Monday, 20 May 2013

Head Tracking

Pi_face_tracking is working at last the head tracks the target smoothly and stays locked on. The logitech camera i install didn't work very well the frame rate was
was way to low (6fps) I replaced the camera with a PS3 eye cam now my frame rate is 30 I'm using the 75 deg field of view some of the parameters need tuning but it works. The pan servo was running backwards but swapping the min and max values around solved the problem, the pan servo keeps going of line there is a service call to restart the dynamixel controller which I need to look into.

Face Recognition also works with face tracking the face recognition program is at it uses actionlib I would like to get the name of the face recognised and send it to the AI program the name of the face is published as a rostopic /face_recognition/feedback