드론
드론 관련
- Raspberry Pi
- flight controller + Ardupilot
- Camera module
Connection between RPi and PC through UDP
Face detection, object recognition, flight planning on server PC
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UDP connection
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Face detection on server PC using face_recognition
import numpy as np
import cv2
import face_recognition
while(True):
#incoming RPi camera stream as PiRGBArray
screen = "PiRGBArray"
#face location on screen, format is: (top, right, bottom, left)
face_locations = face_recognition.face_locations(screen)
#center of faces, draws a dot on them
center_all = []
for faces in face_locations:
center_face = (int(round(faces[1]+faces[3])/2), int(round(faces[2]+faces[0])/2))
center_all.append(center_face)
screen = cv2.circle(screen, center_face, 5, (0,0,255), -1)
#if more than one face, draws a dot on the center (mean) of them
if len(center_all) >= 1:
center_all = tuple(map(lambda x: int(round(sum(x)/len(x))), zip(*center_all)))
screen = cv2.circle(screen, center_all, 5, (255,0,0), -1)
cv2.imshow('window')
if cv2.waitKey(25) & 0xFF == ord('q'):
cv2.destroyAllWindows()
print(center_all)
break