Visual Servoing Platform  version 3.6.1 under development (2024-05-28)
vpDetectorFace.cpp
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30  *
31  * Description:
32  * Detect faces.
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34 *****************************************************************************/
35 #include <visp3/core/vpConfig.h>
36 
37 #if defined(HAVE_OPENCV_OBJDETECT)
38 
39 #include <algorithm>
40 
41 #include <visp3/core/vpImageConvert.h>
42 #include <visp3/detection/vpDetectorFace.h>
43 
44 bool vpSortLargestFace(cv::Rect rect1, cv::Rect rect2) { return (rect1.area() > rect2.area()); }
45 
49 vpDetectorFace::vpDetectorFace() : m_faces(), m_face_cascade(), m_frame_gray() { }
50 
57 void vpDetectorFace::setCascadeClassifierFile(const std::string &filename)
58 {
59  if (!m_face_cascade.load(filename)) {
60  throw vpException(vpException::ioError, "Cannot read haar file: %s", filename.c_str());
61  }
62 }
63 
82 {
84 
85  return detect(m_frame_gray);
86 }
100 bool vpDetectorFace::detect(const cv::Mat &frame_gray)
101 {
102  bool detected = false;
103  m_message.clear();
104  m_polygon.clear();
105  m_nb_objects = 0;
106 
107  m_faces.clear();
108 #if (VISP_HAVE_OPENCV_VERSION >= 0x030000)
109  m_face_cascade.detectMultiScale(frame_gray, m_faces, 1.1, 2, 0, cv::Size(30, 30));
110 #else
111  m_face_cascade.detectMultiScale(frame_gray, m_faces, 1.1, 2, 0 | CV_HAAR_SCALE_IMAGE, cv::Size(30, 30));
112 #endif
113 
114  m_nb_objects = m_faces.size();
115 
116  std::sort(m_faces.begin(), m_faces.end(), vpSortLargestFace);
117 
118  if (m_faces.size())
119  for (size_t i = 0; i < m_faces.size(); i++) {
120  std::ostringstream message;
121  message << "Face " << i;
122  m_message.push_back(message.str());
123 
124  detected = true;
125 
126  std::vector<vpImagePoint> polygon;
127  double x = m_faces[i].tl().x;
128  double y = m_faces[i].tl().y;
129  double w = m_faces[i].size().width;
130  double h = m_faces[i].size().height;
131 
132  polygon.push_back(vpImagePoint(y, x));
133  polygon.push_back(vpImagePoint(y + h, x));
134  polygon.push_back(vpImagePoint(y + h, x + w));
135  polygon.push_back(vpImagePoint(y, x + w));
136 
137  m_polygon.push_back(polygon);
138  }
139 
140  return detected;
141 }
142 
143 #elif !defined(VISP_BUILD_SHARED_LIBS)
144 // Work around to avoid warning: libvisp_core.a(vpDetectorFace.cpp.o) has no symbols
145 void dummy_vpDetectorFace() { };
146 #endif
std::vector< std::string > m_message
Message attached to each object.
std::vector< std::vector< vpImagePoint > > m_polygon
For each object, defines the polygon that contains the object.
size_t m_nb_objects
Number of detected objects.
cv::Mat m_frame_gray
OpenCV image used as input for the face detection.
void setCascadeClassifierFile(const std::string &filename)
bool detect(const vpImage< unsigned char > &I) vp_override
std::vector< cv::Rect > m_faces
Bounding box of each detected face.
cv::CascadeClassifier m_face_cascade
Haar cascade classifier file name.
error that can be emitted by ViSP classes.
Definition: vpException.h:59
@ ioError
I/O error.
Definition: vpException.h:66
static void convert(const vpImage< unsigned char > &src, vpImage< vpRGBa > &dest)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:82