func main() {
	_, currentfile, _, _ := runtime.Caller(0)
	cascade := path.Join(path.Dir(currentfile), "haarcascade_frontalface_alt.xml")

	gbot := gobot.NewGobot()

	window := opencv.NewWindowDriver("window")
	camera := opencv.NewCameraDriver("camera", 0)

	work := func() {
		var image *cv.IplImage

		gobot.On(camera.Events["Frame"], func(data interface{}) {
			image = data.(*cv.IplImage)
		})

		gobot.Every(500*time.Millisecond, func() {
			if image != nil {
				i := image.Clone()
				faces := opencv.DetectFaces(cascade, i)
				i = opencv.DrawRectangles(i, faces, 0, 255, 0, 5)
				window.ShowImage(i)
			}

		})
	}

	gbot.Robots = append(gbot.Robots,
		gobot.NewRobot("faceBot", []gobot.Connection{}, []gobot.Device{window, camera}, work))

	gbot.Start()
}
func main() {
	gbot := gobot.NewGobot()

	window := opencv.NewWindowDriver("window")
	camera := opencv.NewCameraDriver("camera", 0)

	work := func() {
		gobot.On(camera.Events["Frame"], func(data interface{}) {
			window.ShowImage(data.(*cv.IplImage))
		})
	}

	gbot.Robots = append(gbot.Robots,
		gobot.NewRobot("cameraBot", []gobot.Connection{}, []gobot.Device{window, camera}, work))

	gbot.Start()
}
Exemple #3
0
func main() {
	gbot := gobot.NewGobot()

	window := opencv.NewWindowDriver("window")
	camera := opencv.NewCameraDriver("camera", 0)

	work := func() {
		gobot.On(camera.Event("frame"), func(data interface{}) {
			window.ShowImage(data.(*cv.IplImage))
		})
	}

	robot := gobot.NewRobot("cameraBot",
		[]gobot.Device{window, camera},
		work,
	)

	gbot.AddRobot(robot)

	gbot.Start()
}
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.Events["Frame"], func(data interface{}) {
			image = data.(*cv.IplImage)
			if detect == false {
				window.ShowImage(image)
			}
		})
		gobot.On(drone.Events["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() })
			})
		})
	}

	gbot.Robots = append(gbot.Robots,
		gobot.NewRobot("face", []gobot.Connection{ardroneAdaptor}, []gobot.Device{window, camera, drone}, work))

	gbot.Start()
}
func main() {
	gbot := gobot.NewGobot()

	window := opencv.NewWindowDriver("window")
	camera := opencv.NewCameraDriver("camera", 0)

	//e := edison.NewEdisonAdaptor("edison")
	//led1 := gpio.NewLedDriver(e, "led", "13")
	//firmataAdaptor := firmata.NewFirmataAdaptor("arduino", "/dev/ttyACM0")
	//led1 := gpio.NewLedDriver(firmataAdaptor, "led", "13")
	//motor := gpio.NewMotorDriver(firmataAdaptor, "motor", "4")
	//led2 := gpio.NewLedDriver(firmataAdaptor, "led", "10")
	//led3 := gpio.NewLedDriver(firmataAdaptor, "led", "9")

	_, currentfile, _, _ := runtime.Caller(0)
	work := func() {
		//speed := byte(0)
		//fadeAmount := byte(15)
		gobot.On(camera.Event("frame"), func(data interface{}) {
			cascade := cv.LoadHaarClassifierCascade(path.Join(path.Dir(currentfile), "haarcascade_frontalface_alt.xml"))
			nestedcascade := cv.LoadHaarClassifierCascade(path.Join(path.Dir(currentfile), "smiled_04.xml"))

			i := data.(*cv.IplImage)
			faces := cascade.DetectObjects(i)
			teeth := 0
			//flagcenter:= false
			for _, value := range faces {
				/*cv.Rectangle(i,
				cv.Point{value.X() + value.Width(), value.Y()},
				cv.Point{value.X(), value.Y() + value.Height()},
				cv.ScalarAll(255.0), 1, 0, 0)*/

				mouths := nestedcascade.DetectObjects(i)
				for _, value1 := range mouths {
					if float64(value1.Y()) > float64(value.Y())+float64(value.Height())*3/5 && float64(value1.Y())+float64(value1.Height()) < float64(value.Y())+float64(value.Height()) && math.Abs((float64(value1.X())+float64(value1.Width())/2)-(float64(value.X())+float64(value.Width())/2)) < float64(value.Width())/10 {

						cv.Rectangle(i,
							cv.Point{value1.X() + value1.Width(), value1.Y()},
							cv.Point{value1.X(), value1.Y() + value1.Height()},
							cv.ScalarAll(255.0), 1, 0, 0)
						teeth = teeth + 1
						//if value1.X()>240 && value1.Y()>240 && value1.Height()>50 && value1.Width()>100{ flagcenter=true }else{ flagcenter=false }
						fmt.Println(value1.X(), value1.Y(), value1.Height(), value1.Width())
					}
				}
				//if len(smiles) > 0 { fmt.Println("worked")}
			}
			window.ShowImage(i)
			if teeth > 0 {
				//led1.On()
				//motor.Speed(speed)
				//speed = speed + fadeAmount
				//if speed == 0 || speed == 255 {
				//	fadeAmount = -fadeAmount
				//}
				fmt.Println("good")
				//led2.On()
				//led3.On()
				/*f := faces[0]
				w := f.Width()
				fmt.Println(w)
				switch {
				case w < 250:
					fmt.Println("*")
					led2.On()
					led3.Off()
					//red3.Off()
					//red4.Off()
					//red5.Off()
				case w > 250 && w < 350:
					fmt.Println("**")
					led2.Off()
					led3.On()
					//red3.Off()
					//red4.Off()
					//red5.Off()
				case w > 350 && w < 400:
					fmt.Println("***")
					led2.On()
					led3.On()
					//red3.On()
					//red4.Off()
					//red5.Off()
				case w > 400 && w < 450:
					fmt.Println("****")
					led2.On()
					led3.On()
					//red3.On()
					//red4.On()
					//red5.Off()
				case w > 450:
					fmt.Println("*****")
					led2.Off()
					led3.Off()
					//red3.On()
					//red4.On()
					//red5.On()
				}*/
			} else {
				//led1.Off()
				//speed = byte(0)
				//fadeAmount := byte(15)
				fmt.Println("smile please")
				//led2.Off()
				//led3.Off()
				//red3.Off()
				//red4.Off()
				//red5.Off()
			}

		})

	}

	/*work1 := func() {
	        gobot.Every(1*time.Second, func() {

	        })
	}*/

	robot := gobot.NewRobot("cameraBot",
		//[]gobot.Connection{firmataAdaptor},
		[]gobot.Device{window, camera},
		work,
	)

	/*robot1 := gobot.NewRobot("ledBot",
	        []gobot.Device{window,camera,led1},
	        work,
	)*/

	gbot.AddRobot(robot)
	//gbot.AddRobot(robot1)

	gbot.Start()

}