tutorial-face-detector-live-threaded.cpp

#include <iostream>
 
#include <visp3/core/vpConfig.h>
 
// Comment / uncomment following lines to use the specific 3rd party compatible with your camera
// #undef VISP_HAVE_V4L2
// #undef HAVE_OPENCV_HIGHGUI
// #undef HAVE_OPENCV_VIDEOIO
 
#if defined(VISP_HAVE_THREADS) && defined(HAVE_OPENCV_IMGPROC) \
  && (((VISP_HAVE_OPENCV_VERSION < 0x050000) && defined(HAVE_OPENCV_OBJDETECT)) || ((VISP_HAVE_OPENCV_VERSION >= 0x050000) && defined(HAVE_OPENCV_XOBJDETECT))) \
  && (defined(VISP_HAVE_V4L2) || (((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI)) || ((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO))))
 
#include <thread>
#include <mutex>
 
#include <visp3/core/vpImageConvert.h>
#include <visp3/core/vpTime.h>
#include <visp3/detection/vpDetectorFace.h>
#include <visp3/gui/vpDisplayFactory.h>
#include <visp3/sensor/vpV4l2Grabber.h>
 
#if (VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI)
#include <opencv2/highgui/highgui.hpp> // for cv::VideoCapture
#elif (VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO)
#include <opencv2/videoio/videoio.hpp> // for cv::VideoCapture
#endif
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
// Shared vars
typedef enum { capture_waiting, capture_started, capture_stopped } t_CaptureState;
 
#if defined(VISP_HAVE_V4L2)
void captureFunction(vpV4l2Grabber &cap, std::mutex &mutex_capture, vpImage<unsigned char> &frame, t_CaptureState &capture_state)
#elif defined(HAVE_OPENCV_VIDEOIO)
void captureFunction(cv::VideoCapture &cap, std::mutex &mutex_capture, cv::Mat &frame, t_CaptureState &capture_state)
#endif
{
  // If the image is larger than 640 by 480, we subsample
#if defined(VISP_HAVE_V4L2)
  vpImage<unsigned char> frame_;
#elif ((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI)) || ((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO))
  cv::Mat frame_;
#endif
  bool stop_capture_ = false;
 
  double start_time = vpTime::measureTimeSecond();
  while ((vpTime::measureTimeSecond() - start_time) < 30 && !stop_capture_) {
    // Capture in progress
    cap >> frame_; // get a new frame from camera
 
    // Update shared data
    {
      std::lock_guard<std::mutex> lock(mutex_capture);
      if (capture_state == capture_stopped)
        stop_capture_ = true;
      else
        capture_state = capture_started;
      frame = frame_;
    }
  }
  {
    std::lock_guard<std::mutex> lock(mutex_capture);
    capture_state = capture_stopped;
  }
 
  std::cout << "End of capture thread" << std::endl;
}
 
#if defined(VISP_HAVE_V4L2)
void displayFunction(std::mutex &mutex_capture, std::mutex &mutex_face, vpImage<unsigned char> &frame, t_CaptureState &capture_state, vpRect &face_bbox, bool &face_available)
#elif ((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI)) || ((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO))
void displayFunction(std::mutex &mutex_capture, std::mutex &mutex_face, cv::Mat &frame, t_CaptureState &capture_state, vpRect &face_bbox, bool &face_available)
#endif
{
  vpImage<unsigned char> I_;
 
  t_CaptureState capture_state_;
  bool display_initialized_ = false;
  bool face_available_ = false;
  vpRect face_bbox_;
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
  std::shared_ptr<vpDisplay> display;
#else
  vpDisplay *display = nullptr;
#endif
 
  do {
    mutex_capture.lock();
    capture_state_ = capture_state;
    mutex_capture.unlock();
 
    // Check if a frame is available
    if (capture_state_ == capture_started) {
      // Get the frame and convert it to a ViSP image used by the display
      // class
      {
        std::lock_guard<std::mutex> lock(mutex_capture);
#if defined(VISP_HAVE_V4L2)
        I_ = frame;
#elif ((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI)) || ((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO))
        vpImageConvert::convert(frame, I_);
#endif
      }
 
      // Check if we need to initialize the display with the first frame
      if (!display_initialized_) {
        // Initialize the display
#if defined(VISP_HAVE_DISPLAY)
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
        display = vpDisplayFactory::createDisplay(I_);
#else
        display = vpDisplayFactory::allocateDisplay(I_);
#endif
        display_initialized_ = true;
#endif
      }
 
      // Display the image
      vpDisplay::display(I_);
 
      // Check if a face was detected
      {
 
        std::lock_guard<std::mutex> lock(mutex_face);
        face_available_ = face_available;
        face_bbox_ = face_bbox;
      }
      if (face_available_) {
        // Access to the face bounding box to display it
        vpDisplay::displayRectangle(I_, face_bbox_, vpColor::green, false, 4);
        face_available_ = false;
      }
 
      // Trigger end of acquisition with a mouse click
      vpDisplay::displayText(I_, 10, 10, "Click to exit...", vpColor::red);
      if (vpDisplay::getClick(I_, false)) {
        std::lock_guard<std::mutex> lock(mutex_capture);
        capture_state = capture_stopped;
      }
 
      // Update the display
      vpDisplay::flush(I_);
    }
    else {
      vpTime::wait(2); // Sleep 2ms
    }
  } while (capture_state_ != capture_stopped);
 
#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
  if (display != nullptr) {
    delete display;
  }
#endif
 
  std::cout << "End of display thread" << std::endl;
}
 
#if defined(VISP_HAVE_V4L2)
void detectionFunction(std::mutex &mutex_capture, std::mutex &mutex_face, vpImage<unsigned char> &frame, t_CaptureState &capture_state, vpRect &face_bbox, std::string &face_cascade_name, bool &face_available)
#elif ((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI)) || ((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO))
void detectionFunction(std::mutex &mutex_capture, std::mutex &mutex_face, cv::Mat &frame, t_CaptureState &capture_state, vpRect &face_bbox, std::string &face_cascade_name, bool &face_available)
#endif
{
  vpDetectorFace face_detector_;
  face_detector_.setCascadeClassifierFile(face_cascade_name);
 
  t_CaptureState capture_state_;
#if defined(VISP_HAVE_V4L2)
  vpImage<unsigned char> frame_;
#elif ((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI)) || ((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO))
  cv::Mat frame_;
#endif
  do {
    mutex_capture.lock();
    capture_state_ = capture_state;
    mutex_capture.unlock();
 
    // Check if a frame is available
    if (capture_state_ == capture_started) {
      // Backup the frame
      {
        std::lock_guard<std::mutex> lock(mutex_capture);
        frame_ = frame;
      }
 
      // Detect faces
      bool face_found_ = face_detector_.detect(frame_);
      if (face_found_) {
        std::lock_guard<std::mutex> lock(mutex_face);
        face_available = true;
        face_bbox = face_detector_.getBBox(0); // Get largest face bounding box
      }
    }
    else {
      vpTime::wait(2); // Sleep 2ms
    }
  } while (capture_state_ != capture_stopped);
  std::cout << "End of face detection thread" << std::endl;
}
 
int main(int argc, const char *argv[])
{
  std::string opt_face_cascade_name = "./haarcascade_frontalface_alt.xml";
  unsigned int opt_device = 0;
  unsigned int opt_scale = 2; // Default value is 2 in the constructor. Turn
  // it to 1 to avoid subsampling
 
  for (int i = 1; i < argc; i++) {
    if (std::string(argv[i]) == "--haar" && i + 1 < argc) {
      opt_face_cascade_name = std::string(argv[++i]);
    }
    else if (std::string(argv[i]) == "--device" && i + 1 < argc) {
      opt_device = (unsigned int)atoi(argv[++i]);
    }
    else if (std::string(argv[i]) == "--scale" && i + 1 < argc) {
      opt_scale = (unsigned int)atoi(argv[++i]);
    }
    else if ((std::string(argv[i]) == "--help") || (std::string(argv[i]) == "-h")) {
      std::cout << "Usage: " << argv[0]
        << " [--haar <haarcascade xml filename>]"
        << " [--device <camera device>]"
        << " [--scale <subsampling factor>]"
        << " [--help] [-h]"
        << std::endl;
      return EXIT_SUCCESS;
    }
  }
 
  // Instantiate the capture
#if defined(VISP_HAVE_V4L2)
  vpImage<unsigned char> frame;
  vpV4l2Grabber cap;
  std::ostringstream device;
  device << "/dev/video" << opt_device;
  cap.setDevice(device.str());
  cap.setScale(opt_scale);
#elif ((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI)) || ((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO))
  cv::Mat frame;
  cv::VideoCapture cap;
  cap.open(opt_device);
#if (VISP_HAVE_OPENCV_VERSION >= 0x030000)
  int width = (int)cap.get(cv::CAP_PROP_FRAME_WIDTH);
  int height = (int)cap.get(cv::CAP_PROP_FRAME_HEIGHT);
  cap.set(cv::CAP_PROP_FRAME_WIDTH, width / opt_scale);
  cap.set(cv::CAP_PROP_FRAME_HEIGHT, height / opt_scale);
#else
  int width = cap.get(CV_CAP_PROP_FRAME_WIDTH);
  int height = cap.get(CV_CAP_PROP_FRAME_HEIGHT);
  cap.set(CV_CAP_PROP_FRAME_WIDTH, width / opt_scale);
  cap.set(CV_CAP_PROP_FRAME_HEIGHT, height / opt_scale);
#endif
#endif
 
  std::mutex mutex_capture;
  std::mutex mutex_face;
  vpRect face_bbox;
  t_CaptureState capture_state = capture_waiting;
  bool face_available = false;
 
  // Start the threads
  std::thread thread_capture(&captureFunction, std::ref(cap), std::ref(mutex_capture), std::ref(frame), std::ref(capture_state));
  std::thread thread_display(&displayFunction, std::ref(mutex_capture), std::ref(mutex_face), std::ref(frame),
                             std::ref(capture_state), std::ref(face_bbox), std::ref(face_available));
  std::thread thread_detection(&detectionFunction, std::ref(mutex_capture), std::ref(mutex_face), std::ref(frame),
                               std::ref(capture_state), std::ref(face_bbox), std::ref(opt_face_cascade_name), std::ref(face_available));
 
  // Wait until thread ends up
  thread_capture.join();
  thread_display.join();
  thread_detection.join();
 
  return EXIT_SUCCESS;
}
 
#else
int main()
{
#if !defined(VISP_HAVE_THREADS)
  std::cout << "This tutorial needs std::threads that is missing." << std::endl;
#endif
#if !defined(HAVE_OPENCV_HIGHGUI)
  std::cout << "This tutorial needs OpenCV highgui module that is missing." << std::endl;
#endif
#if !defined(HAVE_OPENCV_VIDEOIO)
  std::cout << "This tutorial needs OpenCV videoio module that is missing." << std::endl;
#endif
#if !defined(HAVE_OPENCV_IMGPROC)
  std::cout << "This tutorial needs OpenCV imgproc module that is missing." << std::endl;
#endif
#if (VISP_HAVE_OPENCV_VERSION < 0x050000) && !defined(HAVE_OPENCV_OBJDETECT)
  std::cout << "This tutorial needs OpenCV objdetect module that is missing." << std::endl;
#endif
#if ((VISP_HAVE_OPENCV_VERSION >= 0x050000) && !defined(HAVE_OPENCV_XOBJDETECT))
  std::cout << "This tutorial needs OpenCV xobjdetect module that is missing." << std::endl;
#endif
 
  return EXIT_SUCCESS;
}
 
#endif