/radian/, cv::Scalar(0,0,0)/couleur/, -1); cv::circle(frame2/image/,ER/centre/, 10/radian/, cv::Scalar(0,0,0)/couleur/, -1); }
-
If the person is not recognized (i.e. if his head is not totally visible on the screen), the head robot doesn't change, Code: [...] if (faces.empty()) { //cv::imshow(winname,frame); // there is the change key = cv::waitKey(5); continue ; } /and I had this part/ if (score < notFace){ // detected face is not reliable isDetect = true; X=XPREVIOUS; // previous X values }