Brain::Brain(WebCamWrapper& webcam):m_webcam(webcam),m_faceTracker(m_webcam)
{
m_faceTracker.moveToThread(&facedetectorThread);
QObject::connect(this, SIGNAL(triggerFaceDetection(cv::Mat)),
&m_faceTracker, SLOT(detectFaces(cv::Mat)));
QObject::connect(&m_faceTracker, SIGNAL(faceDetection(vector<cv::Rect_<int> >,vector<string>,std::vector<cv::Point>)),
this, SLOT(onFacesDetection(vector<cv::Rect_<int> >,vector<string>,std::vector<cv::Point>)));
speech.moveToThread(&soundThread);
QObject::connect(this, SIGNAL(say(std::string)),&speech, SLOT(onSay(std::string)));
synthesizeSound();
}
void Main::process()
{
if(autoFaceDetection && !face_cascade.load(face_cascade_path))
{
ROS_FATAL("--(!)Error loading cascade detector\n");
return;
}
while (ros::ok())
{
switch (state)
{
case INIT:
ROS_INFO("INIT");
if(newImageReceived())
{
if(showOutput)
sendTrackedObject(0, 0, 0, 0, 0.0);
getLastImageFromBuffer();
tld->detectorCascade->imgWidth = gray.cols;
tld->detectorCascade->imgHeight = gray.rows;
tld->detectorCascade->imgWidthStep = gray.step;
geometry_msgs::Point p;
tld->detectorEnabled = false;
tld->learningEnabled = false;
center_camera_view.x = img.cols/2;
center_camera_view.y = img.rows/2;
state = TRACKER_INIT;
}
break;
case TRACKER_INIT:
ROS_INFO("TRACKER_INIT");
if(loadModel && !modelImportFile.empty())
{
ROS_INFO("Loading model %s", modelImportFile.c_str());
tld->readFromFile(modelImportFile.c_str());
tld->learningEnabled = false;
state = TRACKING;
}
else if(autoFaceDetection || correctBB)
{
if(autoFaceDetection)
{
target_image = gray;
target_bb = faceDetection();
}
sendTrackedObject(target_bb.x,target_bb.y,target_bb.width,target_bb.height,1.0);
ROS_INFO("Starting at %d %d %d %d\n", target_bb.x, target_bb.y, target_bb.width, target_bb.height);
tld->selectObject(target_image, &target_bb);
tld->learningEnabled = true;
state = TRACKING;
}
else
{
ros::Duration(1.0).sleep();
ROS_INFO("Waiting for a BB");
}
break;
case TRACKING:
if(newImageReceived())
{
ros::Time tic = ros::Time::now();
getLastImageFromBuffer();
tld->processImage(img);
ros::Duration toc = (ros::Time::now() - tic);
float fps = 1.0/toc.toSec();
std_msgs::Float32 msg_fps;
msg_fps.data = fps;
pub2.publish(msg_fps);
if(showOutput)
{
if(tld->currBB != NULL)
{
sendTrackedObject(tld->currBB->x,tld->currBB->y,tld->currBB->width,tld->currBB->height,tld->currConf);
}
else
{
sendTrackedObject(1, 1, 1, 1, 0.0);
}
}
}
break;
case STOPPED:
ros::Duration(1.0).sleep();
ROS_INFO("Tracker stopped");
break;
default:
break;
}
}
if(exportModelAfterRun)
{
tld->writeToFile(modelExportFile.c_str());
}
semaphore.unlock();
}