Mathematica+Arduino 摄像头检测人脸并跟随

$ImagingDevice = $ImagingDevices[[2]];

dev = DeviceOpen["Serial", "COM3"]

Dynamic[
 i = CurrentImage[];
 boxes = FindFaces;
 If[boxes =!= {},
  {X, Y} = Round[Mean @@ boxes];
  Column@
   {
    HighlightImage[i, Circle[{X, Y}, 50], ImageSize -> {320, 240}], 
    DeviceWrite[dev, ToString[X]]
    },
  i]
 ]
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#include <Servo.h>

#define  servomaxx   180   // max degree servo horizontal (x) can turn
#define  screenmaxx   320   // max screen horizontal (x)resolution
#define  screenmaxy   240    // max screen vertical (y) resolution
#define  servocenterx   90  // center po#define  of x servo
#define  servopinx   9   // digital pin for servo x
#define  baudrate 9600  // com port speed. Must match your setting
#define distancex 2  // x servo rotation steps

int valx = 0;       // store x data from serial port
int posx = 0;
int incx = 10;  // significant increments of horizontal (x) camera movement

Servo servox;

void setup() {
  Serial.begin(baudrate);        // connect to the serial port
  Serial.setTimeout(20);
  Serial.println("Starting Cam-servo Face tracker");

  pinMode(servopinx, OUTPUT);   // declare the LED's pin as output

  servox.attach(servopinx);

  // center servos
  servox.write(servocenterx);
  delay(200);
}


void loop () {
  while (Serial.available() <= 0); // wait for incoming serial data
  if (Serial.available() >= 1)  
  {
    // get X axis 2-byte integer from serial
    valx = Serial.parseInt();

    // read last servos positions
    posx = servox.read();

    //Find out if the X component of the face is to the left of the middle of the screen.
    if (valx < (screenmaxx / 2 - incx)) {
      if ( posx >= incx ) posx += distancex; //Update the pan position variable to move the servo to the left.
    }
    //Find out if the X component of the face is to the right of the middle of the screen.
    else if (valx > screenmaxx / 2 + incx) {
      if (posx <= servomaxx - incx) posx -= distancex; //Update the pan position variable to move the servo to the right.
    }

    // Servos will rotate accordingly
    servox.write(posx);

  }
}
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