Changeset 27 for foam/trunk

Timestamp:

03/20/2009 10:51:05 AM (12 years ago)

Author:

dave

Message:

simple yarp interface added

Location:

foam/trunk/simple-faceident

Files:

• CHANGES (added)
• Makefile (modified) (1 diff)
• README (modified) (1 diff)
• src/main.cpp (modified) (11 diffs)

foam/trunk/simple-faceident/Makefile

@@ -2 +2 @@
 CV_INCLUDE_PATH = /usr/local/include/opencv
 CV_LINK_PATH = /usr/local/lib
-LIBS = -lcv -lcxcore -lhighgui
-CCFLAGS = -I$(CV_INCLUDE_PATH) -L$(CV_LINK_PATH) -ggdb -Wall -O3 -ffast-math -Wno-unused
+ACE_LINK_PATH = /usr/lib
+LIBS = -lcv -lcxcore -lhighgui -lYARP_dev -lYARP_sig -lYARP_OS -lACE
+CCFLAGS = -ggdb -Wall -O3 -ffast-math -Wno-unused -fPIC
+CCCOMMANDS = -I$(CV_INCLUDE_PATH) -L$(CV_LINK_PATH) -L$(ACE_LINK_PATH) $(CCFLAGS) 
 
 all: simple-faceident
 
 simple-faceident: main.o FaceBank.o ImageUtils.o
-        $(CC) $(CCFLAGS) $(LIBS) main.o FaceBank.o ImageUtils.o -o simple-faceident
+        $(CC) $(CCCOMMANDS) main.o FaceBank.o ImageUtils.o -rdynamic -o simple-faceident $(LIBS)
 
 main.o: src/main.cpp
-        $(CC) $(CCFLAGS) -c src/main.cpp
+        $(CC) $(CCCOMMANDS) -c src/main.cpp
 
 FaceBank.o: src/FaceBank.cpp
-        $(CC) $(CCFLAGS) -c src/FaceBank.cpp
+        $(CC) $(CCCOMMANDS) -c src/FaceBank.cpp
 
 ImageUtils.o: src/ImageUtils.cpp
-        $(CC) $(CCFLAGS) -c src/ImageUtils.cpp
+        $(CC) $(CCCOMMANDS) -c src/ImageUtils.cpp
 
 clean:

foam/trunk/simple-faceident/README

@@ -2 +2 @@
 --------------------------
 
-Uses OpenCV's face finder to record and detect identity.
+Uses OpenCV's face finder to record and detect identity. Sends bottles over 
+yarp on port /faceident containing the ID and confidence value.
 
 Use the number keys to train the system against different individuals. The idea 

foam/trunk/simple-faceident/src/main.cpp

@@ -29 +29 @@
 #include <time.h>
 #include <ctype.h>
+#include <yarp/os/all.h>
 
 #include "FaceBank.h"
@@ -34 +35 @@
 
 using namespace std;
+using namespace yarp::os;
 
 #ifdef _EiC
@@ -56 +58 @@
 //////////////////////////////////////////////////////////
 // These are the tweakable bits - see comments in FaceBank.h
-
 FaceBank facebank(30, 40, 0.15); 
-
-// number of frames to detect new faces for
-int calibrate_frames = 200;
 
 // show all faces currently detected 
 #define SHOW_FACES
-
 //#define SAVE_FRAMES
 
@@ -71 +68 @@
 int facenum=0;
 int framenum=0;
+
+Network YarpNetwork;
+Port YarpPort;
 
 //////////////////////////////////////////////////////////
@@ -112 +112 @@
             input_name = argv[i];
     }
+
+        /////////////////////////////////
+        // yarp init
+        
+        YarpPort.open("/faceident");
+        
+        /////////////////////////////////
 
     cascade = (CvHaarClassifierCascade*)cvLoad( cascade_name, 0, 0, 0 );
@@ -244 +251 @@
         CvSeq* faces = cvHaarDetectObjects( small_img, cascade, storage,
                                             1.1, 2, 0
-                                            //|CV_HAAR_FIND_BIGGEST_OBJECT
+                                            |CV_HAAR_FIND_BIGGEST_OBJECT
                                             //|CV_HAAR_DO_ROUGH_SEARCH
-                                            |CV_HAAR_DO_CANNY_PRUNING
+                                            //|CV_HAAR_DO_CANNY_PRUNING
                                             //|CV_HAAR_SCALE_IMAGE
                                             ,
@@ -293 +300 @@
                         
                         unsigned int ID=999;
-                        float error=0;
+                        float confidence=0;
                         // get the face area as a sub image
                         IplImage *face = SubImage(img, *r);
@@ -299 +306 @@
                         if (learn)
                         {
-                                error=facebank.Suggest(face,facenum);
+                                confidence=facebank.Suggest(face,facenum);
                                 ID=facenum;
                         }
                         else
                         {       
-                                error=facebank.Identify(face,ID);
+                                confidence=facebank.Identify(face,ID);
                         }
                         
@@ -314 +321 @@
                         {
                                 char s[32];
-                                sprintf(s,"%d %0.2f",ID,error);
+                                sprintf(s,"%d %0.2f",ID,confidence);
                                 cvPutText(img, s, cvPoint(r->x,r->y+25), &font, color);
                                 int x=(facebank.GetFaceWidth()+1)*ID;
@@ -320 +327 @@
                                 cvLine(img, cvPoint(r->x+r->width/2,r->y+r->height/2),
                                         cvPoint(x+facebank.GetFaceWidth()/2,y), color);
+
+                                /////////////////////
+                                // YARP send
+                                
+                                Bottle b;  
+                                b.clear();
+                                b.add((int)ID);
+                                b.add(confidence);
+                                YarpPort.write(b);
+
+                                ////////////////////
+
                         }
 
@@ -346 +365 @@
         cvPutText(img, info, cvPoint(20,80), &helpfont, CV_RGB(0,0,0));
 
-
         #ifdef SHOW_FACES
         for(map<unsigned int,Face*>::iterator ii=facebank.GetFaceMap().begin();