func ProcessImage(img *opencv.IplImage, win *opencv.Window, pos int) error {
w := img.Width()
h := img.Height()
// Create the output image
cedge := opencv.CreateImage(w, h, opencv.IPL_DEPTH_8U, 3)
defer cedge.Release()
// Convert to grayscale
gray := opencv.CreateImage(w, h, opencv.IPL_DEPTH_8U, 1)
edge := opencv.CreateImage(w, h, opencv.IPL_DEPTH_8U, 1)
defer gray.Release()
defer edge.Release()
opencv.CvtColor(img, gray, opencv.CV_BGR2GRAY)
opencv.Smooth(gray, edge, opencv.CV_BLUR, 3, 3, 0, 0)
opencv.Not(gray, edge)
// Run the edge detector on grayscale
opencv.Canny(gray, edge, float64(pos), float64(pos*3), 3)
opencv.Zero(cedge)
// copy edge points
opencv.Copy(img, cedge, edge)
win.ShowImage(cedge)
return nil
}
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()
}