新建一个名为face_tracking_camera的C++项目，编辑face_tracking_camera.pro文件，加入OpenCV和c_enviroment的源文件、头文件和类库路径，我这里OpenCV安装在/usr/local/，c_enviroment安装在/home/Ubuntu/c_enviroment/ SOURCES += \
/home/ubuntu/c_enviroment/hardware/arduino/cores/arduino/main.cpp \
/home/ubuntu/c_enviroment/hardware/arduino/cores/arduino/platform.c \
/home/ubuntu/c_enviroment/hardware/arduino/cores/arduino/Print.cpp \
/home/ubuntu/c_enviroment/hardware/arduino/cores/arduino/Stream.cpp \
/home/ubuntu/c_enviroment/hardware/arduino/cores/arduino/Tone.cpp \
/home/ubuntu/c_enviroment/hardware/arduino/cores/arduino/WInterrupts.c \
/home/ubuntu/c_enviroment/hardware/arduino/cores/arduino/wiring.c \
/home/ubuntu/c_enviroment/hardware/arduino/cores/arduino/wiring_analog.c \
/home/ubuntu/c_enviroment/hardware/arduino/cores/arduino/wiring_digital.c \
/home/ubuntu/c_enviroment/hardware/arduino/cores/arduino/wiring_pulse.c \
/home/ubuntu/c_enviroment/hardware/arduino/cores/arduino/wiring_shift.c \
/home/ubuntu/c_enviroment/hardware/arduino/cores/arduino/WMath.cpp \
/home/ubuntu/c_enviroment/hardware/arduino/cores/arduino/WString.cpp \
/home/ubuntu/c_enviroment/hardware/arduino/cores/arduino/Serial.cpp \
/home/ubuntu/c_enviroment/libraries/Wire/Wire.cpp \
/home/ubuntu/c_enviroment/libraries/SPI/SPI.cpp \
/home/ubuntu/c_enviroment/libraries/LiquidCrystal/Dyrobot_MCP23008.cpp \
/home/ubuntu/c_enviroment/libraries/LiquidCrystal/LiquidCrystal.cpp \
/home/ubuntu/c_enviroment/libraries/PN532_SPI/PN532.cpp \
httpget.cpp
INCLUDEPATH += /usr/local/include/opencv \
/usr/local/include/opencv2 \
/home/ubuntu/c_enviroment/hardware/arduino/cores/arduino \
/home/ubuntu/c_enviroment/hardware/arduino/variants/sunxi \
/home/ubuntu/c_enviroment/libraries \
/home/ubuntu/c_enviroment/libraries/Serial \
/home/ubuntu/c_enviroment/libraries/SPI \
/home/ubuntu/c_enviroment/libraries/Wire \
/home/ubuntu/c_enviroment/libraries/LiquidCrystal \
/home/ubuntu/c_enviroment/libraries/PN532_SPI
LIBS += /home/ubuntu/c_enviroment/libarduino.a \
/usr/local/lib/libopencv_calib3d.so \
/usr/local/lib/libopencv_contrib.so \
/usr/local/lib/libopencv_core.so \
/usr/local/lib/libopencv_features2d.so \
/usr/local/lib/libopencv_flann.so \
/usr/local/lib/libopencv_gpu.so \
/usr/local/lib/libopencv_highgui.so \
/usr/local/lib/libopencv_legacy.so \
/usr/local/lib/libopencv_ml.so \
/usr/local/lib/libopencv_objdetect.so \
/usr/local/lib/libopencv_photo.so \
/usr/local/lib/libopencv_stitching.so \
/usr/local/lib/libopencv_superres.so \
/usr/local/lib/libopencv_nonfree.so \
/usr/local/lib/libopencv_ts.so \
/usr/local/lib/libopencv_videostab.so \
/usr/local/lib/libopencv_video.so \
/usr/local/lib/libopencv_imgproc.so \
/usr/local/lib/libopencv_calib3d.so.2.4 \
/usr/local/lib/libopencv_contrib.so.2.4 \
/usr/local/lib/libopencv_core.so.2.4 \
/usr/local/lib/libopencv_features2d.so.2.4 \
/usr/local/lib/libopencv_flann.so.2.4 \
/usr/local/lib/libopencv_gpu.so.2.4 \
/usr/local/lib/libopencv_highgui.so.2.4 \
/usr/local/lib/libopencv_legacy.so.2.4 \
/usr/local/lib/libopencv_ml.so.2.4 \
/usr/local/lib/libopencv_objdetect.so.2.4 \
/usr/local/lib/libopencv_photo.so.2.4 \
/usr/local/lib/libopencv_stitching.so.2.4 \
/usr/local/lib/libopencv_superres.so.2.4 \
/usr/local/lib/libopencv_nonfree.so.2.4 \
/usr/local/lib/libopencv_ts.so.2.4 \
/usr/local/lib/libopencv_videostab.so.2.4 \
/usr/local/lib/libopencv_video.so.2.4 \
/usr/local/lib/libopencv_imgproc.so.2.4 \
/usr/local/lib/libopencv_calib3d.so.2.4.6 \
/usr/local/lib/libopencv_contrib.so.2.4.6 \
/usr/local/lib/libopencv_core.so.2.4.6 \
/usr/local/lib/libopencv_features2d.so.2.4.6 \
/usr/local/lib/libopencv_flann.so.2.4.6 \
/usr/local/lib/libopencv_gpu.so.2.4.6 \
/usr/local/lib/libopencv_highgui.so.2.4.6 \
/usr/local/lib/libopencv_legacy.so.2.4.6 \
/usr/local/lib/libopencv_ml.so.2.4.6 \
/usr/local/lib/libopencv_objdetect.so.2.4.6 \
/usr/local/lib/libopencv_photo.so.2.4.6 \
/usr/local/lib/libopencv_stitching.so.2.4.6 \
/usr/local/lib/libopencv_superres.so.2.4.6 \
/usr/local/lib/libopencv_nonfree.so.2.4.6 \
/usr/local/lib/libopencv_ts.so.2.4.6 \
/usr/local/lib/libopencv_videostab.so.2.4.6 \
/usr/local/lib/libopencv_video.so.2.4.6 \
/usr/local/lib/libopencv_imgproc.so.2.4.6 <br><br>到这里，环境就全部搭好了，开始写代码吧：#include <iostream>
#include <opencv2/opencv.hpp>
#include <Arduino.h>
#include <wiring_private.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <assert.h>
#include <math.h>
#include <float.h>
#include <limits.h>
#include <time.h>
#include <ctype.h>
#include <sys/time.h>
#include <signal.h>
//用于人脸识别的分类器特征库文件路径
const char* cascade_name = "/usr/local/share/OpenCV/haarcascades/haarcascade_frontalface_alt.xml";
//定义了X轴（横向摆动），Y轴（纵向摆动）舵机的中心点
static int centerlevelX = 110;
static int centerlevelY = 60;
//定义了舵机的频率
const int frequncy = 260;
//用一个整数存储目前舵机摆动方向
static int turningRight = 1;
//函数的签名列表
void detect_and_draw( IplImage* image );
void start_pulse(int pwm_id,int freq,int value);
void sigroutine(int dunno);
void reset();
long getCurrentTime();
long startTime;
long endTime;
//led指示灯pin脚
int pin_led = 3;
//为OpenCV申请一块用于计算的内存
static CvMemStorage* storage = 0;
//定义一个haar分类器
static CvHaarClassifierCascade* cascade = 0;
void setup(){
//定义指示灯针脚为输出
pinMode(pin_led,OUTPUT);
//复位云台舵机
reset();
//监听中断信号
signal(SIGINT,sigroutine);
//建立一个名为result的窗口
cvNamedWindow( "result", 1 );
//打开摄像头
CvCapture* capture = cvCaptureFromCAM(-1);
//定义图像类
IplImage *img;
IplImage *newImg;
//加载分类器
cascade = (CvHaarClassifierCascade*)cvLoad( cascade_name, 0, 0, 0 );
//检查分类器加载异常
if( !cascade ){
fprintf( stderr, "ERROR: Could not load classifier cascade\n" );
}
//定位内存块
storage = cvCreateMemStorage(0);
while(1) {
//由于pcduino的计算能力有限，为了保证帧率，把从摄像头采集来的画面缩小1/2
newImg = cvQueryFrame( capture );
if( !newImg ) break;
img = cvCreateImage(cvSize(newImg->width/2, newImg->height/2), newImg->depth, newImg->nChannels);
cvResize(newImg, img);
//翻转图像
cvFlip(img, img, 1);
//调用识别和绘制图像的函数
detect_and_draw(img);
//释放图像使用的内存
cvReleaseImage(&img);
//监听esc键
int c = cvWaitKey(33);
if( c == 27 ) break;
}
//释放摄像头
cvReleaseCapture( &capture );
//销毁窗口
cvDestroyWindow("result");
}
void detect_and_draw( IplImage* img ){
startTime = getCurrentTime();
//清空使用过的内存空间
cvClearMemStorage( storage );
int scale = 1;
int i;
//定义一个中心点存储识别出来的人脸位置
CvPoint ptcenter;
//人脸识别
if( cascade ){
//如果监测到多张脸，逐一绘制
CvSeq* faces = cvHaarDetectObjects( img, cascade, storage,
1.1, 2, CV_HAAR_DO_CANNY_PRUNING,
cvSize(80, 80));
//如果监测到多张脸，遍历取出
for( i = 0; i < (faces ? faces->total : 0); i++ ){
//创建人脸矩形
CvRect* r = (CvRect*)cvGetSeqElem( faces, i );
//换算出人脸矩形的中心点
ptcenter.x = (r->x+(r->width/2))*scale;
ptcenter.y = (r->y+(r->height/2))*scale;
//绘制一个圆形标识出人脸的位置
cvCircle(img, ptcenter, (r->width+r->height)/4, CV_RGB(255,0,0), 3, 8, 0 );
}
}
//显示图像
cvShowImage( "result", img );
//计算帧率
endTime = getCurrentTime();
long time = endTime-startTime;
int framerate = 1000/time;
//检查中心点是否为空
if(ptcenter.x && ptcenter.y){
//std::cout<<"center_point:("<<ptcenter.x<<","<<ptcenter.y<<")\tframe_rate:"<<framerate<<"\n"<<std::endl;
//std::cout<<"x:"<<(ptcenter.x-img->width/2)<<"\ty:"<<(ptcenter.y-img->height/2)<<std::endl;
//向led指示灯引脚输出低电平，熄灭指示灯
digitalWrite(pin_led,LOW);
//驱动摄像头移动到人脸中心位置
centerlevelX += (ptcenter.x-img->width/2)/110*2;
if(centerlevelX <= 170 && centerlevelX >= 50)start_pulse(6,frequncy,centerlevelX);
centerlevelY -= (ptcenter.y-img->height/2)/70;
if(centerlevelY <= 90 && centerlevelY >= 45)start_pulse(5,frequncy,centerlevelY);
//显示修正的X和Y轴幅度和帧率
std::cout<<"X:"<<centerlevelX<<"\tY:"<<centerlevelY<<"\tFrameRate:"<<framerate<<std::endl;
}else{
printf("no face is detected in the image\n");
//指示灯亮起
digitalWrite(pin_led,HIGH);
//如果没有检测到人脸则左右摇摆摄像头
if(centerlevelX <= 170 && turningRight == 1){
start_pulse(6,frequncy,centerlevelX+=2);
if(centerlevelX > 170)turningRight = 0;
//std::cout<<centerlevelX<<std::endl;
}
if(centerlevelX >= 50 && turningRight == 0){
start_pulse(6,frequncy,centerlevelX-=2);
if(centerlevelX < 50)turningRight =1;
//std::cout<<centerlevelX<<std::endl;
}
}
//防止摄像头下移过度
if(centerlevelY < 45) centerlevelY = 45;
}
//复位函数，调整舵机X、Y轴到中心位置
void reset(){
delay(50);
start_pulse(5,frequncy,60);
start_pulse(6,frequncy,110);
delay(50);
}
long getCurrentTime(){
struct timeval tv;
gettimeofday(&tv,NULL);
long time = tv.tv_sec * 1000 + tv.tv_usec / 1000;
return time;
}
//舵机驱动函数
void start_pulse(int pwm_id,int freq,int value){
int step = 0;
step = pwmfreq_set(pwm_id, freq);
//printf("PWM%d set freq %d and valid duty cycle range [0, %d]\n", pwm_id, freq, step);
if (step > 0){
//printf("PWM%d test with duty cycle %d\n", pwm_id, value);
analogWrite(pwm_id, value);
delay(50);
}
}
//signal监听函数，监听中断信号，做一些状态复位工作
void sigroutine(int dunno) {
switch (dunno) {
case 2:
printf("Get a signal -- SIGINT \n");
reset();
analogWrite(6,0);
analogWrite(5,0);
digitalWrite(pin_led,LOW);
exit(0);
break;
}
}
void loop(){}