int main() {
#ifdef TRAIN
train();
#else
cascadeClassifier cascade = loadBinClassifier();
while(true) {
cout << "input name of a picture : " << endl;
string name;
cin >> name;
if(name == "end") {
break;
}
name = "d:\\test_data\\" + name + ".jpg";
if( (_access( name.c_str(), 0 )) == -1 ) {
cout << "The file does not exist, please input again" << endl;
continue;
}
IplImage *img = cvLoadImage(name.c_str(), CV_LOAD_IMAGE_UNCHANGED);
//cout << img->height << ' ' << img->width << endl;
float time_start = clock();
vector<myRect> ans = faceDetect(img, cascade, 3, false, 1.1);
float time_end = clock();
printf("人脸个数: %d 识别用时: %d ms\n", ans.size(), (int)(time_end - time_start));
CvScalar FaceCirclecolors[] =
{
{{0, 0, 255}},
{{0, 128, 255}},
{{0, 255, 255}},
{{0, 255, 0}},
{{255, 128, 0}},
{{255, 255, 0}},
{{255, 0, 0}},
{{255, 0, 255}}
};
for(int i = 0; i < (int)ans.size(); i++) {
myRect* r = &ans[i];
CvPoint center;
int radius;
center.x = cvRound((r->x + r->width * 0.5));
center.y = cvRound((r->y + r->height * 0.5));
radius = cvRound((r->width + r->height) * 0.25);
cvCircle(img, center, radius, FaceCirclecolors[i % 8], 2);
}
const char *pstrWindowsTitle = "My Face Detection";
cvNamedWindow(pstrWindowsTitle, CV_WINDOW_AUTOSIZE);
cvShowImage(pstrWindowsTitle, img);
cvWaitKey(0);
cvDestroyWindow(pstrWindowsTitle);
cvReleaseImage(&img);
}
#endif
}
int main( int argc, char** argv )
{
ros::init(argc, argv, "face_detect");
ros::NodeHandle n;
opencvCommands = n.advertise<robotBrain::opencvMessage>("opencv_commands",1000);
image_transport::ImageTransport it(n);
pub = it.advertise("camera/image", 1);
cv::VideoCapture cap(1);
if(!cap.isOpened()){
ROS_FATAL("opencv: COULD NOT OPEN CAMERA" );
sendError();
}
//Load the cascades
if( !face_cascade.load( face_cascade_name ) ){
ROS_FATAL("--(!)Error loading FACE CASCADE(!)--" );
sendError();
}
if( !eyes_cascade.load( eyes_cascade_name ) ){
ROS_FATAL("--(!)Error loading EYE CASCADE(!)--");
sendError();
}
cap.set(CV_CAP_PROP_FRAME_WIDTH, 320);
cap.set(CV_CAP_PROP_FRAME_HEIGHT, 240);
char key;
while ( n.ok() ){
cap.read(frame);
if( !frame.empty() ) colorDetect();//detectAndDisplay();
else {
ROS_FATAL("opencv: FRAME FAIL " );
sendError();
}
//showing image
cv::namedWindow( "Patrolling Android View", CV_WINDOW_AUTOSIZE );
cv::startWindowThread();
cv::imshow( "Patrolling Android View", imgHSV);
if (color & !face ) faceDetect(); //if we have a color and we havent previously detected a face we look for a face
if(face) personTracking(); //if we have a face we follow the color
else { //if not
message.camera = 's';
message.errorOpenCV = '0';
opencvCommands.publish( message );
}
key = cv::waitKey(100);
switch (key)
{
//hue
case 'q':
if (hue_low == hue_high)
ROS_INFO("hue_low must be less than hue_high");
else
hue_low = hue_low + 1;
break;
case 'a':
if (hue_low == 0)
ROS_INFO("Hue is minimum");
else
hue_low = hue_low - 1;
break;
case 'w':
if (hue_high == 255)
ROS_INFO("Hue is maximum");
else
hue_high = hue_high + 1;
break;
case 's':
if (hue_high == hue_low)
ROS_INFO("hue_high must be greater than hue_low");
else
hue_high = hue_high - 1;
break;
//saturation
case 'e':
if (sat_low == sat_high)
ROS_INFO("sat_low must be less than sat_high");
else
sat_low = sat_low + 1;
break;
case 'd':
if (sat_low == 0)
ROS_INFO("sat is minimum");
else
sat_low = sat_low - 1;
break;
case 'r':
if (sat_high == 255)
ROS_INFO("sat is maximum");
else
sat_high = sat_high + 1;
break;
case 'f':
if (sat_high == sat_low)
ROS_INFO("sat_high must be greater than sat_low");
else
sat_high = sat_high - 1;
break;
//value
case 't':
if (val_low == val_high)
ROS_INFO("val_low must be less than val_high");
else
val_low = val_low + 1;
break;
case 'g':
if (val_low == 0)
ROS_INFO("val is minimum");
else
val_low = val_low - 1;
break;
case 'y':
if (val_high == 255)
ROS_INFO("val is maximum");
else
val_high = val_high + 1;
break;
case 'h':
if (val_high == val_low)
ROS_INFO("val_high must be greater than val_low");
else
val_high = val_high - 1;
break;
}
//ROS_INFO("Frames");
ROS_INFO("Hue: %d-%d\tSat: %d-%d\tVal: %d-%d\n", hue_low, hue_high, sat_low, sat_high, val_low, val_high);
}
ROS_FATAL("COULD NOT CAPTURE FRAME");
return -1;
}
int videoFunc() {
IplImage *frame = NULL;
IplImage *image = NULL, *image2 = NULL;
IplImage *prev_img = NULL;
CvPoint2D32f facePt1, facePt2;
int isTrackingFace = FALSE;
int initOptFlow = FALSE;
while (!quitFlag) {
char c;
// New detected face position
CvPoint2D32f newFacePt1, newFacePt2;
int detectedFace = FALSE;
if (numImgs == 0) {
frame = cvQueryFrame(capture);
//cvGrabFrame(capture);
//img = cvRetrieveFrame(capture);
if (frame == NULL) {
fprintf(stderr, "Failed to grab frame\n");
return -1;
}
}
else {
frame = cvLoadImage(imgPaths[videoTick % numImgs], CV_LOAD_IMAGE_UNCHANGED);
if (frame == NULL) {
fprintf(stderr, "Failed to load input image\n");
return -1;
}
}
image = cvCloneImage(frame);
image2 = cvCloneImage(frame);
if (image == NULL || image2 == NULL) {
fprintf(stderr, "Failed to clone image\n");
return -1;
}
if (videoTick % 10 == 0 && faceDetect(image, &newFacePt1, &newFacePt2) > -1) {
//if (videoTick == 0 && faceDetect(image, &newFacePt1, &newFacePt2) > -1) {
//if (((float)(newFacePos.x - facePos.x) / image->width < FACE_MOVEMENT_THRESHOLD && (float)(newFacePos.y - facePos.y) / image->height < FACE_MOVEMENT_THRESHOLD)
// || !isTrackingFace) {
detectedFace = TRUE;
initOptFlow = TRUE;
facePt1 = newFacePt1;
facePt2 = newFacePt2;
//}
}
if (!detectedFace && prev_img != NULL) {
fprintf(stderr, "Failed to detect face, trying to track\n");
if (opt_flow_find_points(prev_img, image, initOptFlow, &facePt1, &facePt2, &newFacePt1, &newFacePt2, image2) < 0) {
fprintf(stderr, "Warning: couldn't track any flow points\n");
isTrackingFace = FALSE;
}
else {
//if ((float)(newFacePos.x - facePos.x) / image->width < FACE_MOVEMENT_THRESHOLD && (float)(newFacePos.y - facePos.y) / image->height < FACE_MOVEMENT_THRESHOLD) {
isTrackingFace = TRUE;
facePt1 = newFacePt1;
facePt2 = newFacePt2;
/*}
else {
isTrackingFace = FALSE;
}*/
}
if (initOptFlow)
initOptFlow = FALSE;
}
else
isTrackingFace = TRUE;
// Set previous image pointer and free old previouse image
cvReleaseImage(&prev_img);
prev_img = image;
// Draw the rectangle in the input image
if (isTrackingFace)
draw_rect(image2, facePt1, facePt2, detectedFace);
else {
drawFullscreenRect(image2);
}
cvFlip(image2, NULL, 1);
cvShowImage("preview", image2);
c = cvWaitKey(10);
if(c == 27 || c == 'q')
break;
cvReleaseImage(&image2);
if (numImgs > 0)
cvReleaseImage(&frame);
videoTick++;
}
return 0;
}
/**
* buffer header callback function for video
*
* @param port Pointer to port from which callback originated
* @param buffer mmal buffer header pointer
*/
static void video_buffer_callback(MMAL_PORT_T *port, MMAL_BUFFER_HEADER_T *buffer)
{
MMAL_BUFFER_HEADER_T *new_buffer;
PORT_USERDATA *pData = (PORT_USERDATA *)port->userdata;
if (pData)
{
if (buffer->length)
{
mmal_buffer_header_mem_lock(buffer);
//
// *** PR : OPEN CV Stuff here !
//
int w=pData->pstate->width; // get image size
int h=pData->pstate->height;
int h4=h/4;
faceDetect(buffer->data);
/* memcpy(py->imageData,buffer->data,w*h); // read Y */
/* if (pData->pstate->graymode==0) */
/* { */
/* memcpy(pu->imageData,buffer->data+w*h,w*h4); // read U */
/* memcpy(pv->imageData,buffer->data+w*h+w*h4,w*h4); // read v */
/* cvResize(pu, pu_big, CV_INTER_NN); */
/* cvResize(pv, pv_big, CV_INTER_NN); //CV_INTER_LINEAR looks better but it's slower */
/* cvMerge(py, pu_big, pv_big, NULL, image); */
/* cvCvtColor(image,dstImage,CV_YCrCb2RGB); // convert in RGB color space (slow) */
/* cvShowImage("camcvWin", dstImage ); */
/* } */
/* else */
/* { */
/* cvShowImage("camcvWin", py); // display only gray channel */
/* } */
cvWaitKey(1);
nCount++; // count frames displayed
mmal_buffer_header_mem_unlock(buffer);
}
else vcos_log_error("buffer null");
}
else
{
vcos_log_error("Received a encoder buffer callback with no state");
}
// release buffer back to the pool
mmal_buffer_header_release(buffer);
// and send one back to the port (if still open)
if (port->is_enabled)
{
MMAL_STATUS_T status;
new_buffer = mmal_queue_get(pData->pstate->video_pool->queue);
if (new_buffer)
status = mmal_port_send_buffer(port, new_buffer);
if (!new_buffer || status != MMAL_SUCCESS)
vcos_log_error("Unable to return a buffer to the encoder port");
}
}
