func (self *HaarClassifierCascade) DetectObjects(image *IplImage, storage *MemStorage, scale float64, minNeighbors, flags int, minSize, maxSize Size) []*Rect {
c_storage := (*C.CvMemStorage)(storage)
c_self := (*C.CvHaarClassifierCascade)(self)
c_seq := C.cvHaarDetectObjects(
unsafe.Pointer(image),
c_self,
c_storage,
C.double(scale),
C.int(minNeighbors),
C.int(flags),
C.cvSize(C.int(minSize.Width), C.int(minSize.Height)),
C.cvSize(C.int(maxSize.Width), C.int(maxSize.Height)),
)
seq := (*Seq)(c_seq)
var arr []*Rect
var r Rect
seq.ForEach(reflect.TypeOf(r), func(obj interface{}) {
arr = append(arr, obj.(*Rect))
})
return arr
}
func dendriteCam(deltaE chan float32, config Configuration) {
camera := C.cvCaptureFromCAM(-1)
// Shutdown dendrite if no camera detected.
if camera == nil {
fmt.Printf("WARNING: No camera detected. Shutting down DendriteCam\n")
return
}
C.cvSetCaptureProperty(camera, C.CV_CAP_PROP_FRAME_WIDTH, 160)
C.cvSetCaptureProperty(camera, C.CV_CAP_PROP_FRAME_HEIGHT, 120)
// Capture original frame.
prev := C.cvCloneImage(C.cvQueryFrame(camera))
// Save out the first frame for debuging purposes.
file := C.CString("frame.png")
C.cvSaveImage(file, unsafe.Pointer(prev), nil)
C.free(unsafe.Pointer(file))
flow := C.cvCreateImage(C.cvSize(prev.width, prev.height), C.IPL_DEPTH_32F, 2)
prevG := C.cvCreateImage(C.cvSize(prev.width, prev.height), C.IPL_DEPTH_8U, 1)
nextG := C.cvCreateImage(C.cvSize(prev.width, prev.height), C.IPL_DEPTH_8U, 1)
C.cvConvertImage(unsafe.Pointer(prev), unsafe.Pointer(prevG), 0)
for {
C.cvGrabFrame(camera)
// Capture the new frame and convert it to grayscale.
next := C.cvCloneImage(C.cvQueryFrame(camera))
C.cvConvertImage(unsafe.Pointer(prev), unsafe.Pointer(prevG), 0)
C.cvConvertImage(unsafe.Pointer(next), unsafe.Pointer(nextG), 0)
C.cvCalcOpticalFlowFarneback(unsafe.Pointer(prevG), unsafe.Pointer(nextG), unsafe.Pointer(flow), 0.5, 2, 5, 2, 5, 1.1, 0)
deltaE <- float32(calcDeltaEnergy(flow, &config))
C.cvReleaseImage(&prev)
prev = next
}
// Never reached - but here in comments for completeness.
//C.cvReleaseImage(&prev)
//C.cvReleaseImage(&nextG)
//C.cvReleaseImage(&prevG)
//C.cvReleaseImage(&flow)
//C.cvReleaseCapture(&camera)
}
/* Allocates and initializes IplImage header */
func CreateImageHeader(w, h, depth, channels int) *IplImage {
hdr := C.cvCreateImageHeader(
C.cvSize(C.int(w), C.int(h)),
C.int(depth),
C.int(channels),
)
return (*IplImage)(hdr)
}
/* Inializes IplImage header */
func (img *IplImage) InitHeader(w, h, depth, channels, origin, align int) {
C.cvInitImageHeader(
(*C.IplImage)(img),
C.cvSize(C.int(w), C.int(h)),
C.int(depth),
C.int(channels),
C.int(origin),
C.int(align),
)
}
func detect(tarImg *C.IplImage) *C.CvSeq {
cvHCC := (*C.CvHaarClassifierCascade)(
C.cvLoad(C.CString("./config/haarcascade_frontalface_default.xml"),
(*C.CvMemStorage)(nil),
(*C.char)(nil),
(**C.char)(nil)))
cvMStr := C.cvCreateMemStorage(0)
return C.cvHaarDetectObjects(
unsafe.Pointer(tarImg),
cvHCC,
cvMStr,
1.11,
3,
0,
C.cvSize(0, 0),
C.cvSize(0, 0),
)
}
/* initialize video file writer */
func NewVideoWriter(filename string,
fourcc int, fps float32,
frame_width, frame_height,
is_color int) *VideoWriter {
size := C.cvSize(C.int(frame_width), C.int(frame_height))
filename_c := C.CString(filename)
defer C.free(unsafe.Pointer(filename_c))
rv := C.cvCreateVideoWriter(filename_c,
C.int(fourcc), C.double(fps), size, C.int(is_color),
)
return (*VideoWriter)(rv)
}
func main() {
fmt.Println("Hello World!")
text := C.CString("Hello World!")
defer C.free(unsafe.Pointer(text))
C.cvNamedWindow(text, 1)
img := unsafe.Pointer(C.cvCreateImage(C.cvSize(640, 480), C.IPL_DEPTH_8U, 1))
C.cvSet(img, C.cvScalar(0, 0, 0, 0), nil)
var font C.CvFont
C.cvInitFont(&font, C.CV_FONT_HERSHEY_SIMPLEX|C.CV_FONT_ITALIC,
1.0, 1.0, 0, 1, 8)
C.cvPutText(img, text, C.cvPoint(200, 400), &font,
C.cvScalar(255, 255, 0, 0))
C.cvShowImage(text, img)
C.cvWaitKey(0)
}
/* Creates IPL image (header and data) */
func CreateImage(w, h, depth, channels int) *IplImage {
size := C.cvSize(C.int(w), C.int(h))
img := C.cvCreateImage(size, C.int(depth), C.int(channels))
return (*IplImage)(img)
}
func (this *HaarCascade) DetectObjects(image *IplImage) []*Rect {
storage := C.cvCreateMemStorage(0)
seq := C.cvHaarDetectObjects(unsafe.Pointer(image), this.cascade, storage, 1.1, 3, C.CV_HAAR_DO_CANNY_PRUNING, C.cvSize(0, 0), C.cvSize(0, 0))
var faces []*Rect
for i := 0; i < (int)(seq.total); i++ {
rect := (*Rect)((*_Ctype_CvRect)(unsafe.Pointer(C.cvGetSeqElem(seq, C.int(i)))))
faces = append(faces, rect)
}
storage_c := (*C.CvMemStorage)(storage)
C.cvReleaseMemStorage(&storage_c)
return faces
}
func LoadHaarClassifierCascade(haar string) *HaarCascade {
haarCascade := new(HaarCascade)
haarCascade.cascade = C.cvLoadHaarClassifierCascade(C.CString(haar), C.cvSize(1, 1))
return haarCascade
}
func measure(deltaC chan Command, videoFile string, debug bool, config Configuration) {
camera, err := getVideoSource(videoFile)
if err != nil {
// No valid video source. Abort measuring.
log.Printf("ERROR: Unable to get video source")
log.Print(err)
return
}
defer C.cvReleaseCapture(&camera)
// Make sure we release the camera when the operating system crushes us.
c := make(chan os.Signal, 1)
signal.Notify(c, os.Interrupt)
go func() {
<-c
log.Printf("INFO: The OS shut down the scout.")
C.cvReleaseCapture(&camera)
return
}()
scene := initScene()
// Build the calibration frame from disk.
var calibrationFrame *C.IplImage
if _, err := os.Stat("calibrationFrame.jpg"); err == nil {
file := C.CString("calibrationFrame.jpg")
calibrationFrame = C.cvLoadImage(file, C.CV_LOAD_IMAGE_COLOR)
defer C.cvReleaseImage(&calibrationFrame)
C.free(unsafe.Pointer(file))
} else {
log.Printf("ERROR: Unable to measure, missing calibration frame")
log.Print(err)
return
}
// Create a frame to hold the foreground mask results.
mask := C.cvCreateImage(C.cvSize(calibrationFrame.width, calibrationFrame.height), C.IPL_DEPTH_8U, 1)
defer C.cvReleaseImage(&mask)
// Push the initial calibration frame into the MOG2 image subtractor.
C.initMOG2(C.int(config.MogHistoryLength), C.double(config.MogThreshold), C.int(config.MogDetectShadows))
C.applyMOG2(unsafe.Pointer(calibrationFrame), unsafe.Pointer(mask))
// Current frame counter.
frame := int64(0)
measuring := true
// Start monitoring from the camera.
for measuring && C.cvGrabFrame(camera) != 0 {
// See if there are any new commands on the deltaC channel.
select {
case c := <-deltaC:
switch {
case c == STOP_MEASURE:
log.Printf("INFO: Stopping measure")
measuring = false
}
default:
// Procceed with measuring.
}
// Subtract the calibration frame from the current frame.
nextFrame := C.cvRetrieveFrame(camera, 0)
C.applyMOG2(unsafe.Pointer(nextFrame), unsafe.Pointer(mask))
// Filter the foreground mask to clean up any noise or holes (morphological-closing).
C.cvSmooth(unsafe.Pointer(mask), unsafe.Pointer(mask), C.CV_GAUSSIAN, C.int(config.GaussianSmooth), 0, 0.0, 0.0)
C.cvThreshold(unsafe.Pointer(mask), unsafe.Pointer(mask), C.double(config.ForegroundThresh), 255, 0)
C.cvDilate(unsafe.Pointer(mask), unsafe.Pointer(mask), nil, C.int(config.DilationIterations))
// Detect contours in filtered foreground mask
storage := C.cvCreateMemStorage(0)
contours := C.cvCreateSeq(0, C.size_t(unsafe.Sizeof(C.CvSeq{})), C.size_t(unsafe.Sizeof(C.CvPoint{})), storage)
offset := C.cvPoint(C.int(0), C.int(0))
num := int(C.cvFindContours(unsafe.Pointer(mask), storage, &contours, C.int(unsafe.Sizeof(C.CvContour{})),
C.CV_RETR_LIST, C.CV_CHAIN_APPROX_SIMPLE, offset))
var detectedObjects []Waypoint
// Track each of the detected contours.
for contours != nil {
area := float64(C.cvContourArea(unsafe.Pointer(contours), C.cvSlice(0, 0x3fffffff), 0))
// Only track large objects.
if area > config.MinArea {
boundingBox := C.cvBoundingRect(unsafe.Pointer(contours), 0)
w := int(boundingBox.width / 2)
h := int(boundingBox.height / 2)
x := int(boundingBox.x) + w
y := int(boundingBox.y) + h
detectedObjects = append(detectedObjects, Waypoint{x, y, w, h, 0.0})
if debug {
// DEBUG -- Render contours and bounding boxes around detected objects.
pt1 := C.cvPoint(boundingBox.x, boundingBox.y)
pt2 := C.cvPoint(boundingBox.x+boundingBox.width, boundingBox.y+boundingBox.height)
C.cvDrawContours(unsafe.Pointer(nextFrame), contours, C.cvScalar(12.0, 212.0, 250.0, 255), C.cvScalar(0, 0, 0, 0), 2, 1, 8, offset)
C.cvRectangle(unsafe.Pointer(nextFrame), pt1, pt2, C.cvScalar(16.0, 8.0, 186.0, 255), C.int(5), C.int(8), C.int(0))
}
} else {
num--
}
contours = contours.h_next
}
scene.update(detectedObjects, debug, config)
C.cvClearMemStorage(storage)
C.cvReleaseMemStorage(&storage)
if debug {
var font C.CvFont
C.cvInitFont(&font, C.CV_FONT_HERSHEY_SIMPLEX, C.double(0.5), C.double(0.5), C.double(1.0), C.int(2), C.CV_AA)
txt := C.CString("Hello friend.")
C.cvPutText(unsafe.Pointer(nextFrame), txt, C.cvPoint(2, 2), &font, C.cvScalar(255.0, 255.0, 255.0, 255))
C.free(unsafe.Pointer(txt))
// DEBUG -- render current interaction path for detected objects.
for _, i := range scene.Interactions {
for _, w := range i.Path {
pt1 := C.cvPoint(C.int(w.XPixels), C.int(w.YPixels))
C.cvCircle(unsafe.Pointer(nextFrame), pt1, C.int(10), C.cvScalar(109.0, 46.0, 0.0, 255), C.int(2), C.int(8), C.int(0))
}
w := i.lastWaypoint()
txt := C.CString(fmt.Sprintf("%01d", i.SceneID))
C.cvPutText(unsafe.Pointer(nextFrame), txt, C.cvPoint(C.int(w.XPixels+10), C.int(w.YPixels+10)), &font, C.cvScalar(255.0, 255.0, 255.0, 255))
C.free(unsafe.Pointer(txt))
}
for _, i := range scene.idleInteractions {
w := i.lastWaypoint()
pt1 := C.cvPoint(C.int(w.XPixels-w.HalfWidthPixels+5), C.int(w.YPixels-w.HalfHeightPixels+5))
pt2 := C.cvPoint(C.int(w.XPixels+w.HalfWidthPixels-5), C.int(w.YPixels+w.HalfHeightPixels-5))
C.cvRectangle(unsafe.Pointer(nextFrame), pt1, pt2, C.cvScalar(16.0, 186.0, 8.0, 255), C.int(5), C.int(8), C.int(0))
txt := C.CString("i:" + fmt.Sprintf("%01d", i.SceneID))
C.cvPutText(unsafe.Pointer(nextFrame), txt, C.cvPoint(C.int(w.XPixels+10), C.int(w.YPixels+10)), &font, C.cvScalar(255.0, 255.0, 255.0, 255))
C.free(unsafe.Pointer(txt))
}
file := C.CString("f" + fmt.Sprintf("%03d", frame) + "-detected.png")
C.cvSaveImage(file, unsafe.Pointer(nextFrame), nil)
C.free(unsafe.Pointer(file))
frame++
}
}
log.Printf("INFO: Finished measure")
scene.close(debug, config)
}