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//! \example tutorial-face-detector-live.cpp
#include <iostream>
#include <visp3/core/vpConfig.h>
//! [Undef grabber]
// Comment / uncomment following lines to use the specific 3rd party compatible with your camera
// #undef VISP_HAVE_V4L2
// #undef HAVE_OPENCV_HIGHGUI
// #undef HAVE_OPENCV_VIDEOIO
//! [Undef grabber]
#if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC) && \
(((VISP_HAVE_OPENCV_VERSION < 0x050000) && defined(HAVE_OPENCV_OBJDETECT)) || \
((VISP_HAVE_OPENCV_VERSION >= 0x050000) && defined(HAVE_OPENCV_XOBJDETECT))) && \
(defined(VISP_HAVE_V4L2) || \
(((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI)) || \
((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO))))
#include <visp3/detection/vpDetectorFace.h>
#include <visp3/gui/vpDisplayFactory.h>
#ifdef VISP_HAVE_MODULE_SENSOR
#include <visp3/sensor/vpV4l2Grabber.h>
#endif
#if (VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI)
#include <opencv2/highgui/highgui.hpp> // for cv::VideoCapture
#elif (VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO)
#include <opencv2/videoio/videoio.hpp>
#endif
int main(int argc, const char *argv[])
{
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
std::shared_ptr<vpDisplay> display;
#else
vpDisplay *display = nullptr;
#endif
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 = 1; i < argc; i++) {
if (std::string(argv[i]) == "--haar" && i + 1 < argc) {
opt_face_cascade_name = std::string(argv[++i]);
}
else if (std::string(argv[i]) == "--device" && i + 1 < argc) {
opt_device = static_cast<unsigned int>(atoi(argv[++i]));
}
else if (std::string(argv[i]) == "--scale" && i + 1 < argc) {
opt_scale = static_cast<unsigned int>(atoi(argv[++i]));
}
else if ((std::string(argv[i]) == "--help") || (std::string(argv[i]) == "-h")) {
std::cout << "Usage: " << argv[0]
<< " [--haar <haarcascade xml filename>]"
<< " [--device <camera device>]"
<< " [--scale <subsampling factor>]"
<< " [--help] [-h]"
<< std::endl;
return EXIT_SUCCESS;
}
}
vpImage<unsigned char> I; // for gray images
//! [Construct grabber]
#if defined(VISP_HAVE_V4L2)
vpV4l2Grabber g;
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 ((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI))|| ((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO))
cv::VideoCapture cap(opt_device); // open the default camera
#if (VISP_HAVE_OPENCV_VERSION >= 0x030000)
int width = static_cast<int>(cap.get(cv::CAP_PROP_FRAME_WIDTH));
int height = static_cast<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
vpImageConvert::convert(frame, I);
#endif
//! [Construct grabber]
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
display = vpDisplayFactory::createDisplay(I);
#else
display = vpDisplayFactory::allocateDisplay(I);
#endif
vpDisplay::setTitle(I, "ViSP viewer");
vpDetectorFace face_detector;
face_detector.setCascadeClassifierFile(opt_face_cascade_name);
while (1) {
double t = vpTime::measureTimeMs();
//! [Acquisition]
#if defined(VISP_HAVE_V4L2)
g.acquire(I);
bool face_found = face_detector.detect(I);
#elif ((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI))|| ((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO))
cap >> frame; // get a new frame from camera
vpImageConvert::convert(frame, I);
bool face_found = face_detector.detect(frame); // We pass frame to avoid an internal image conversion
#endif
//! [Acquisition]
vpDisplay::display(I);
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::displayRectangle(I, bbox, vpColor::green, false, 4);
vpDisplay::displayText(I, static_cast<int>(bbox.getTop()) - 10, static_cast<int>(bbox.getLeft()),
"Message: \"" + face_detector.getMessage(i) + "\"", vpColor::red);
}
}
vpDisplay::displayText(I, static_cast<int>(I.getHeight()) - 25, 10, "Click to quit...", vpColor::red);
vpDisplay::flush(I);
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;
}
#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
if (display != nullptr) {
delete display;
}
#endif
}
#else
int main()
{
#if !defined(HAVE_OPENCV_IMGPROC)
std::cout << "This tutorial needs OpenCV imgproc module that is missing." << std::endl;
#endif
#if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION < 0x050000) && !defined(HAVE_OPENCV_OBJDETECT)
std::cout << "This tutorial needs OpenCV objdetect module that is missing." << std::endl;
#endif
#if defined(VISP_HAVE_OPENCV) && ((VISP_HAVE_OPENCV_VERSION >= 0x050000) && !defined(HAVE_OPENCV_XOBJDETECT))
std::cout << "This tutorial needs OpenCV xobjdetect module that is missing." << std::endl;
#endif
}
#endif
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