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首先看看face_tracker2.launch启动文件中的参数：（括号中的值表示默认值）
use_depth_for_tracking:(True) 如果你使用的是kienct，将此值设置为真则会丢弃那些离脸部太远的点。
min_keypoints:(20) 在我们添加新的关键点之前的最小关键点的数量。
abs_min_keypoints:(6) 在我们发现丢失了当前的人脸追踪并重新检测之前，关键点的绝对最低数量。
add_keypoint_distance:(10) 一个新的关键点和任意现有关键点之间的最小值（以像素点为单位）。
std_err_xy:(2.5) 标准误差（以像素为单位）用于判断关键点是否为异常值。
pct_err_z:(1.5) 深度阈值（以百分比表示）确定一个离开面部关键点何时被删除。
max_mse:(10000)在重新开始检测人脸开始，面部的当前特征值的最大的总均方差。
expand_roi:(1.02) 寻找新的关键点时，用于在每个循环中增加扩张系数。
add_keypoints_interval:(1)尝试添加新的关键点的频繁程度，为1 表示每一帧都添加。
drop_keypoints_interval:(1) 尝试删除新的关键点的频繁程度，为1 表示每一帧都删除。
首先确保你的kinect驱动或者uvc相机驱动能正常启动：（如果你使用的是kinect，请运行openni驱动）
roslaunch openni_launch openni.launch
如果你没有安装kinect深度相机驱动，请看我前面的博文。
然后运行下面的launch文件：
roslaunch rbx1_vision face_tracker2.launch
在视频窗口的最前端，在键盘上输入‘c’键。清除当前的关键点，强制重新检测检测面部。
这是我的运行结果:
rbx1/rbx1_vision/nodes/face_tracker2.py查看代码：
#!/usr/bin/env python """ face_tracker2.py - Version 1.1 2013-12-20 Combines the OpenCV Haar face detector with Good Features to Track and Lucas-Kanade optical flow tracking. Keypoints are added and dropped according to simple statisical clustering rules. Created for the Pi Robot Project: http://www.pirobot.org Copyright (c) 2012 Patrick Goebel. All rights reserved. This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 2 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details at: http://www.gnu.org/licenses/gpl.html """ import rospy import cv2 import cv2.cv as cv import numpy as np from math import isnan, isinf from rbx1_vision.face_detector import FaceDetector from rbx1_vision.lk_tracker import LKTracker class FaceTracker(FaceDetector, LKTracker): def __init__(self, node_name): super(FaceTracker, self).__init__(node_name) self.n_faces = rospy.get_param("~n_faces", 1) self.show_text = rospy.get_param("~show_text", True) self.show_add_drop = rospy.get_param("~show_add_drop", False) self.feature_size = rospy.get_param("~feature_size", 1) self.use_depth_for_tracking = rospy.get_param("~use_depth_for_tracking", False) self.min_keypoints = rospy.get_param("~min_keypoints", 20) self.abs_min_keypoints = rospy.get_param("~abs_min_keypoints", 6) self.std_err_xy = rospy.get_param("~std_err_xy", 2.5) self.pct_err_z = rospy.get_param("~pct_err_z", 0.42) self.max_mse = rospy.get_param("~max_mse", 10000) self.add_keypoint_distance = rospy.get_param("~add_keypoint_distance", 10) self.add_keypoints_interval = rospy.get_param("~add_keypoints_interval", 1) self.drop_keypoints_interval = rospy.get_param("~drop_keypoints_interval", 1) self.expand_roi_init = rospy.get_param("~expand_roi", 1.02) self.expand_roi = self.expand_roi_init self.face_tracking = True self.frame_index = 0 self.add_index = 0 self.drop_index = 0 self.keypoints = list() self.detect_box = None self.track_box = None self.grey = None self.prev_grey = None def process_image(self, cv_image): try: # Create a greyscale version of the image self.grey = cv2.cvtColor(cv_image, cv2.COLOR_BGR2GRAY) # Equalize the grey histogram to minimize lighting effects self.grey = cv2.equalizeHist(self.grey) # Step 1: Detect the face if we haven't already if self.detect_box is None: self.keypoints = list() self.track_box = None self.detect_box = self.detect_face(self.grey) else: # Step 2: If we aren't yet tracking keypoints, get them now if not self.track_box or not self.is_rect_nonzero(self.track_box): self.track_box = self.detect_box self.keypoints = self.get_keypoints(self.grey, self.track_box) # Store a copy of the current grey image used for LK tracking if self.prev_grey is None: self.prev_grey = self.grey # Step 3: If we have keypoints, track them using optical flow self.track_box = self.track_keypoints(self.grey, self.prev_grey) # Step 4: Drop keypoints that are too far from the main cluster if self.frame_index % self.drop_keypoints_interval == 0 and len(self.keypoints) > 0: ((cog_x, cog_y, cog_z), mse_xy, mse_z, score) = self.drop_keypoints(self.abs_min_keypoints, self.std_err_xy, self.max_mse) if score == -1: self.detect_box = None self.track_box = None return cv_image # Step 5: Add keypoints if the number is getting too low if self.frame_index % self.add_keypoints_interval == 0 and len(self.keypoints) < self.min_keypoints: self.expand_roi = self.expand_roi_init * self.expand_roi self.add_keypoints(self.track_box) else: self.frame_index += 1 self.expand_roi = self.expand_roi_init # Store a copy of the current grey image used for LK tracking self.prev_grey = self.grey # Process any special keyboard commands for this module if self.keystroke != -1: try: cc = chr(self.keystroke & 255).lower() print cc if cc == 'c': self.keypoints = [] self.track_box = None self.detect_box = None elif cc == 'd': self.show_add_drop = not self.show_add_drop except: pass except AttributeError: pass return cv_image def add_keypoints(self, track_box): # Look for any new keypoints around the current keypoints # Begin with a mask of all black pixels mask = np.zeros_like(self.grey) # Get the coordinates and dimensions of the current track box try: ((x,y), (w,h), a) = track_box except: try: x,y,w,h = track_box x = x + w / 2 y = y + h / 2 a = 0 except: rospy.loginfo("Track box has shrunk to zero...") return x = int(x) y = int(y) # Expand the track box to look for new keypoints w_new = int(self.expand_roi * w) h_new = int(self.expand_roi * h) pt1 = (x - int(w_new / 2), y - int(h_new / 2)) pt2 = (x + int(w_new / 2), y + int(h_new / 2)) mask_box = ((x, y), (w_new, h_new), a) # Display the expanded ROI with a yellow rectangle if self.show_add_drop: cv2.rectangle(self.marker_image, pt1, pt2, cv.RGB(255, 255, 0)) # Create a filled white ellipse within the track_box to define the ROI cv2.ellipse(mask, mask_box, cv.CV_RGB(255,255, 255), cv.CV_FILLED) if self.keypoints is not None: # Mask the current keypoints for x, y in [np.int32(p) for p in self.keypoints]: cv2.circle(mask, (x, y), 5, 0, -1) new_keypoints = cv2.goodFeaturesToTrack(self.grey, mask = mask, **self.gf_params) # Append new keypoints to the current list if they are not # too far from the current cluster if new_keypoints is not None: for x, y in np.float32(new_keypoints).reshape(-1, 2): distance = self.distance_to_cluster((x,y), self.keypoints) if distance > self.add_keypoint_distance: self.keypoints.append((x,y)) # Briefly display a blue disc where the new point is added if self.show_add_drop: cv2.circle(self.marker_image, (x, y), 3, (255, 255, 0, 0), cv.CV_FILLED, 2, 0) # Remove duplicate keypoints self.keypoints = list(set(self.keypoints)) def distance_to_cluster(self, test_point, cluster): min_distance = 10000 for point in cluster: if point == test_point: continue # Use L1 distance since it is faster than L2 distance = abs(test_point[0] - point[0]) + abs(test_point[1] - point[1]) if distance < min_distance: min_distance = distance return min_distance def drop_keypoints(self, min_keypoints, outlier_threshold, mse_threshold): sum_x = 0 sum_y = 0 sum_z = 0 sse = 0 keypoints_xy = self.keypoints keypoints_z = self.keypoints n_xy = len(self.keypoints) n_z = n_xy # if self.use_depth_for_tracking: # if self.depth_image is None: # return ((0, 0, 0), 0, 0, -1) # If there are no keypoints left to track, start over if n_xy == 0: return ((0, 0, 0), 0, 0, -1) # Compute the COG (center of gravity) of the cluster for point in self.keypoints: sum_x = sum_x + point[0] sum_y = sum_y + point[1] mean_x = sum_x / n_xy mean_y = sum_y / n_xy mean_z = 0 if self.use_depth_for_tracking and not self.depth_image is None: for point in self.keypoints: try: z = self.depth_image[point[1], point[0]] except: n_z = n_z - 1 continue if not isnan(z): sum_z = sum_z + z else: n_z = n_z - 1 continue try: mean_z = sum_z / n_z except: mean_z = -1 else: mean_z = -1 # Compute the x-y MSE (mean squared error) of the cluster in the camera plane for point in self.keypoints: sse = sse + (point[0] - mean_x) * (point[0] - mean_x) + (point[1] - mean_y) * (point[1] - mean_y) #sse = sse + abs((point[0] - mean_x)) + abs((point[1] - mean_y)) # Get the average over the number of feature points mse_xy = sse / n_xy # The MSE must be > 0 for any sensible feature cluster if mse_xy == 0 or mse_xy > mse_threshold: return ((0, 0, 0), 0, 0, -1) # Throw away the outliers based on the x-y variance max_err = 0 for point in self.keypoints: std_err = ((point[0] - mean_x) * (point[0] - mean_x) + (point[1] - mean_y) * (point[1] - mean_y)) / mse_xy if std_err > max_err: max_err = std_err if std_err > outlier_threshold: keypoints_xy.remove(point) if self.show_add_drop: # Briefly mark the removed points in red cv2.circle(self.marker_image, (point[0], point[1]), 3, (0, 0, 255), cv.CV_FILLED, 2, 0) try: keypoints_z.remove(point) n_z = n_z - 1 except: pass n_xy = n_xy - 1 # Now do the same for depth if self.use_depth_for_tracking and not self.depth_image is None: sse = 0 for point in keypoints_z: try: z = self.depth_image[point[1], point[0]] sse = sse + (z - mean_z) * (z - mean_z) except: n_z = n_z - 1 try: mse_z = sse / n_z except: mse_z = 0 # Throw away the outliers based on depth using percent error # rather than standard error since depth values can jump # dramatically at object boundaries for point in keypoints_z: try: z = self.depth_image[point[1], point[0]] except: continue try: pct_err = abs(z - mean_z) / mean_z if pct_err > self.pct_err_z: keypoints_xy.remove(point) if self.show_add_drop: # Briefly mark the removed points in red cv2.circle(self.marker_image, (point[0], point[1]), 2, (0, 0, 255), cv.CV_FILLED) except: pass else: mse_z = -1 self.keypoints = keypoints_xy # Consider a cluster bad if we have fewer than min_keypoints left if len(self.keypoints) < min_keypoints: score = -1 else: score = 1 return ((mean_x, mean_y, mean_z), mse_xy, mse_z, score) if __name__ == '__main__': try: node_name = "face_tracker" FaceTracker(node_name) rospy.spin() except KeyboardInterrupt: print "Shutting down face tracker node." cv.DestroyAllWindows()
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