Visual Servoing Platform  version 3.4.0
tutorial-face-detector-live-threaded.cpp
1 #include <iostream>
3 
4 #include <visp3/core/vpImageConvert.h>
5 #include <visp3/core/vpMutex.h>
6 #include <visp3/core/vpThread.h>
7 #include <visp3/core/vpTime.h>
8 #include <visp3/detection/vpDetectorFace.h>
9 #include <visp3/gui/vpDisplayGDI.h>
10 #include <visp3/gui/vpDisplayX.h>
11 #include <visp3/sensor/vpV4l2Grabber.h>
12 
13 #if (VISP_HAVE_OPENCV_VERSION >= 0x020200) && defined(VISP_HAVE_OPENCV_OBJDETECT) \
14  && (defined(VISP_HAVE_PTHREAD) || defined(_WIN32))
15 
16 #include <opencv2/highgui/highgui.hpp>
17 
18 // Shared vars
19 typedef enum { capture_waiting, capture_started, capture_stopped } t_CaptureState;
20 t_CaptureState s_capture_state = capture_waiting;
21 bool s_face_available = false;
22 #if defined(VISP_HAVE_V4L2)
24 #elif defined(VISP_HAVE_OPENCV)
25 cv::Mat s_frame;
26 #endif
27 vpMutex s_mutex_capture;
28 vpMutex s_mutex_face;
29 vpRect s_face_bbox;
30 
31 vpThread::Return captureFunction(vpThread::Args args)
32 {
33 #if defined(VISP_HAVE_V4L2)
34  vpV4l2Grabber cap = *(static_cast<vpV4l2Grabber *>(args));
35 #elif defined(VISP_HAVE_OPENCV)
36  cv::VideoCapture cap = *((cv::VideoCapture *)args);
37 #endif
38 
39 // If the image is larger than 640 by 480, we subsample
40 #if defined(VISP_HAVE_V4L2)
42 #elif defined(VISP_HAVE_OPENCV)
43  cv::Mat frame_;
44 #endif
45  bool stop_capture_ = false;
46 
47  double start_time = vpTime::measureTimeSecond();
48  while ((vpTime::measureTimeSecond() - start_time) < 30 && !stop_capture_) {
49  // Capture in progress
50  cap >> frame_; // get a new frame from camera
51 
52  // Update shared data
53  {
54  vpMutex::vpScopedLock lock(s_mutex_capture);
55  if (s_capture_state == capture_stopped)
56  stop_capture_ = true;
57  else
58  s_capture_state = capture_started;
59  s_frame = frame_;
60  }
61  }
62  {
63  vpMutex::vpScopedLock lock(s_mutex_capture);
64  s_capture_state = capture_stopped;
65  }
66 
67  std::cout << "End of capture thread" << std::endl;
68  return 0;
69 }
70 
71 vpThread::Return displayFunction(vpThread::Args args)
72 {
73  (void)args; // Avoid warning: unused parameter args
75 
76  t_CaptureState capture_state_;
77  bool display_initialized_ = false;
78  bool face_available_ = false;
79  vpRect face_bbox_;
80 #if defined(VISP_HAVE_X11)
81  vpDisplayX *d_ = NULL;
82 #elif defined(VISP_HAVE_GDI)
83  vpDisplayGDI *d_ = NULL;
84 #endif
85 
86  do {
87  s_mutex_capture.lock();
88  capture_state_ = s_capture_state;
89  s_mutex_capture.unlock();
90 
91  // Check if a frame is available
92  if (capture_state_ == capture_started) {
93  // Get the frame and convert it to a ViSP image used by the display
94  // class
95  {
96  vpMutex::vpScopedLock lock(s_mutex_capture);
97 #if defined(VISP_HAVE_V4L2)
98  I_ = s_frame;
99 #elif defined(VISP_HAVE_OPENCV)
100  vpImageConvert::convert(s_frame, I_);
101 #endif
102  }
103 
104  // Check if we need to initialize the display with the first frame
105  if (!display_initialized_) {
106 // Initialize the display
107 #if defined(VISP_HAVE_X11)
108  d_ = new vpDisplayX(I_);
109  display_initialized_ = true;
110 #elif defined(VISP_HAVE_GDI)
111  d_ = new vpDisplayGDI(I_);
112  display_initialized_ = true;
113 #endif
114  }
115 
116  // Display the image
117  vpDisplay::display(I_);
118 
119  // Check if a face was detected
120  {
121  vpMutex::vpScopedLock lock(s_mutex_face);
122  face_available_ = s_face_available;
123  face_bbox_ = s_face_bbox;
124  }
125  if (face_available_) {
126  // Access to the face bounding box to display it
127  vpDisplay::displayRectangle(I_, face_bbox_, vpColor::green, false, 4);
128  face_available_ = false;
129  }
130 
131  // Trigger end of acquisition with a mouse click
132  vpDisplay::displayText(I_, 10, 10, "Click to exit...", vpColor::red);
133  if (vpDisplay::getClick(I_, false)) {
134  vpMutex::vpScopedLock lock(s_mutex_capture);
135  s_capture_state = capture_stopped;
136  }
137 
138  // Update the display
139  vpDisplay::flush(I_);
140  } else {
141  vpTime::wait(2); // Sleep 2ms
142  }
143  } while (capture_state_ != capture_stopped);
144 
145 #if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)
146  delete d_;
147 #endif
148 
149  std::cout << "End of display thread" << std::endl;
150  return 0;
151 }
152 
154 vpThread::Return detectionFunction(vpThread::Args args)
155 {
156  std::string opt_face_cascade_name = *((std::string *)args);
157 
158  vpDetectorFace face_detector_;
159  face_detector_.setCascadeClassifierFile(opt_face_cascade_name);
160 
161  t_CaptureState capture_state_;
162 #if defined(VISP_HAVE_V4L2)
163  vpImage<unsigned char> frame_;
164 #elif defined(VISP_HAVE_OPENCV)
165  cv::Mat frame_;
166 #endif
167  do {
168  s_mutex_capture.lock();
169  capture_state_ = s_capture_state;
170  s_mutex_capture.unlock();
171 
172  // Check if a frame is available
173  if (capture_state_ == capture_started) {
174  // Backup the frame
175  {
176  vpMutex::vpScopedLock lock(s_mutex_capture);
177  frame_ = s_frame;
178  }
179 
180  // Detect faces
181  bool face_found_ = face_detector_.detect(frame_);
182  if (face_found_) {
183  vpMutex::vpScopedLock lock(s_mutex_face);
184  s_face_available = true;
185  s_face_bbox = face_detector_.getBBox(0); // Get largest face bounding box
186  }
187  } else {
188  vpTime::wait(2); // Sleep 2ms
189  }
190  } while (capture_state_ != capture_stopped);
191  std::cout << "End of face detection thread" << std::endl;
192 
193  return 0;
194 }
196 
198 int main(int argc, const char *argv[])
199 {
200  std::string opt_face_cascade_name = "./haarcascade_frontalface_alt.xml";
201  unsigned int opt_device = 0;
202  unsigned int opt_scale = 2; // Default value is 2 in the constructor. Turn
203  // it to 1 to avoid subsampling
204 
205  for (int i = 0; i < argc; i++) {
206  if (std::string(argv[i]) == "--haar")
207  opt_face_cascade_name = std::string(argv[i + 1]);
208  else if (std::string(argv[i]) == "--device")
209  opt_device = (unsigned int)atoi(argv[i + 1]);
210  else if (std::string(argv[i]) == "--scale")
211  opt_scale = (unsigned int)atoi(argv[i + 1]);
212  else if (std::string(argv[i]) == "--help") {
213  std::cout << "Usage: " << argv[0]
214  << " [--haar <haarcascade xml filename>] [--device <camera "
215  "device>] [--scale <subsampling factor>] [--help]"
216  << std::endl;
217  return 0;
218  }
219  }
220 
221 // Instanciate the capture
222 #if defined(VISP_HAVE_V4L2)
223  vpV4l2Grabber cap;
224  std::ostringstream device;
225  device << "/dev/video" << opt_device;
226  cap.setDevice(device.str());
227  cap.setScale(opt_scale);
228 #elif defined(VISP_HAVE_OPENCV)
229  cv::VideoCapture cap;
230  cap.open(opt_device);
231 #if (VISP_HAVE_OPENCV_VERSION >= 0x030000)
232  int width = (int)cap.get(cv::CAP_PROP_FRAME_WIDTH);
233  int height = (int)cap.get(cv::CAP_PROP_FRAME_HEIGHT);
234  cap.set(cv::CAP_PROP_FRAME_WIDTH, width / opt_scale);
235  cap.set(cv::CAP_PROP_FRAME_HEIGHT, height / opt_scale);
236 #else
237  int width = cap.get(CV_CAP_PROP_FRAME_WIDTH);
238  int height = cap.get(CV_CAP_PROP_FRAME_HEIGHT);
239  cap.set(CV_CAP_PROP_FRAME_WIDTH, width / opt_scale);
240  cap.set(CV_CAP_PROP_FRAME_HEIGHT, height / opt_scale);
241 #endif
242 #endif
243 
244  // Start the threads
245  vpThread thread_capture((vpThread::Fn)captureFunction, (vpThread::Args)&cap);
246  vpThread thread_display((vpThread::Fn)displayFunction);
247  vpThread thread_detection((vpThread::Fn)detectionFunction, (vpThread::Args)&opt_face_cascade_name);
248 
249  // Wait until thread ends up
250  thread_capture.join();
251  thread_display.join();
252  thread_detection.join();
253 
254  return 0;
255 }
257 
258 #else
259 int main()
260 {
261 #ifndef VISP_HAVE_OPENCV
262  std::cout << "You should install OpenCV to make this example working..." << std::endl;
263 #elif !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
264  std::cout << "You should enable pthread usage and rebuild ViSP..." << std::endl;
265 #else
266  std::cout << "Multi-threading seems not supported on this platform" << std::endl;
267 #endif
268 }
269 
270 #endif
Class that allows protection by mutex.
Definition: vpMutex.h:170
VISP_EXPORT int wait(double t0, double t)
Definition: vpTime.cpp:173
void lock()
Definition: vpMutex.h:95
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
void open(vpImage< unsigned char > &I)
void * Return
Definition: vpThread.h:78
static void convert(const vpImage< unsigned char > &src, vpImage< vpRGBa > &dest)
VISP_EXPORT double measureTimeSecond()
Definition: vpTime.cpp:158
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:128
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
void unlock()
Definition: vpMutex.h:111
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:150
void setDevice(const std::string &devname)
static const vpColor green
Definition: vpColor.h:220
static void flush(const vpImage< unsigned char > &I)
static const vpColor red
Definition: vpColor.h:217
void *(* Fn)(Args)
Definition: vpThread.h:79
void * Args
Definition: vpThread.h:77
static void display(const vpImage< unsigned char > &I)
static void displayRectangle(const vpImage< unsigned char > &I, const vpImagePoint &topLeft, unsigned int width, unsigned int height, const vpColor &color, bool fill=false, unsigned int thickness=1)
void setScale(unsigned scale=vpV4l2Grabber::DEFAULT_SCALE)
Class that is a wrapper over the Video4Linux2 (V4L2) driver.
Defines a rectangle in the plane.
Definition: vpRect.h:79