Changeset 58 for foam/trunk

Timestamp:

04/15/2009 09:31:03 AM (12 years ago)

Author:

dave

Message:

added yarp control interface and fixed commandline image scaling

Location:

foam/trunk/simple-faceident

Files:

• Makefile (modified) (1 diff)
• src/FaceBank.h (modified) (1 diff)
• src/main.cpp (modified) (13 diffs)

foam/trunk/simple-faceident/Makefile

@@ -1 +1 @@
 CC = g++
-CFLAGS = `pkg-config --cflags opencv` -ggdb -Wall -O3 -ffast-math -Wno-unused 
 CXXFLAGS = `pkg-config --cflags opencv` -ggdb -Wall -O3 -ffast-math -Wno-unused 
 LDFLAGS =  `pkg-config --libs opencv` -lYARP_dev -lYARP_sig -lYARP_OS -lACE

foam/trunk/simple-faceident/src/FaceBank.h

@@ -18 +18 @@
 #include <map>
 #include <assert.h>
-
 #include "cv.h"
 

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

@@ -19 +19 @@
 #include "cv.h"
 #include "highgui.h"
+#include <yarp/os/all.h>
 
 #include <stdio.h>
@@ -35 +36 @@
 
 using namespace std;
+using namespace yarp::os;
 
 #ifdef _EiC
@@ -68 +70 @@
 int facenum=0;
 int framenum=0;
+
+BufferedPort<Bottle> ctrlport;   
 
 //////////////////////////////////////////////////////////
@@ -85 +89 @@
     const char* input_name = 0;
 
+/////////////////////////
+// yarp bit, would like to move this somewhere else
+
+    ctrlport.open("/faceident-ctrl");     
+
+/////////////////////////
+
     for( i = 1; i < argc; i++ )
     {
@@ -150 +161 @@
                                             IPL_DEPTH_8U, frame->nChannels );
             if( frame->origin == IPL_ORIGIN_TL )
-                                //cvResize(frame, frame_copy, CV_INTER_LINEAR );
                 cvCopy( frame, frame_copy, 0 );
             else
@@ -214 +224 @@
     };
 
-    IplImage *gray, *small_img;
+    IplImage *small_img;
     int j;
-        CvSize imgsize = cvGetSize(img);
-
-    gray = cvCreateImage( cvSize(img->width,img->height), 8, 1 );
+
     small_img = cvCreateImage( cvSize( cvRound (img->width/scale),
-                         cvRound (img->height/scale)), 8, 1 );
-
-    cvCvtColor( img, gray, CV_BGR2GRAY );
-    cvResize( gray, small_img, CV_INTER_LINEAR );
-    cvEqualizeHist( small_img, small_img );
+                         cvRound (img->height/scale)), 8, 3 );
+        CvSize imgsize = cvGetSize(small_img);
+    cvResize( img, small_img, CV_INTER_LINEAR );
     cvClearMemStorage( storage );
 
@@ -264 +270 @@
                 }*/
                 
+                ///////////////////////////////////
+                // dispatch from input
                 
                 int key=cvWaitKey(10);
@@ -282 +290 @@
                         case 'c': facebank.Clear(); break;
                 }
-                
-                                
+
+                ///////////////////////////////////
+                // read from yarp
+
+                Bottle *b=ctrlport.read(false);
+                if (b!=NULL)
+                {
+                        cerr<<"got bottle "<<b->toString().c_str()<<endl;
+                        if (b->get(0).asString()=="train")
+                        {
+                                facenum=b->get(1).asInt();
+                                learn=true;
+                        }
+                        else if (b->get(0).asString()=="clear")
+                        {
+                                facebank.Clear();
+                        }
+                        else if (b->get(0).asString()=="detect")
+                        {
+                                learn=false;
+                        }
+                }
+                
+                ///////////////////////////////////
+
         for(int i = 0; i < (faces ? faces->total : 0); i++ )
         {
@@ -292 +323 @@
                         float confidence=0;
                         // get the face area as a sub image
-                        IplImage *face = SubImage(img, *r);
+                        IplImage *face = SubImage(small_img, *r);
                         // pass it into the face bank 
                         if (learn)
@@ -312 +343 @@
                                 char s[32];
                                 sprintf(s,"%d %0.2f",ID,confidence);
-                                cvPutText(img, s, cvPoint(r->x,r->y+25), &font, color);
+                                cvPutText(small_img, s, cvPoint(r->x,r->y+25), &font, color);
                                 int x=(facebank.GetFaceWidth()+1)*ID;
                                 int y=imgsize.height-facebank.GetFaceHeight();
-                                cvLine(img, cvPoint(r->x+r->width/2,r->y+r->height/2),
+                                cvLine(small_img, cvPoint(r->x+r->width/2,r->y+r->height/2),
                                         cvPoint(x+facebank.GetFaceWidth()/2,y), color);                 
 
@@ -324 +355 @@
                         }
 
-                        cvRectangle(img, cvPoint(r->x,r->y), cvPoint(r->x+r->width,r->y+r->height), color);
+                        cvRectangle(small_img, cvPoint(r->x,r->y), cvPoint(r->x+r->width,r->y+r->height), color);
         }
     }
@@ -339 +370 @@
                 snprintf(info,256,"detecting faces");
         }
-        cvPutText(img, info, cvPoint(20,30), &infofont, CV_RGB(0,0,0));
+        cvPutText(small_img, info, cvPoint(20,30), &infofont, CV_RGB(0,0,0));
 
         snprintf(info,256,"keys:");
-        cvPutText(img, info, cvPoint(20,50), &helpfont, CV_RGB(0,0,0));
+        cvPutText(small_img, info, cvPoint(20,50), &helpfont, CV_RGB(0,0,0));
         snprintf(info,256,"number key 0-9 : learn face");
-        cvPutText(img, info, cvPoint(20,60), &helpfont, CV_RGB(0,0,0));
+        cvPutText(small_img, info, cvPoint(20,60), &helpfont, CV_RGB(0,0,0));
         snprintf(info,256,"'d' : face detect mode");
-        cvPutText(img, info, cvPoint(20,70), &helpfont, CV_RGB(0,0,0));
+        cvPutText(small_img, info, cvPoint(20,70), &helpfont, CV_RGB(0,0,0));
         snprintf(info,256,"'c' : clear all faces");
-        cvPutText(img, info, cvPoint(20,80), &helpfont, CV_RGB(0,0,0));
+        cvPutText(small_img, info, cvPoint(20,80), &helpfont, CV_RGB(0,0,0));
 
         #ifdef SHOW_FACES
@@ -356 +387 @@
                 int x=(facebank.GetFaceWidth()+1)*ii->first;
                 int y=imgsize.height-facebank.GetFaceHeight();
-                BlitImage(ii->second->m_Image,img,cvPoint(x,y));
+                BlitImage(ii->second->m_Image,small_img,cvPoint(x,y));
         }
         #endif
         
-    cvShowImage( "result", img );
+    cvShowImage( "result", small_img );
 
         #ifdef SAVE_FRAMES
         char name[256];
         sprintf(name,"out-%0.4d.jpg",framenum);
-        cvSaveImage(name,img);
+        cvSaveImage(name,small_img);
         #endif
     
-        cvReleaseImage( &gray );
     cvReleaseImage( &small_img );
 }