std::shared_ptr<SupervisedController> ControllerFactory::createController(tue::Configuration& config, double dt) const
{
std::shared_ptr<SupervisedController> supervised_controller;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Get controller name and type
std::string name, type;
if (!config.value("name", name) | !config.value("type", type))
return supervised_controller;
config.setShortErrorContext(name);
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Create controller core from given type
std::map<std::string, t_controller_creator>::const_iterator it = controller_types_.find(type);
if (it == controller_types_.end())
{
config.addError("Unknown controller type: '" + type + "'");
return supervised_controller;
}
std::shared_ptr<Controller> c = it->second();
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Configure controller core
c->configure(config, dt);
c->setName(name);
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Wrap controller in supervised controller, and configure it
supervised_controller.reset(new SupervisedController);
supervised_controller->setController(c);
supervised_controller->configure(config, dt);
return supervised_controller;
}
void FaceDetector::configureClassification(tue::Configuration config)
{
// default values in case configure(...) is not called!
debug_mode_ = false;
classifier_front_scale_factor_ = 1.2;
classifier_front_min_neighbours_ = 3;
classif_front_min_size_ = cv::Size(20,20);
classifier_profile_scale_factor_= 1.2;
classifier_profile_min_neighbours_ = 3;
classif_profile_min_size_ = cv::Size(20,20);
debug_folder_ = "/tmp/face_detector/";
// load training files for frontal classifier
std::string cascade_front_files_path_;
if (config.value("cascade_front_files_path", cascade_front_files_path_))
{
if (!classifier_front_.load(cascade_front_files_path_))
config.addError("Unable to load front haar cascade files (" + cascade_front_files_path_ + ")");
}
// load training files for profile classifier
std::string cascade_profile_files_path_;
if (config.value("cascade_profile_front_path", cascade_profile_files_path_))
{
if (!classifier_profile_.load(cascade_profile_files_path_))
config.addError("Unable to load profile haar cascade files (" + cascade_profile_files_path_ + ")");
}
if (config.hasError())
return;
if (!config.value("debug_mode", debug_mode_, tue::OPTIONAL))
ed::log::info() << "Parameter 'debug_mode' not found. Using default: " << debug_mode_ << std::endl;
if (!config.value("debug_folder", debug_folder_, tue::OPTIONAL))
ed::log::info() << "Parameter 'debug_folder' not found. Using default: " << debug_folder_ << std::endl;
if (!config.value("classifier_front_scale_factor", classifier_front_scale_factor_, tue::OPTIONAL))
ed::log::info() << "Parameter 'classifier_front_scale_factor' not found. Using default: " << classifier_front_scale_factor_ << std::endl;
if (!config.value("classifier_front_min_neighbours", classifier_front_min_neighbours_, tue::OPTIONAL))
ed::log::info() << "Parameter 'classifier_front_min_neighbours' not found. Using default: " << classifier_front_min_neighbours_ << std::endl;
if (!config.value("classifier_profile_scale_factor", classifier_profile_scale_factor_, tue::OPTIONAL))
ed::log::info() << "Parameter 'classifier_profile_scale_factor' not found. Using default: " << classifier_profile_scale_factor_ << std::endl;
if (!config.value("classifier_profile_min_neighbours", classifier_profile_min_neighbours_, tue::OPTIONAL))
ed::log::info() << "Parameter 'classifier_profile_min_neighbours' not found. Using default: " << classifier_profile_min_neighbours_ << std::endl;
if (debug_mode_)
{
// clean the debug folder if debugging is active
try {
boost::filesystem::path dir(debug_folder_);
boost::filesystem::remove_all(dir);
boost::filesystem::create_directories(dir);
}
catch(const boost::filesystem::filesystem_error& e)
{
if(e.code() == boost::system::errc::permission_denied)
ed::log::error() << "boost::filesystem permission denied" << std::endl;
else
ed::log::error() << "boost::filesystem failed with error: " << e.code().message() << std::endl;
}
// create debug window
cv::namedWindow("Face Detector Output", CV_WINDOW_AUTOSIZE);
}
}