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Visual Servoing Platform
version 3.3.0
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1 #include <visp3/core/vpConfig.h>
3 #include <visp3/detection/vpDetectorFace.h>
4 #include <visp3/gui/vpDisplayGDI.h>
5 #include <visp3/gui/vpDisplayOpenCV.h>
6 #include <visp3/gui/vpDisplayX.h>
7 #ifdef VISP_HAVE_MODULE_SENSOR
8 #include <visp3/sensor/vpV4l2Grabber.h>
11 int main(
int argc,
const char *argv[])
13 #if (VISP_HAVE_OPENCV_VERSION >= 0x020200)
15 std::string opt_face_cascade_name =
"./haarcascade_frontalface_alt.xml";
16 unsigned int opt_device = 0;
17 unsigned int opt_scale = 2;
20 for (
int i = 0; i < argc; i++) {
21 if (std::string(argv[i]) ==
"--haar")
22 opt_face_cascade_name = std::string(argv[i + 1]);
23 else if (std::string(argv[i]) ==
"--device")
24 opt_device = (
unsigned int)atoi(argv[i + 1]);
25 else if (std::string(argv[i]) ==
"--scale")
26 opt_scale = (
unsigned int)atoi(argv[i + 1]);
27 else if (std::string(argv[i]) ==
"--help") {
28 std::cout <<
"Usage: " << argv[0]
29 <<
" [--haar <haarcascade xml filename>] [--device <camera "
30 "device>] [--scale <subsampling factor>] [--help]"
39 #if defined(VISP_HAVE_V4L2)
41 std::ostringstream device;
42 device <<
"/dev/video" << opt_device;
47 #elif defined(VISP_HAVE_OPENCV)
48 cv::VideoCapture cap(opt_device);
49 #if (VISP_HAVE_OPENCV_VERSION >= 0x030000)
50 int width = (int)cap.get(cv::CAP_PROP_FRAME_WIDTH);
51 int height = (int)cap.get(cv::CAP_PROP_FRAME_HEIGHT);
52 cap.set(cv::CAP_PROP_FRAME_WIDTH, width / opt_scale);
53 cap.set(cv::CAP_PROP_FRAME_HEIGHT, height / opt_scale);
55 int width = cap.get(CV_CAP_PROP_FRAME_WIDTH);
56 int height = cap.get(CV_CAP_PROP_FRAME_HEIGHT);
57 cap.set(CV_CAP_PROP_FRAME_WIDTH, width / opt_scale);
58 cap.set(CV_CAP_PROP_FRAME_HEIGHT, height / opt_scale);
60 if (!cap.isOpened()) {
61 std::cout <<
"Failed to open the camera" << std::endl;
70 #if defined(VISP_HAVE_X11)
72 #elif defined(VISP_HAVE_GDI)
74 #elif defined(VISP_HAVE_OPENCV)
85 #if defined(VISP_HAVE_V4L2)
87 bool face_found = face_detector.
detect(I);
91 bool face_found = face_detector.
detect(frame);
98 std::ostringstream text;
99 text <<
"Found " << face_detector.
getNbObjects() <<
" face(s)";
101 for (
size_t i = 0; i < face_detector.
getNbObjects(); i++) {
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
vpRect getBBox(size_t i) const
void setDevice(const std::string &devname)
static void setTitle(const vpImage< unsigned char > &I, const std::string &windowtitle)
static void convert(const vpImage< unsigned char > &src, vpImage< vpRGBa > &dest)
void setCascadeClassifierFile(const std::string &filename)
Display for windows using GDI (available on any windows 32 platform).
size_t getNbObjects() const
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)
unsigned int getHeight() const
bool detect(const vpImage< unsigned char > &I)
void acquire(vpImage< unsigned char > &I)
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
VISP_EXPORT double measureTimeMs()
static const vpColor green
static void display(const vpImage< unsigned char > &I)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
const char * getMessage(void) const
Class that is a wrapper over the Video4Linux2 (V4L2) driver.
static void flush(const vpImage< unsigned char > &I)
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
void setScale(unsigned scale=vpV4l2Grabber::DEFAULT_SCALE)
error that can be emited by ViSP classes.
std::vector< std::string > & getMessage()
Defines a rectangle in the plane.