Changeset 233

Timestamp:

11/16/2009 12:06:57 PM (10 years ago)

Author:

dave

Message:

added yarp interface

Location:

level2/competencies/FaceClassifier/src

Files:

• App.cpp (modified) (2 diffs)
• App.h (modified) (1 diff)
• SceneState.cpp (modified) (1 diff)

level2/competencies/FaceClassifier/src/App.cpp

@@ -36 +36 @@
 m_FaceNum(1),
 m_Learn(true),
+m_Idle(false),
 frame(NULL),
 frame_copy(NULL),
@@ -139 +140 @@
                 case 'c': m_FaceBank->Clear(); break;
         }
-                        
-        vector<Rect> rects = m_FaceFinder.Find(camera,m_Learn);
-        for(vector<Rect>::iterator i = rects.begin(); i!=rects.end(); i++ )
-        {
-                unsigned int ID=999;
-                int imagenum=-1;
-                float confidence=0;
-                // get the face area as a sub image
-                Image face = camera.SubImage(*i);
                 
-                //face.SubMean();
-                //camera.Blit(face.Scale(w,h).RGB2GRAY(),100,100);
-                
-                // pass it into the face bank 
-                if (m_Learn)
-                {
-                        confidence=m_FaceBank->Suggest(face,m_FaceNum);
-                        ID=m_FaceNum;
-                }
-                else
-                {       
-                        confidence=m_FaceBank->Identify(face,ID,imagenum);
-                }                               
-
-                // if it's recognised the face (should really check the confidence)
-                if (ID!=999)
-                {
-                        char s[32];
-                        map<int,string>::iterator d = m_DebugNames.find(ID);
-                        if (d!=m_DebugNames.end())
+
+        ///////////////////////////////////
+        // read from yarp
+
+        Bottle *b=m_CtrlPort.read(false);
+        if (b!=NULL)
+        {
+                if (b->get(0).asString()=="train")
+                {
+                        m_FaceNum=b->get(1).asInt();
+                        m_Learn=true;
+                        m_Idle=false;
+                }
+                if (b->get(0).asString()=="idle")
+                {
+                        m_FaceNum=b->get(1).asInt();
+                        m_Idle=true;
+                }
+                else if (b->get(0).asString()=="clear")
+                {
+                        m_FaceBank->Clear();
+                }
+                else if (b->get(0).asString()=="detect")
+                {
+                        m_Learn=false;
+                        m_Idle=false;
+                }
+                else if (b->get(0).asString()=="load")
+                {
+                        m_FaceBank->Load(b->get(1).asString().c_str());
+                }
+                else if (b->get(0).asString()=="save")
+                {
+                        m_FaceBank->Save(b->get(1).asString().c_str());
+                }
+                else if (b->get(0).asString()=="errorthresh")
+                {
+                        m_FaceBank->SetErrorThresh(b->get(1).asDouble());
+                }
+        }
+
+        if (m_Idle)
+        {
+                        // idling, so free up some cpu
+                #ifdef WIN32
+                        Sleep(2000);
+                #else
+                        usleep(200000);
+                #endif
+        }
+        else
+        {
+                vector<Rect> rects = m_FaceFinder.Find(camera,m_Learn);
+                for(vector<Rect>::iterator i = rects.begin(); i!=rects.end(); i++ )
+                {
+                        unsigned int ID=999;
+                        int imagenum=-1;
+                        float confidence=0;
+                        // get the face area as a sub image
+                        Image face = camera.SubImage(*i);
+
+                        //face.SubMean();
+                        //camera.Blit(face.Scale(w,h).RGB2GRAY(),100,100);
+
+                        // pass it into the face bank 
+                        if (m_Learn)
                         {
-                                sprintf(s,"%s",d->second.c_str());
+                                confidence=m_FaceBank->Suggest(face,m_FaceNum);
+                                ID=m_FaceNum;
                         }
                         else
+                        {       
+                                confidence=m_FaceBank->Identify(face,ID,imagenum);
+                        }                               
+
+                        // if it's recognised the face (should really check the confidence)
+                        if (ID!=999)
                         {
-                                sprintf(s,"%d",ID);
+                                char s[32];
+                                map<int,string>::iterator d = m_DebugNames.find(ID);
+                                if (d!=m_DebugNames.end())
+                                {
+                                        sprintf(s,"%s",d->second.c_str());
+                                }
+                                else
+                                {
+                                        sprintf(s,"%d",ID);
+                                }
+
+                                cvPutText(camera.m_Image, s, cvPoint(i->x,i->y+i->h-5), &m_LargeFont, colors[ID]);
+
+                                if (!m_Learn)
+                                {
+                                        m_SceneState.AddPresent(ID, SceneState::User(confidence));
+                                }
                         }
-                        
-                        cvPutText(camera.m_Image, s, cvPoint(i->x,i->y+i->h-5), &m_LargeFont, colors[ID]);
-
-                        if (!m_Learn)
+
+                        cvRectangle(camera.m_Image, cvPoint(i->x,i->y), cvPoint(i->x+i->w,i->y+i->h), colors[0]);
+                }
+
+                char info[256];
+                if (m_Learn)
+                {
+                        snprintf(info,256,"Learning user :%d",m_FaceNum);
+
+                        PCAClassifier *c = static_cast<PCAClassifier*>(m_FaceBank->GetClassifier());
+                        if (c->GroupExists(m_FaceNum))
                         {
-                                m_SceneState.AddPresent(ID, SceneState::User(confidence));
+                                Vector<float> p = c->GetGroupMean(m_FaceNum);
+                                Vector<float> r = c->GetPCA().Synth(p);
+                                camera.Blit(Image(w,h,1,r),0,100);
                         }
                 }
-
-                cvRectangle(camera.m_Image, cvPoint(i->x,i->y), cvPoint(i->x+i->w,i->y+i->h), colors[0]);
-        }
-
-        char info[256];
-        if (m_Learn)
-        {
-                snprintf(info,256,"Learning user :%d",m_FaceNum);
-                
-                PCAClassifier *c = static_cast<PCAClassifier*>(m_FaceBank->GetClassifier());
-                if (c->GroupExists(m_FaceNum))
-                {
-                        Vector<float> p = c->GetGroupMean(m_FaceNum);
-                        Vector<float> r = c->GetPCA().Synth(p);
-                        camera.Blit(Image(w,h,1,r),0,100);
-                }
-        }
-        else
-        {
-                snprintf(info,256,"Detecting users");
-        }
-        
-        cvPutText(camera.m_Image, info, cvPoint(10,10), &m_Font, colors[0]);
-
-        m_SceneState.Update();
-
+                else
+                {
+                        snprintf(info,256,"Detecting users");
+                }
+
+                cvPutText(camera.m_Image, info, cvPoint(10,10), &m_Font, colors[0]);
+
+                m_SceneState.Update();
+        }
+        
 }
 

level2/competencies/FaceClassifier/src/App.h

@@ -49 +49 @@
         int m_FaceNum;
         bool m_Learn; 
+        bool m_Idle;
         CvFont m_Font; 
         CvFont m_LargeFont; 

level2/competencies/FaceClassifier/src/SceneState.cpp

@@ -23 +23 @@
 {
         cerr<<"connecting to yarp..."<<endl;
-        m_YarpPort.open("/faceident");
+        m_YarpPort.open("/faceclassifier");
 }