Script to experiment Q.bo's face tracking and following

Here I am again... the same script for Q.bo's improved face detection but now with an attempt to follow the (moving) face with his head! I've put in several alternatives and parameters to tweak and play with.

It is again a standalone script that allows testing purely vision and head movement of Q.bo but it requires a (beta) version of OpenQbo v3.0. But again, it is just detecting a face and trying to follow it. Apart from the nose that changes color once a face is detected, Q.bo is basically only trying to move his head to follow the (moving) face AND it will report so by displaying what direction his head needs to go to (left, right, up, down) when showing the detected face in the window!

This version uses again the same HAAR cascade frontal and profile face detection of the original Q.bo code and the cv2's CSRT tracker (although feel free to play around with the other trackers) when a face was detected for optimization.  But after a few seconds or so, it tries to redetect faces since there could be another face closer to Q.bo that might appear and would deserve/catch Q.bo's attention.

I had to resort to Python 3 in order to get the 'opencv-contrib-python' working which is required for tracking.

1. Connect to Q.bo using VNC
2. Copy the attached file Qbo_face_detect_and_track.py to the /home/pi/ directory
3. Press Ctrl+Alt+T to open a terminal
4. Enter

   sudo pkill python
   sudo pkill chromium

5. Enter

   sudo apt-get install libjasper-dev
   sudo apt-get install libqtgui4
   sudo apt-get install libqt4-test
   sudo pip3 install pyyaml
   sudo pip3 install imutils
   sudo pip3 install opencv-contrib-python

6. Enter

   python3 Qbo_face_detect_and_follow.py

A window appears named 'Video' showing what Q.bo actually realtime sees and where Q.bo detects and follows faces. A detected and followed face (each time only 1 face, the largest so closest to Q.bo) is surrounded by a green rectangle in the shown video window. Exit by pressing 'q'.

NOTE 1: PLEASE NOTE SINCE YOU WILL BE VIEWING EXACTLY WHAT Q.BO IS SEEING 'REALTIME', IT IS VERY SLOW! (1 FRAME PER SECOND OR SO) NORMALLY Q.BO DOESN'T HAVE TO DO ALL THAT EXTRA PROCESSING. IT IS JUST FUN TO SEE HOW Q.BO SEES/THINKS.

NOTE 2: AFTER A FEW MINUTES, I AM EXPERIENCING LOSS OF CONTROL OF THE UP/DOWN MOVEMENT OF THE HEAD. THIS IS DUE TO AN ERROR IN THE ARDUINO CODE (WHICH STILL NEEDS TO BE FIXED).