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()
}
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()
}
