Centering Camera on Object
To center the camera on the face a simple algorithm was used. After calculating the coordinates of the face tekkotsu would take the difference between the current center of the image and the location of the face. Then I would retrieve the current pan and tilt values of the head of the camera. Based on the magnitude of the difference between the current center of the face and the center of the image the Chiara used a HeadPointerMC to move the head of the robot to the center of the image.