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CuiPeopleDetector.cpp

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#ifdef __LINUX__
        #include "cob_people_detection/CuiPeopleDetector.h"
#else
        #include "cob_vision/cob_people_detection/common/include/cob_people_detection/CuiPeopleDetector.h"
#endif


using namespace ipa_PeopleDetector;


CuiPeopleDetector::CuiPeopleDetector()
{
        m_DetectorControlFlow = new PeopleDetectorControlFlow();
}

CuiPeopleDetector::~CuiPeopleDetector()
{
        delete m_DetectorControlFlow;
}

unsigned long CuiPeopleDetector::Init()
{
        if (m_DetectorControlFlow->Init("ConfigurationFiles/") & ipa_Utils::RET_FAILED)
        {
                std::cerr << "ERROR - CuiPeopleDetector::Init:" << std::endl;
                std::cerr << "\t ... Error while initializing control flow\n";
                return ipa_Utils::RET_FAILED;
        }
        return ipa_Utils::RET_OK;
}

unsigned long CuiPeopleDetector::ConsoleGUI()
{
        // print out menu options
        std::cout << "INFO - PeopleDetector::ConsoleGUI:" << std::endl;
        std::cout << "\t ... Select one of the following options:" << std::endl << std::endl;

        std::cout << "-------------------- People Detector functions ---------------------" << std::endl;
        std::cout << std::endl;
        std::cout << "t: Train new Person (Faces)" << std::endl;
        std::cout << "r: Recognize Persons" << std::endl;
        std::cout << "e: Show Eigenfaces" << std::endl;
        std::cout << "a: Show AVG image" << std::endl;
        std::cout << "s: Save training data" << std::endl;
        std::cout << "l: Load training data" << std::endl;

        std::cout << std::endl << std::endl;
        std::cout << "q: Quit" << std::endl;

        std::string cmd;
        std::cin >> cmd;

        // Train
        if(strcmp("t", cmd.c_str())==0) return Train();

        // Recognize
        if(strcmp("r", cmd.c_str())==0) return Recognize();

        // Save
        if(strcmp("s", cmd.c_str())==0) return m_DetectorControlFlow->SaveTrainingData();

        // Load
        if(strcmp("l", cmd.c_str())==0) return m_DetectorControlFlow->LoadTrainingData();

        // Eigenfaces
        if(strcmp("e", cmd.c_str())==0) return ShowEigenfaces();

        // AVGImage
        if(strcmp("a", cmd.c_str())==0) return ShowAvgImage();

        // Exit
        if(strcmp("q", cmd.c_str())==0) return ipa_Utils::RET_FAILED;

        return ipa_Utils::RET_OK;
};

unsigned long CuiPeopleDetector::Train()
{
        int cmd;
        
        cv::Mat colorImage_8U3;
        std::string id;                                         // Id of trained face

        std::cout << "Please enter your name: ";
        std::cin >> id;

        std::cout << "INFO - PeopleDetector::ConsoleGUI:" << std::endl;
        std::cout << "\t ... Please press 'n' to acquire the next image" << std::endl;
        std::cout << "\t ... or press 's' to save the image" << std::endl;
        std::cout << "\t ... or press 'q' to quit!" << std::endl;

        cv::namedWindow("Face Detector");

        ipa_SensorFusion::ColoredPointCloudPtr pc;

        int count=0;

        while(true)
        {
                cmd = cvWaitKey();

                // acquire next image
                if(cmd == 'n')
                {
                        if (m_DetectorControlFlow->GetColoredPointCloud(pc, m_DetectorControlFlow->GetPCMode(), 1) & ipa_Utils::RET_FAILED)
                        {
                                std::cerr << "ERROR - CuiPeopleDetector::Train:" << std::endl;
                                std::cerr << "\t ... Could not get Colored Point Cloud" << std::endl;
                                return ipa_Utils::RET_FAILED;
                        }
                        
                        //DWORD start = timeGetTime(); 
                        m_DetectorControlFlow->DetectFaces(pc);
                        std::cout << "INFO - CuiPeopleDetector::Train:" << std::endl;
                        //std::cout << "\t ... Detection Time: " << (timeGetTime() - start) << std::endl;
                        count++;

                        (pc->GetColorImage()).copyTo(colorImage_8U3);

                        for(int i=0; i<(int)m_DetectorControlFlow->m_colorFaces.size(); i++)
                        {
                                cv::Rect face = m_DetectorControlFlow->m_colorFaces[i];
                                cv::rectangle(colorImage_8U3, cv::Point(face.x, face.y), cv::Point(face.x + face.width, face.y + face.height), CV_RGB( 0, 255, 0 ), 2, 8, 0);
                        }

                        cv::imshow("Face Detector", colorImage_8U3);
                }

                // save image
                if(cmd == 's')
                {
                        // Check if there is more than one face detected
                        if(m_DetectorControlFlow->m_colorFaces.size() > 1)
                        {
                                std::cout << "WARNING - CuiPeopleDetector::ConsoleGUI:" << std::endl;
                                std::cout << "\t ... More than one faces are detected in image. Please try again." << std::endl;
                                continue;
                        }

                        // Check if there is less than one face detected
                        if(m_DetectorControlFlow->m_colorFaces.size() < 1)
                        {
                                std::cout << "WARNING - CuiPeopleDetector::ConsoleGUI:" << std::endl;
                                std::cout << "\t ... Less than one faces are detected in image. Please try again." << std::endl;
                                continue;
                        }

                        m_DetectorControlFlow->AddFace(pc->GetColorImage(), id);
                        std::cout << "INFO - CuiPeopleDetector::ConsoleGUI:" << std::endl;
                        std::cout << "\t ... Face saved. (" << m_DetectorControlFlow->m_faceImages.size() << ")" << std::endl;
                }

                // quit
                if(cmd == 'q')
                {
                        // Exit
                        break;
                }
        }
        
        cvDestroyAllWindows();

        return ipa_Utils::RET_OK;
}

unsigned long CuiPeopleDetector::Recognize()
{
        int cmd;
        cv::Mat colorImage_8U3;

        std::cout << "INFO - PeopleDetector::ConsoleGUI:" << std::endl;
        std::cout << "\t ... Please press 'n' to acquire the next image" << std::endl;
        std::cout << "\t ... or press 'q' to quit!" << std::endl;
        
        m_DetectorControlFlow->PCA();

        if(m_DetectorControlFlow->m_faceImages.size() < 2)
        {
                std::cout << "WARNING - PeopleDetector::ConsoleGUI:" << std::endl;
                std::cout << "\t ... Less than two images are trained.\n";
                return ipa_Utils::RET_OK;
        }

        cv::namedWindow("Face Detector");

        while(true)
        {
                cmd = cv::waitKey();
                if(cmd == 'n')
                {
                        ipa_SensorFusion::ColoredPointCloudPtr pc;

                        if (m_DetectorControlFlow->GetColoredPointCloud(pc, m_DetectorControlFlow->GetPCMode(), 1) & ipa_Utils::RET_FAILED)
                        {
                                std::cerr << "ERROR - CuiPeopleDetector::Recognize:" << std::endl;
                                std::cerr << "\t ... Could not get Colored Point Cloud" << std::endl;
                                return ipa_Utils::RET_FAILED;
                        }

                        //DWORD start = timeGetTime(); 
                        
                        m_DetectorControlFlow->DetectFaces(pc);
                        
                        (pc->GetColorImage()).copyTo(colorImage_8U3);

                        std::vector<int> index;
                        m_DetectorControlFlow->RecognizeFace(pc, index);
                        std::cout << "INFO - CuiPeopleDetector::Recognize:" << std::endl;
                        //std::cout << "WARNING: Recognition deactivated in code!\n";
                        //for (int i=0; i<(int)m_DetectorControlFlow->m_colorFaces.size(); i++) index.push_back(-1);
                        //std::cout << "\t ... Recognize Time: " << (timeGetTime() - start) << std::endl;

                        for(int i=0; i<(int)m_DetectorControlFlow->m_rangeFaces.size(); i++)
                        {
                                cv::Rect face = m_DetectorControlFlow->m_rangeFaces[i];

                                cv::rectangle(colorImage_8U3, cv::Point(face.x, face.y), cv::Point(face.x + face.width, face.y + face.height), CV_RGB(0, 0, 255), 2, 8, 0);
                        }

                        for(int i=0; i<(int)m_DetectorControlFlow->m_colorFaces.size(); i++)
                        {
                                cv::Rect face = m_DetectorControlFlow->m_colorFaces[i];

                                cv::rectangle(colorImage_8U3, cv::Point(face.x, face.y), cv::Point(face.x + face.width, face.y + face.height), CV_RGB(0, 255, 0), 2, 8, 0);
                                
                                std::stringstream tmp;
                                switch(index[i])
                                {
                                case -1:
                                        // Distance to face class is too high
                                        tmp << "Unknown";
                                        cv::putText(colorImage_8U3, tmp.str().c_str(), cv::Point(face.x,face.y+face.height+25), cv::FONT_HERSHEY_PLAIN, 2, CV_RGB( 255, 0, 0 ), 2);
                                        break;
                                case -2:
                                        // Distance to face space is too high
                                        tmp << "No face";
                                        cv::putText(colorImage_8U3, tmp.str().c_str(), cv::Point(face.x,face.y+face.height+25), cv::FONT_HERSHEY_PLAIN, 2, CV_RGB( 255, 0, 0 ), 2);
                                        break;
                                default:
                                        // Face classified
                                        tmp << m_DetectorControlFlow->m_idUnique[index[i]].c_str();
                                        cv::putText(colorImage_8U3, tmp.str().c_str(), cv::Point(face.x,face.y+face.height+25), cv::FONT_HERSHEY_PLAIN, 2, CV_RGB( 0, 255, 0 ), 2);
                                }
                        }

                        cv::imshow("Face Detector", colorImage_8U3);
                }
                
                if(cmd == 'q')
                {
                        // Exit
                        break;
                }
        }

        // Clear
        cvDestroyAllWindows();

        return ipa_Utils::RET_OK;
}

unsigned long CuiPeopleDetector::ShowEigenfaces()
{
        cv::Mat eigenface;
        
        cv::namedWindow("Eigenfaces");

        m_DetectorControlFlow->PCA();

        for(int i=0; i<(int)m_DetectorControlFlow->m_faceImages.size()-1; i++)
        {
                m_DetectorControlFlow->GetEigenface(eigenface, i);
                cv::imshow("Eigenfaces", eigenface);
        
                int cmd = cv::waitKey();
                if(cmd == 'q')
                {
                        // Exit
                        cvDestroyAllWindows();
                        break;
                }
        }

        cvDestroyAllWindows();
        
        return ipa_Utils::RET_OK;
}
unsigned long CuiPeopleDetector::ShowAvgImage()
{
        cv::Mat avgImage(100, 100, CV_8UC1);

        m_DetectorControlFlow->PCA();

        m_DetectorControlFlow->ShowAVGImage(avgImage);

        cv::namedWindow("AVGImage");
        imshow("AVGImage", avgImage);
        cv::waitKey();

        cvDestroyAllWindows();

        return ipa_Utils::RET_OK;
}

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cob_people_detection
Author(s): Richard Bormann
autogenerated on Tue Mar 5 11:50:09 2013