82 lines
2.0 KiB
Go
82 lines
2.0 KiB
Go
package main
|
|
|
|
import (
|
|
"fmt"
|
|
cv "github.com/hybridgroup/go-opencv/opencv"
|
|
"github.com/hybridgroup/gobot"
|
|
"github.com/hybridgroup/gobot/platforms/ardrone"
|
|
"github.com/hybridgroup/gobot/platforms/opencv"
|
|
"math"
|
|
"path"
|
|
"runtime"
|
|
"time"
|
|
)
|
|
|
|
func main() {
|
|
runtime.GOMAXPROCS(runtime.NumCPU())
|
|
|
|
gbot := gobot.NewGobot()
|
|
|
|
_, currentfile, _, _ := runtime.Caller(0)
|
|
cascade := path.Join(path.Dir(currentfile), "haarcascade_frontalface_alt.xml")
|
|
window := opencv.NewWindowDriver("window")
|
|
camera := opencv.NewCameraDriver("camera", "tcp://192.168.1.1:5555")
|
|
ardroneAdaptor := ardrone.NewArdroneAdaptor("Drone")
|
|
drone := ardrone.NewArdroneDriver(ardroneAdaptor, "drone")
|
|
|
|
work := func() {
|
|
detect := false
|
|
drone.TakeOff()
|
|
var image *cv.IplImage
|
|
gobot.On(camera.Event("frame"), func(data interface{}) {
|
|
image = data.(*cv.IplImage)
|
|
if detect == false {
|
|
window.ShowImage(image)
|
|
}
|
|
})
|
|
gobot.On(drone.Event("flying"), func(data interface{}) {
|
|
gobot.After(1*time.Second, func() { drone.Up(0.2) })
|
|
gobot.After(2*time.Second, func() { drone.Hover() })
|
|
gobot.After(5*time.Second, func() {
|
|
detect = true
|
|
gobot.Every(300*time.Millisecond, func() {
|
|
drone.Hover()
|
|
i := image
|
|
faces := opencv.DetectFaces(cascade, i)
|
|
biggest := 0
|
|
var face *cv.Rect
|
|
for _, f := range faces {
|
|
if f.Width() > biggest {
|
|
biggest = f.Width()
|
|
face = f
|
|
}
|
|
}
|
|
if face != nil {
|
|
opencv.DrawRectangles(i, []*cv.Rect{face}, 0, 255, 0, 5)
|
|
centerX := float64(image.Width()) * 0.5
|
|
turn := -(float64(face.X()) - centerX) / centerX
|
|
fmt.Println("turning:", turn)
|
|
if turn < 0 {
|
|
drone.Clockwise(math.Abs(turn * 0.4))
|
|
} else {
|
|
drone.CounterClockwise(math.Abs(turn * 0.4))
|
|
}
|
|
}
|
|
window.ShowImage(i)
|
|
})
|
|
gobot.After(20*time.Second, func() { drone.Land() })
|
|
})
|
|
})
|
|
}
|
|
|
|
robot := gobot.NewRobot("face",
|
|
[]gobot.Connection{ardroneAdaptor},
|
|
[]gobot.Device{window, camera, drone},
|
|
work,
|
|
)
|
|
|
|
gbot.AddRobot(robot)
|
|
|
|
gbot.Start()
|
|
}
|