int teste()
{
int i, c;
IplImage *src_img = 0, *src_gray = 0;
const char *cascade_name = "/opt/local/share/opencv/haarcascades/haarcascade_frontalface_default.xml";
CvHaarClassifierCascade *cascade = 0;
CvMemStorage *storage = 0;
CvSeq *faces;
cascade = (CvHaarClassifierCascade *)cvLoad(cascade_name, 0, 0, 0);
cvNamedWindow("Capture", CV_WINDOW_AUTOSIZE);
CvCapture *capture = cvCreateCameraCapture(0);
assert(capture != NULL);
while (1) {
src_img = cvQueryFrame(capture);
src_gray = cvCreateImage(cvGetSize(src_img), IPL_DEPTH_8U, 1);
storage = cvCreateMemStorage(0);
cvClearMemStorage(storage);
cvCvtColor(src_img, src_gray, CV_BGR2GRAY);
cvEqualizeHist(src_gray, src_gray);
faces = cvHaarDetectObjects(src_gray, cascade, storage,
1.11, 4, 0, cvSize(40, 40));
for (i = 0; i < (faces ? faces->total : 0); i++) {
CvRect *r = (CvRect *)cvGetSeqElem(faces, i);
doMosaic(src_img, r->x, r->y, r->width, r->height, 20);
}
cvShowImage("Capture", src_img);
cvReleaseImage(&src_gray);
c = cvWaitKey(2);
if (c == '\x1b')
break;
}
cvReleaseCapture(&capture);
cvDestroyWindow("Capture");
return 0;
}
C_RESULT display_stage_transform (display_stage_cfg_t *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out)
{
if(count > 1)
{
temp_x = cur_x;
temp_y = cur_y;
}
int i = 0;
const char *cascade_name = "/usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml";
CvHaarClassifierCascade *cascade = 0;
CvMemStorage *storage = 0;
CvSeq *faces;
cascade = (CvHaarClassifierCascade *) cvLoad (cascade_name, 0, 0, 0);
if(!cascade)
{
printf("Could not load cascade.\n");
return -1;
}
uint32_t width = 0, height = 0;
getPicSizeFromBufferSize (in->size, &width, &height);
//Obtain image from ARDrone and convert it to OpenCV format.
IplImage *img = ipl_image_from_data((uint8_t*)in->buffers[0], 1, 640, 360);
storage = cvCreateMemStorage (0);
cvClearMemStorage (storage);
//DetectFaces
faces = cvHaarDetectObjects (img, cascade, storage, 1.11, 4, 0, cvSize(30, 30), cvSize (0, 0));
for (i = 0; i < (faces ? faces->total : 0); i++)
{
CvRect *r = (CvRect *) cvGetSeqElem (faces, i);
doMosaic(img, r->x, r->y, r->width, r->height, 10);
cur_x = r->x;
cur_y = r->y;
//printf("In the loop.\n");
count++; //increases count when detect faces
}
if(count > 2)
{
printf("prev_x = %d, prev_y = %d, cur_x = %d, cur_y = %d\n", temp_x, temp_y, cur_x, cur_y);
if(cur_x - temp_x > 3)
{
//printf("Move Right.\n");
ardrone_at_set_progress_cmd( 1, 1.0, 0.0, 0.0, 0.0 );
}
if(cur_x - temp_x < -3)
{
//printf("Move Left.\n");
ardrone_at_set_progress_cmd( 1, -1.0, 0.0, 0.0, 0.0 );
}
if(cur_y - temp_y > 3)
{
//printf("Move Down.\n");
ardrone_at_set_progress_cmd( 1, 0.0, 0.0, -1.0, 0.0 );
}
if(cur_y - temp_y < -5)
{
//printf("Move Up.\n");
//ardrone_at_reset_com_watchdog();
ardrone_tool_set_progressive_cmd( 1, 0.0, 0.0, 0.3, 0.0 );
//vp_os_delay(1000);
}
}
//emergency++;p
if(count > 50)
{
printf("Exit\n");
ardrone_tool_set_ui_pad_start(0);
return -1;
}
cvNamedWindow("FaceDetect", CV_WINDOW_AUTOSIZE);
cvShowImage("FaceDetect", img);
cvWaitKey(1);
cvReleaseImage(&img);
return C_OK;
}
