基于ROS实现人脸跟随（关键词：人脸跟随，ROS，OpenCV，arduino）

该测试欲达成目标是实现人脸跟随！

1 硬件

摄像头：1个;

USB数据线：1个；

舵机：1个；

Arduino控制板：1个。

此处应有图：

1.1 准备

这里需要使用usb-cam软件包：

$ cd ~/catkin_ws/src  
$ git clone https://github.com/bosch-ros-pkg/usb_cam.git  
$ cd ~/catkin_ws  
$ catkin_make  

 注意：下面的程序运行前，需要启动usb_cam节点。

roslaunch usb_cam usb_cam-test.launch

运行上面的节点，这时该节点会不断的发布/usb_cam/image_raw话题。如下图所示：

下面的程序将使用这个话题数据。

2 程序

2.1 人脸识别节点，发布一个话题"chatter",为人脸在图像的位置。

#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <std_msgs/Int16.h>
#include <opencv2/objdetect.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/core.hpp>

using namespace std;
using namespace cv;

CascadeClassifier face_cascade;

static const std::string OPENCV_WINDOW = "Raw Image window";


class Face_Detector
{
  ros::NodeHandle nh_;
  image_transport::ImageTransport it_;
  image_transport::Subscriber image_sub_;
  ros::Publisher chatter_pub;
  
public:
  Face_Detector()
    : it_(nh_)
  {
    // Subscribe to input video feed and publish output video feed
    image_sub_ = it_.subscribe("/usb_cam/image_raw", 1, 
      &Face_Detector::imageCb, this);
    chatter_pub = nh_.advertise<std_msgs::Int16>("chatter", 100);
    cv::namedWindow(OPENCV_WINDOW);

  }

  ~Face_Detector()
  {
    cv::destroyWindow(OPENCV_WINDOW);
  }

  void imageCb(const sensor_msgs::ImageConstPtr& msg)
  {

    cv_bridge::CvImagePtr cv_ptr;
    namespace enc = sensor_msgs::image_encodings;

    try
    {
      cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
    }
    catch (cv_bridge::Exception& e)
    {
      ROS_ERROR("cv_bridge exception: %s", e.what());
      return;
    }
    
    // Draw an example circle on the video stream
    if (cv_ptr->image.rows > 400 && cv_ptr->image.cols > 600){

	    detect_faces(cv_ptr->image);
       //chatter_pub.publish(position_x);
	  }
  }
  
 void detect_faces(cv::Mat img)
  {
    RNG rng( 0xFFFFFFFF );
    std_msgs::Int16 position_x;
    int data;
    int lineType = 8;
    Mat frame_gray;
    cvtColor( img, frame_gray, COLOR_BGR2GRAY );
    equalizeHist( frame_gray, frame_gray );
    //-- Detect faces
    std::vector<Rect> faces;
    face_cascade.detectMultiScale( frame_gray, faces );
    if (faces.size()>=1){
      size_t i = 0;
      Point center( faces[i].x + faces[i].width/2, faces[i].y + faces[i].height/2 );
      ellipse( img, center, Size( faces[i].width/2, faces[i].height/2 ), 0, 0, 360, Scalar( 255, 0, 255 ), 4 );    
      data = cvRound(faces[i].x + faces[i].width/2);
      position_x.data = data;
      chatter_pub.publish(position_x);
    }
    imshow(OPENCV_WINDOW,img);
    waitKey(3);

  }	
  
 
};



int main(int argc, char** argv)
{
  //从命令行读取必要的信息,注意路径
  CommandLineParser parser(argc, argv,
                             "{help h||}"
                             "{face_cascade|/home/junjun/projects/main2/haarcascade_frontalface_alt.xml|Path to face cascade.}");
    parser.about( "\nThis program demonstrates using the cv::CascadeClassifier class to detect objects (Face + eyes) in a video stream.\n"
                  "You can use Haar or LBP features.\n\n" );
    parser.printMessage();
    String face_cascade_name = parser.get<String>("face_cascade");

    //-- 1. Load the cascades
    if( !face_cascade.load( face_cascade_name ) )
    {
        cout << "--(!)Error loading face cascade\n";
        return -1;
    };

  ros::init(argc, argv, "Face_Detector");
  Face_Detector ic;
  ros::spin();
  return 0;
}

2.1.1 CMakeLists.txt文件

这个很重要，以后再写程序可以直接参考这个文件：

如果有不懂的可以参考ROS学习笔记15（ROS/CMakeLists.txt文件）：

https://blog.csdn.net/qq_27806947/article/details/82709620

cmake_minimum_required(VERSION 2.8.3)
project(cv_bridge_tutorial_pkg)

find_package(catkin REQUIRED COMPONENTS
  cv_bridge
  image_transport
  roscpp
  sensor_msgs
  std_msgs
  )

find_package( OpenCV REQUIRED )

catkin_package()

include_directories(
  ${catkin_INCLUDE_DIRS}
  ${OpenCV_INCLUDE_DIRS}
)

add_executable(sample_cv_bridge_node src/sample_cv_bridge_node.cpp)

target_link_libraries(sample_cv_bridge_node
   ${catkin_LIBRARIES}
   ${OpenCV_LIBRARIES}
 )

include_directories(${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS})

2.1.2 package.xml文件

不懂得也可以参考《ROS学习笔记6（package.xml》

https://blog.csdn.net/qq_27806947/article/details/82084707

<?xml version="1.0"?>
<package>
  <name>cv_bridge_tutorial_pkg</name>
  <version>0.0.0</version>
  <description>The cv_bridge_tutorial_pkg package</description>

  
  <maintainer email="junjunn@todo.todo">lentin</maintainer>


  <license>TODO</license>


  <buildtool_depend>catkin</buildtool_depend>
  <build_depend>cv_bridge</build_depend>
  <build_depend>image_transport</build_depend>
  <build_depend>roscpp</build_depend>
  <build_depend>sensor_msgs</build_depend>
  <build_depend>std_msgs</build_depend>
  <run_depend>cv_bridge</run_depend>
  <run_depend>image_transport</run_depend>
  <run_depend>roscpp</run_depend>
  <run_depend>sensor_msgs</run_depend>
  <run_depend>std_msgs</run_depend>

  
  <export>

  </export>
</package>

 2.2 人脸跟随的控制程序（arduino）

订阅话题"chatter"

#include <ros.h>
#include <std_msgs/Int16.h>
#include <Servo.h>
 
ros::NodeHandle nh;
Servo myservo;  
int servoPin=9;
int servo_step_distance = 5; //此外可以修改，太大容易超调，不容易稳定；太小，舵机不动；
int position_x = 90;
int screenmaxx = 640;
int center_offset = 80; 

int center_right = (screenmaxx / 2) - center_offset;
int center_left = (screenmaxx / 2) + center_offset;
 
void messageCb(std_msgs::Int16 servo_msg){
 
    digitalWrite(13,HIGH);
    int position = servo_msg.data;
    
    //当人脸位于左侧，舵机向左转。
    if (position > center_left){
        position_x -= servo_step_distance;
        if (position_x >= 10 and position_x <=170)
          myservo.write(position_x);
    }
    //当人脸位于右侧，舵机向右转。
    else if (position < center_right){
        position_x += servo_step_distance;
        if (position_x >= 10 and position_x <=170)
          myservo.write(position_x);
      }

    delay(1);
    digitalWrite(13,LOW);
}
 
ros::Subscriber<std_msgs::Int16> sub("chatter", &messageCb );
 
void setup()
{
  pinMode(13, OUTPUT);
  myservo.attach(servoPin);
  nh.initNode();
  nh.subscribe(sub);
  myservo.write(position_x);              // tell servo to go to position in variable 'pos'

}
 
void loop()
{
  nh.spinOnce();
  delay(1);
}

把程序烧入Arduino板子中。

3 运行

首先运行：roscore

然后：roslaunch usb_cam usb_cam-test.launch

然后：rosrun rosserial_python serial_node.py /dev/ttyACM0

最后：rosrun cv_bridge_tutorial_pkg sample_cv_bridge_node

应该放一个视频的，但貌似不支持，拍了一个小视频放到了抖音上！最后截一张图。