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index.js
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index.js
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var cv = require('opencv');
var fs = require('fs')
, path = require('path')
, async = require('async')
, Controller = require('node-pid-controller')
, events = require('events')
, EventEmitter = new events.EventEmitter()
;
var DT = 150; // time between faces detection
var client, io, lastPng;
var tracking = false;
var debug = true;
var processingImage = false;
var face_cascade = new cv.CascadeClassifier(path.join(__dirname,'node_modules','opencv','data','haarcascade_frontalface_alt2.xml'));
/**
* Controllers initialization.
*/
var ver_ctrl = new Controller(0.3, 0.01, 0.1)
, hor_ctrl = new Controller(0.4, 0.01, 0.1)
;
function log(string) {
if (debug) {
console.log(string);
}
}
var times = [];
function detectFaces() {
if(tracking && (!processingImage) && lastPng) {
processingImage = true;
async.waterfall([
function(cb) {
// 1. Stop the Drone before taking picture
client.stop();
setTimeout(function() { // wait the drone stabilization for a new image
EventEmitter.once('newPng', function() {
cb();
});
}, 200);
},
function(cb) {
// 2. Read picture (takes between 60 and 100 ms)
cv.readImage( lastPng, function(err, im) {
cb(err,im);
});
},
function(im, cb) {
// 3. Detect faces (takes between 200 and 250 ms)
var opts = {};
face_cascade.detectMultiScale(im, function(err, faces) {
cb(err, faces, im);
}, opts.scale, opts.neighbors
, opts.min && opts.min[0], opts.min && opts.min[1]);
},
function(faces, im, cb) {
// 4. Analyze faces
var face;
var biggestFace;
var dt = DT; // minimum time for the next detection
for(var k = 0; k < faces.length; k++) {
face = faces[k];
if( !biggestFace || biggestFace.width < face.width ) biggestFace = face;
}
if( biggestFace ) {
face = biggestFace;
io.sockets.emit('face', { x: face.x, y: face.y, w: face.width, h: face.height, iw: im.width(), ih: im.height() });
face.centerX = face.x + face.width * 0.5;
face.centerY = face.y + face.height * 0.5;
var centerX = im.width() * 0.5;
var centerY = im.height() * 0.5;
var heightAmount = -( face.centerY - centerY ) / centerY;
var turnAmount = -( face.centerX - centerX ) / centerX;
heightAmount = ver_ctrl.update(-heightAmount); // pid
turnAmount = hor_ctrl.update(-turnAmount); // pid
var lim = 0.1;
if( Math.abs( turnAmount ) > lim || Math.abs( heightAmount ) > lim ){
log( " turning " + turnAmount );
if (debug) io.sockets.emit('/message', 'turnAmount : ' + turnAmount);
if( turnAmount < 0 ) client.clockwise( Math.abs( turnAmount ) );
else client.counterClockwise( turnAmount );
log( " going vertical " + heightAmount );
if (debug) io.sockets.emit('/message', 'heightAmount : ' + heightAmount);
if( heightAmount < 0 ) client.down( Math.abs(heightAmount) );
else client.up( heightAmount );
}
else {
if (debug) io.sockets.emit('/message', 'pause!');
client.stop();
}
// to determine how much time the drone will move, we use the lower of the changes [-1,1], and multiply by a reference time.
dt = Math.min(Math.abs(turnAmount), Math.abs(heightAmount));
dt = dt * 2000;
}
processingImage = false;
cb(null, dt);
}
], function(err, dt) {
dt = Math.max(dt, DT);
setTimeout(detectFaces, dt);
});
} else {
if (tracking) setTimeout(detectFaces, DT);
};
};
function copterface(name, deps) {
debug = deps.debug || false;
io = deps.io;
io.sockets.on('connection', function (socket) {
socket.on('/copterface', function (cmd) {
console.log("copterface", cmd);
if (cmd == "toggle") {
client.stop(); // make sure to stop the helicopter if stop copterface
tracking = tracking ? false : true;
if (tracking) detectFaces();
}
});
});
client = deps.client;
client.createPngStream()
.on('error', console.log)
.on('data', function(pngBuffer) {
lastPng = pngBuffer;
EventEmitter.emit('newPng');
});
}
module.exports = copterface;