haarface.cpp

机器人程序

// HaarFace.cpp - by Robin Hewitt, 2006
// http://www.robinhewitt.com/mavis
// This is free software. See license at the bottom
// of this file for terms of use.
//

#define USE_OPENCVINTERFACE

//////////////////////////////////////////////////////////////
// Implementation of HaarFace and HaarFaceSighting classes
//
// This class wraps the OpenCV Haar detector so the results
// can be returned within the framework Mavis uses


#include <string>
#include "HaarFace.h"
#include "Mavis.h"
#include <memory.h>
//#include <math.h>
#include "../Params.h"
#include "../Logger.h"
#include "../mavistypes.h"


//////////////////////////////////////////////////////////////
// HaarFaceSighting class
//

HaarFaceSighting::HaarFaceSighting()
{
}

HaarFaceSighting::~HaarFaceSighting()
{
}


//////////////////////////////////////////////////////////////
// HaarFace class
//

//////////////////
//  constructor
//
HaarFace::HaarFace(Mavis * pM) : MVObjBase(pM), pCascade(0), pStorage(0),
pFaceRectSeq(0), iSeq(0)
{
	Params * pParams = pMavis->getParams();
	string haarDir, haarFile, cascadePath;
	const char * tmp;

	// load the path for the Haar Cascade directory
	tmp = pParams->getStringValue("haarFace", "haarCascadeDir");
	if( tmp )
		haarDir = tmp;
	else
		haarDir = "./data";  // default value
	
	// load the file name for the Haar cascade
	tmp = pParams->getStringValue("haarFace", "haarCascade");
	if( tmp )
		haarFile = tmp;
	else
		haarFile = "haarcascade_frontalface_default.xml";  // default value

	MVUtils::makeFullPath(haarDir, haarFile, cascadePath);
	pCascade = (CvHaarClassifierCascade *)cvLoad(cascadePath.c_str(), 0, 0, 0);
	
	pStorage = cvCreateMemStorage(0);


	if( !pCascade )
		pMavis->getLogger()->writelnToLog(
			"HaarFace Detector:\n"
			"\tFailed to load Haar Cascade %s", cascadePath.c_str());
	if( !pStorage )
		pMavis->getLogger()->writelnToLog(
			"HaarFace Detector: failed to allocate Storage");
	if(pCascade && pStorage)
		pMavis->getLogger()->writelnToLog("HaarFace Detector initialized");
}


//////////////////
//  destructor
//
HaarFace::~HaarFace()
{
	if(pCascade) cvReleaseHaarClassifierCascade( &pCascade );
}


//////////////////
//  lookOnce()
//
int HaarFace::lookOnce(ObjLoc_t * pObjLoc)
{
	// initialize object location to "not found" state
	memset(pObjLoc, 0, sizeof(ObjLoc_t));


	// get next frame
	VideoFrame * pFrame = pMavis->getNextFrame();

	// validate that detector is initialized
	if( !pCascade || !pStorage)
	{
		pMavis->getLogger()->writelnToLog("HaarFace Detector:\n\t"
			"Refusing to detect faces because initialization failed");
		return -1;
	}


	// convert it to an IplImage
	IplImage * pImg = OpenCVInterface::VideoFrameToIplImage(*pFrame, true);


	// detect faces in image
	int maxSize = pFrame->getWidth() / 5;
	pFaceRectSeq = cvHaarDetectObjects
		(pImg, pCascade, pStorage,
		1.1,                       // scale-increase factor
		3,                         // min_neighbors
		CV_HAAR_DO_CANNY_PRUNING,  // skip regions unlikely to contain a face
		cvSize(maxSize,maxSize));            // smallest size face to detect


	// take first one only (for the first cut)
	//   (but add instance variables to track how many have been
	//   retrieved, and add an interface for retrieving the rest)
	iSeq = 0;
	if( pFaceRectSeq && pFaceRectSeq->total )
	{
		CvRect * rect = (CvRect *)cvGetSeqElem(pFaceRectSeq, iSeq++);

		// convert CVRect to ROI (add this to OpenCVInterface namespace
		ImgROI_t roi = OpenCVInterface::CvRectToRoi(pImg, rect);


		// fill in Obj_Loc_t data
		pObjLoc->prob = 100;
		setImageLocation(pObjLoc, roi, pMavis);
		pObjLoc->nFound = pFaceRectSeq->total;
		pObjLoc->nRemaining = pFaceRectSeq->total-1;


		// draw remaining ROIs
		for(int i=1; i<pFaceRectSeq->total; i++)
		{
			rect = (CvRect *)cvGetSeqElem(pFaceRectSeq, i);
			ImgROI_t roi = OpenCVInterface::CvRectToRoi(pImg, rect);
			MVImgUtils::Vis::ellipse(*pFrame, roi, 0x999999);
		}

		// draw initial ROI
		MVImgUtils::Vis::ellipse(*pFrame, roi, 0xff0000);
	}


	cvReleaseImage( &pImg );

	return 0;
}


//////////////////////////
// getNext()
//
int HaarFace::getNext(ObjLoc_t * pObjLoc)
{
	memset(pObjLoc, 0, sizeof(ObjLoc_t));

	// get next frame
	VideoFrame * pFrame = pMavis->getNextFrame();

	if( pFaceRectSeq && (iSeq < pFaceRectSeq->total-1) )
	{
		CvRect * rect = (CvRect *)cvGetSeqElem(pFaceRectSeq, iSeq++);

		// convert CVRect to ROI (add this to OpenCVInterface namespace
		ImgROI_t roi = OpenCVInterface::CvRectToRoi(pFrame->getHeight(), rect);


		// fill in Obj_Loc_t data
		pObjLoc->prob = 100;
		setImageLocation(pObjLoc, roi, pMavis);
		pObjLoc->nFound = pFaceRectSeq->total;

		
		// draw ROI
		MVImgUtils::Vis::ellipse(*pFrame, roi, 0xff0000);
	}


	return 0;
}



///////////////////////////////////////////////////////////////////////////////////////
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this
// license. If you do not agree to this license, do not download, install, copy or
// use the software.
//
//
//                        Mavis License Agreement
//
// Copyright (c) 2004-2006, Robin Hewitt (http://www.robin-hewitt.com).
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
//   * Redistributions of source code must retain the above copyright notice,
//     this list of conditions and the following disclaimer.
//
//   * Redistributions in binary form must reproduce the above copyright notice,
//     this list of conditions and the following disclaimer in the documentation
//     and/or other materials provided with the distribution.
//
// This software is provided "as is" and any express or implied warranties, including,
// but not limited to, the implied warranties of merchantability and fitness for a
// particular purpose are disclaimed. In no event shall the authors or contributors be
// liable for any direct, indirect, incidental, special, exemplary, or consequential
// damages (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused and on any
// theory of liability, whether in contract, strict liability, or tort (including
// negligence or otherwise) arising in any way out of the use of this software, even
// if advised of the possibility of such damage.
///////////////////////////////////////////////////////////////////////////////////////