Visual Servoing Platform version 3.6.0
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tutorial-face-detector-live.cpp
#include <visp3/core/vpConfig.h>
#include <visp3/detection/vpDetectorFace.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#ifdef VISP_HAVE_MODULE_SENSOR
#include <visp3/sensor/vpV4l2Grabber.h>
#endif
#if defined(HAVE_OPENCV_VIDEOIO)
#include <opencv2/videoio.hpp>
#endif
int main(int argc, const char *argv [])
{
#if defined(HAVE_OPENCV_HIGHGUI) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_OBJDETECT)
try {
std::string opt_face_cascade_name = "./haarcascade_frontalface_alt.xml";
unsigned int opt_device = 0;
unsigned int opt_scale = 2; // Default value is 2 in the constructor. Turn
// it to 1 to avoid subsampling
for (int i = 0; i < argc; i++) {
if (std::string(argv[i]) == "--haar")
opt_face_cascade_name = std::string(argv[i + 1]);
else if (std::string(argv[i]) == "--device")
opt_device = (unsigned int)atoi(argv[i + 1]);
else if (std::string(argv[i]) == "--scale")
opt_scale = (unsigned int)atoi(argv[i + 1]);
else if (std::string(argv[i]) == "--help") {
std::cout << "Usage: " << argv[0]
<< " [--haar <haarcascade xml filename>] [--device <camera "
"device>] [--scale <subsampling factor>] [--help]"
<< std::endl;
return EXIT_SUCCESS;
}
}
vpImage<unsigned char> I; // for gray images
#if defined(VISP_HAVE_V4L2)
std::ostringstream device;
device << "/dev/video" << opt_device;
g.setDevice(device.str());
g.setScale(opt_scale); // Default value is 2 in the constructor. Turn it
// to 1 to avoid subsampling
g.acquire(I);
#elif defined(HAVE_OPENCV_VIDEOIO)
cv::VideoCapture cap(opt_device); // open the default camera
#if (VISP_HAVE_OPENCV_VERSION >= 0x030000)
int width = (int)cap.get(cv::CAP_PROP_FRAME_WIDTH);
int height = (int)cap.get(cv::CAP_PROP_FRAME_HEIGHT);
cap.set(cv::CAP_PROP_FRAME_WIDTH, width / opt_scale);
cap.set(cv::CAP_PROP_FRAME_HEIGHT, height / opt_scale);
#else
int width = cap.get(CV_CAP_PROP_FRAME_WIDTH);
int height = cap.get(CV_CAP_PROP_FRAME_HEIGHT);
cap.set(CV_CAP_PROP_FRAME_WIDTH, width / opt_scale);
cap.set(CV_CAP_PROP_FRAME_HEIGHT, height / opt_scale);
#endif
if (!cap.isOpened()) { // check if we succeeded
std::cout << "Failed to open the camera" << std::endl;
return EXIT_FAILURE;
}
cv::Mat frame;
cap >> frame; // get a new frame from camera
#endif
#if defined(VISP_HAVE_X11)
vpDisplayX d(I);
#elif defined(VISP_HAVE_GDI)
#elif defined(HAVE_OPENCV_HIGHGUI)
#endif
vpDisplay::setTitle(I, "ViSP viewer");
vpDetectorFace face_detector;
face_detector.setCascadeClassifierFile(opt_face_cascade_name);
while (1) {
double t = vpTime::measureTimeMs();
#if defined(VISP_HAVE_V4L2)
g.acquire(I);
bool face_found = face_detector.detect(I);
#else
cap >> frame; // get a new frame from camera
bool face_found = face_detector.detect(frame); // We pass frame to avoid an internal image conversion
#endif
if (face_found) {
std::ostringstream text;
text << "Found " << face_detector.getNbObjects() << " face(s)";
vpDisplay::displayText(I, 10, 10, text.str(), vpColor::red);
for (size_t i = 0; i < face_detector.getNbObjects(); i++) {
vpRect bbox = face_detector.getBBox(i);
vpDisplay::displayText(I, (int)bbox.getTop() - 10, (int)bbox.getLeft(),
"Message: \"" + face_detector.getMessage(i) + "\"", vpColor::red);
}
}
vpDisplay::displayText(I, (int)I.getHeight() - 25, 10, "Click to quit...", vpColor::red);
if (vpDisplay::getClick(I, false)) // a click to exit
break;
std::cout << "Loop time: " << vpTime::measureTimeMs() - t << " ms" << std::endl;
}
}
catch (const vpException &e) {
std::cout << e.getMessage() << std::endl;
}
#else
(void)argc;
(void)argv;
#endif
}
static const vpColor red
Definition vpColor.h:211
static const vpColor green
Definition vpColor.h:214
vpRect getBBox(size_t i) const
std::vector< std::string > & getMessage()
size_t getNbObjects() const
bool detect(const vpImage< unsigned char > &I)
void setCascadeClassifierFile(const std::string &filename)
Display for windows using GDI (available on any windows 32 platform).
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition vpDisplayX.h:132
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void setTitle(const vpImage< unsigned char > &I, const std::string &windowtitle)
static void flush(const vpImage< unsigned char > &I)
static void displayRectangle(const vpImage< unsigned char > &I, const vpImagePoint &topLeft, unsigned int width, unsigned int height, const vpColor &color, bool fill=false, unsigned int thickness=1)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
error that can be emitted by ViSP classes.
Definition vpException.h:59
const char * getMessage() const
static void convert(const vpImage< unsigned char > &src, vpImage< vpRGBa > &dest)
Definition of the vpImage class member functions.
Definition vpImage.h:135
unsigned int getHeight() const
Definition vpImage.h:184
Defines a rectangle in the plane.
Definition vpRect.h:76
double getLeft() const
Definition vpRect.h:170
double getTop() const
Definition vpRect.h:189
Class that is a wrapper over the Video4Linux2 (V4L2) driver.
void setScale(unsigned scale=vpV4l2Grabber::DEFAULT_SCALE)
void setDevice(const std::string &devname)
void acquire(vpImage< unsigned char > &I)
VISP_EXPORT double measureTimeMs()