/**
* @function detectAndDisplay
*/
vector<Rect> detectFace(IplImage *frame, bool detectall)
{
std::vector<Rect> faces, rects;
Mat frame_gray;
Mat frame1(frame,0);
cvtColor( frame1, frame_gray, COLOR_BGR2GRAY );
equalizeHist( frame_gray, frame_gray );
//-- Detect faces
face_cascade.detectMultiScale( frame_gray, faces, 1.1, 2, 0, Size(80, 80) );
if (faces.size()>=1)
{
Mat faceROI = frame_gray( faces[0] );
//-- Draw the face
Point center( faces[0].x + faces[0].width/2, faces[0].y + faces[0].height/2 );
// ellipse( frame1, center, Size( faces[0].width/2, faces[0].height/2), 0, 0, 360, Scalar( 255, 0, 0 ), 2, 8, 0 );
Point face_topleft(faces[0].x+5, faces[0].y);
Point face_bottomright(faces[0].x+faces[0].width-5, faces[0].y+faces[0].height+25);
rectangle(frame1, face_topleft,face_bottomright, Scalar(0,255,0),3, 8, 0);
rects.push_back(faces[0]);
if (detectall)
{
std::vector<Rect> eyes;
//-- In each face, detect eyes
eyes_cascade.detectMultiScale( faceROI, eyes, 1.1, 2, 0 |CV_HAAR_SCALE_IMAGE, Size(30, 30) );
if( eyes.size() == 2)
{
for( size_t j = 0; j < eyes.size(); j++ )
{ //-- Draw the eyes
Point eye_center( faces[0].x + eyes[j].x + eyes[j].width/2, faces[0].y + eyes[j].y + eyes[j].height/2 );
int radius = cvRound( (eyes[j].width + eyes[j].height)*0.25 );
circle( frame1, eye_center, radius, Scalar( 255, 0, 0 ), 3, 8, 0 );
// rectangle(frame1,Rect(faces[0].x+eyes[j].x, faces[0].y+eyes[j].y,eyes[j].width,eyes[j].height),Scalar(255,0,255),3,8,0);
rects.push_back(eyes[j]);
}
}
std::vector<Rect> mouths;
mouth_cascade.detectMultiScale(faceROI, mouths, 1.1, 2, 0, Size(30, 30));
if (mouths.size()>=1)
{
rectangle(frame1, Rect(faces[0].x+mouths[0].x, faces[0].y+mouths[0].y,mouths[0].width,mouths[0].height),Scalar(0,255,255),3,8,0);
rects.push_back(mouths[0]);
}
std::vector<Rect> noses;
nose_cascade.detectMultiScale(faceROI, noses, 1.1, 2, 0, Size(30, 30));
if (noses.size()==1)
{
Point nose_center( faces[0].x + noses[0].x + noses[0].width/2, faces[0].y + noses[0].y + noses[0].height/2 );
int radius = cvRound( (noses[0].width + noses[0].height)*0.15 );
circle( frame1, nose_center, radius, Scalar( 255, 0, 255), 3, 8, 0 );
// rectangle(frame1, Rect(faces[0].x+noses[0].x, faces[0].y+noses[0].y,noses[0].width,noses[0].height),Scalar(0,255,255),3,8,0);
}
}
}
frame = &IplImage(frame1);
return rects;
}
void detectAndDisplay(Mat frame)
{
std::vector<Rect> faces;
Mat frame_gray;
cvtColor(frame, frame_gray, COLOR_BGR2GRAY);
equalizeHist(frame_gray, frame_gray);
//-- Detect faces
face_cascade.detectMultiScale(frame_gray, faces, 1.1, 2, 0 | CASCADE_SCALE_IMAGE, Size(30, 30));
for (size_t i = 0; i < faces.size(); i++)
{
Point center(faces[i].x + faces[i].width / 2, faces[i].y + faces[i].height / 2);
ellipse(frame, center, Size(faces[i].width / 2, faces[i].height / 2), 0, 0, 360, Scalar(255, 0, 255), 4, 8, 0);
Mat faceROI = frame_gray(faces[i]);
std::vector<Rect> eyes;
//-- In each face, detect eyes
eyes_cascade.detectMultiScale(faceROI, eyes, 1.1, 2, 0 | CASCADE_SCALE_IMAGE, Size(30, 30));
for (size_t j = 0; j < eyes.size(); j++)
{
Point eye_center(faces[i].x + eyes[j].x + eyes[j].width / 2, faces[i].y + eyes[j].y + eyes[j].height / 2);
int radius = cvRound((eyes[j].width + eyes[j].height)*0.25);
circle(frame, eye_center, radius, Scalar(255, 0, 0), 4, 8, 0);
}
}
//-- Show what you got
imshow(window_name, frame);
}
void do_work(const sensor_msgs::ImageConstPtr& msg, const std::string input_frame_from_msg)
{
// Work on the image.
try
{
// Convert the image into something opencv can handle.
cv::Mat frame = cv_bridge::toCvShare(msg, msg->encoding)->image;
// Messages
opencv_apps::FaceArrayStamped faces_msg;
faces_msg.header = msg->header;
// Do the work
std::vector<cv::Rect> faces;
cv::Mat frame_gray;
cv::cvtColor( frame, frame_gray, cv::COLOR_BGR2GRAY );
cv::equalizeHist( frame_gray, frame_gray );
//-- Detect faces
#if OPENCV3
face_cascade_.detectMultiScale( frame_gray, faces, 1.1, 2, 0, cv::Size(30, 30) );
#else
face_cascade_.detectMultiScale( frame_gray, faces, 1.1, 2, 0 | CV_HAAR_SCALE_IMAGE, cv::Size(30, 30) );
#endif
for( size_t i = 0; i < faces.size(); i++ )
{
cv::Point center( faces[i].x + faces[i].width/2, faces[i].y + faces[i].height/2 );
cv::ellipse( frame, center, cv::Size( faces[i].width/2, faces[i].height/2), 0, 0, 360, cv::Scalar( 255, 0, 255 ), 2, 8, 0 );
opencv_apps::Face face_msg;
face_msg.face.x = center.x;
face_msg.face.y = center.y;
face_msg.face.width = faces[i].width;
face_msg.face.height = faces[i].height;
cv::Mat faceROI = frame_gray( faces[i] );
std::vector<cv::Rect> eyes;
//-- In each face, detect eyes
#if OPENCV3
eyes_cascade_.detectMultiScale( faceROI, eyes, 1.1, 2, 0, cv::Size(30, 30) );
#else
eyes_cascade_.detectMultiScale( faceROI, eyes, 1.1, 2, 0 | CV_HAAR_SCALE_IMAGE, cv::Size(30, 30) );
#endif
for( size_t j = 0; j < eyes.size(); j++ )
{
cv::Point eye_center( faces[i].x + eyes[j].x + eyes[j].width/2, faces[i].y + eyes[j].y + eyes[j].height/2 );
int radius = cvRound( (eyes[j].width + eyes[j].height)*0.25 );
cv::circle( frame, eye_center, radius, cv::Scalar( 255, 0, 0 ), 3, 8, 0 );
opencv_apps::Rect eye_msg;
eye_msg.x = eye_center.x;
eye_msg.y = eye_center.y;
eye_msg.width = eyes[j].width;
eye_msg.height = eyes[j].height;
face_msg.eyes.push_back(eye_msg);
}
faces_msg.faces.push_back(face_msg);
}
//-- Show what you got
if( debug_view_) {
cv::imshow( "Face detection", frame );
int c = cv::waitKey(1);
}
// Publish the image.
sensor_msgs::Image::Ptr out_img = cv_bridge::CvImage(msg->header, msg->encoding,frame).toImageMsg();
img_pub_.publish(out_img);
msg_pub_.publish(faces_msg);
}
catch (cv::Exception &e)
{
NODELET_ERROR("Image processing error: %s %s %s %i", e.err.c_str(), e.func.c_str(), e.file.c_str(), e.line);
}
prev_stamp_ = msg->header.stamp;
}
//////////////////////////////////////////////
// detectAndDisplay
//////////////////////////////////////////////
int detectAndDisplay()
{
// detect faces
//FacialRecognitionManager::FindFaces();
//RaspiCvCam::QuickFaceCascade.detectMultiScale(imageMat, RaspiCvCam::Faces, 1.1, 3, CV_HAAR_SCALE_IMAGE, Size(80,80));
//RaspiCvCam::QuickFaceCascade.detectMultiScale( *frame, RaspiCvCam::Faces, 1.1, 2, 0|CV_HAAR_SCALE_IMAGE, Size(50, 50) );
//.detectMultiScale(imageMat, RaspiCvCam::Faces, 1.1, 3, CV_HAAR_SCALE_IMAGE, Size(80,80));
// simplify : we only take picture with one face !
//DEBUG printf("(D) detectAndDisplay : nb face=%d\n",faces.size());
if (FacialRecognitionManager::FaceCount==0)
{
statusText = "No faces found!";
return 0;
}
else
{
//qDebug("- face found. looking for eyes");
statusText = "Face found!";
Rect rect = FacialRecognitionManager::Faces[0];
faceMat = RaspiCvCam::ImageMat( rect );
cv::resize(faceMat, faceResizedMat, Size(Mydest_sz), 1.0, 1.0, CV_INTER_NN);
faceImage = QImage((uchar*)faceResizedMat.data, faceResizedMat.cols, faceResizedMat.rows, faceResizedMat.step, QImage::Format_Indexed8);
faceImage.setColorTable(RaspiCvCam::GrayscaleColorTable);
if (searching == false)
return 0;
std::vector<Rect> eyes;
//-- In each face, detect eyes
FacialRecognitionManager::EyesCascade.detectMultiScale( faceMat, eyes, 1.05, 3, 0 |CV_HAAR_SCALE_IMAGE, Size(20, 20) );
// if no glasses
if (eyes.size()==2)
{
statusText = "Found face without glasses!";
//qDebug("-- face without glasses");
// detect eyes
for( size_t j=0; j<2; j++ )
{
Point eye_center( rect.x + eyes[1-j].x + eyes[1-j].width/2, rect.y + eyes[1-j].y + eyes[1-j].height/2 );
if (j==0) // left eye
{
Myeye_left.x = eye_center.x;
Myeye_left.y = eye_center.y;
}
if (j==1) // right eye
{
Myeye_right.x = eye_center.x;
Myeye_right.y = eye_center.y;
}
}
}
else
{
//qDebug("-- checking for glasses");
// tests with glasses
FacialRecognitionManager::GlassesCascade.detectMultiScale( faceMat, eyes, 1.05, 3, 0 |CV_HAAR_SCALE_IMAGE, Size(20, 20) );
if (eyes.size() != 2)
return 0;
else
{
//qDebug("-- face with glasses");
statusText = "Found face with glasses!";
for( size_t j=0; j<2; j++ )
{
Point eye_center( rect.x + eyes[1-j].x + eyes[1-j].width/2, rect.y + eyes[1-j].y + eyes[1-j].height/2 );
if (j==0) // left eye
{
Myeye_left.x = eye_center.x;
Myeye_left.y = eye_center.y;
}
if (j==1) // right eye
{
Myeye_right.x = eye_center.x;
Myeye_right.y = eye_center.y;
}
}
}
}
}
// sometimes eyes are inversed ! we switch them
if (Myeye_right.x < Myeye_left.x)
{
int tmpX = Myeye_right.x;
int tmpY = Myeye_right.y;
Myeye_right.x = Myeye_left.x;
Myeye_right.y = Myeye_left.y;
Myeye_left.x = tmpX;
Myeye_left.y = tmpY;
qDebug("-- eyes are switched, flipping");
}
return 1;
}
void detectAndDisplay(cv::Mat frame) {
std::vector<cv::Rect> faces;
cv::Mat frame_gray;
cv::cvtColor(frame, frame_gray, cv::COLOR_BGR2GRAY);
cv::equalizeHist(frame_gray, frame_gray);
// Detect Faces
face_cascade.detectMultiScale(frame_gray, // image
faces, // objects
1.1, // scale factor
2, // min neighbors
0|cv::CASCADE_SCALE_IMAGE, // flags
cv::Size(30, 30)); // min size
for (std::size_t i = 0; i < faces.size(); i++) {
cv::Point center(faces[i].x + faces[i].width/2,
faces[i].y + faces[i].height/2);
cv::ellipse(frame,
center,
cv::Size(faces[i].width/2, faces[i].height/2),
0,
0,
360,
cv::Scalar(255, 0, 255),
4,
8,
0);
cv::Mat faceROI = frame_gray(faces[i]);
std::vector<cv::Rect> eyes;
// in each face, detect eyes
eyes_cascade.detectMultiScale(faceROI,
eyes,
1.1,
2,
0 | cv::CASCADE_SCALE_IMAGE,
cv::Size(30, 30));
for (std::size_t j = 0; j < eyes.size(); j++) {
cv::Point eye_center(faces[i].x + eyes[j].x + eyes[j].width/2,
faces[i].y + eyes[j].y + eyes[j].height/2);
int radius = cvRound((eyes[j].width + eyes[j].height) * 0.25);
cv::circle(frame,
eye_center,
radius,
cv::Scalar(255, 0, 0),
4,
8,
0);
}
}
// Show what you got
cv::imshow(window_name, frame);
}