Initial commit of version from 2014

.gitignore

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+build

CMakeLists.txt

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+cmake_minimum_required (VERSION 3.6)
+project (FaceTrack)
+
+find_package(OpenCV REQUIRED)
+add_executable( facetrack main.cpp )
+target_link_libraries(facetrack ${OpenCV_LIBS})
+

main.cpp

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+// Include header files
+#include "cv.h"
+#include "highgui.h"
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <assert.h>
+#include <math.h>
+#include <float.h>
+#include <limits.h>
+#include <time.h>
+#include <ctype.h>
+
+#include <unistd.h>
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <netdb.h>
+
+// Create memory for calculations
+static CvMemStorage *storage = 0;
+
+// Create a new Haar classifier
+static CvHaarClassifierCascade *cascade = 0;
+
+// Function prototype for detecting and drawing an object from an image
+void detect_and_draw(IplImage *image);
+
+// Create a string that contains the cascade name
+const char *cascade_name = "haarcascade_frontalface_alt.xml";
+/*    "haarcascade_profileface.xml";*/
+int opensocket();
+void closesocket(int iSocket);
+int g_iSocket = -1;
+
+void SetSpeed()
+{
+   printf("Medium\n");
+   write(g_iSocket, "v", 1);
+}
+
+void MoveUp()
+{
+   printf("Up\n");
+   write(g_iSocket, "w", 1);
+}
+
+void MoveDown()
+{
+   printf("Down\n");
+   write(g_iSocket, "s", 1);
+}
+
+void MoveLeft()
+{
+   printf("Left\n");
+   write(g_iSocket, "a", 1);
+}
+
+void MoveRight()
+{
+   printf("Right\n");
+   write(g_iSocket, "d", 1);
+}
+
+void MoveStop()
+{
+   write(g_iSocket, "q", 1);
+   printf("Stop\n");
+}
+
+void MoveFire()
+{
+   write(g_iSocket, " ", 1);
+   printf("Fire\n");
+}
+
+// Main function, defines the entry point for the program.
+int main(int argc, char **argv)
+{
+
+   // Structure for getting video from camera or avi
+   CvCapture *capture = 0;
+
+   // Images to capture the frame from video or camera or from file
+   IplImage *frame, *frame_copy = 0;
+
+   // Used for calculations
+   int optlen = strlen("--cascade=");
+
+   // Input file name for avi or image file.
+   const char *input_name;
+
+   // Check for the correct usage of the command line
+   if (argc > 1 && strncmp(argv[1], "--cascade=", optlen) == 0)
+   {
+      cascade_name = argv[1] + optlen;
+      input_name = argc > 2 ? argv[2] : 0;
+   }
+   else
+   {
+      fprintf(stderr,
+              "Usage: facedetect --cascade=\"<cascade_path>\" [filename|camera_index]\n");
+      return -1;
+      /*input_name = argc > 1 ? argv[1] : 0;*/
+   }
+
+   // try to open a socket
+   g_iSocket = opensocket();
+
+   if (g_iSocket < 0)
+   {
+      printf("Error connecting to turret\n");
+      return -1;
+   }
+   SetSpeed();
+   // Load the HaarClassifierCascade
+   cascade = (CvHaarClassifierCascade *)cvLoad(cascade_name, 0, 0, 0);
+
+   // Check whether the cascade has loaded successfully. Else report and error and quit
+   if (!cascade)
+   {
+      fprintf(stderr, "ERROR: Could not load classifier cascade\n");
+      return -1;
+   }
+
+   // Allocate the memory storage
+   storage = cvCreateMemStorage(0);
+
+   // Find whether to detect the object from file or from camera.
+   if (!input_name || (isdigit(input_name[0]) && input_name[1] == '\0'))
+      capture = cvCaptureFromCAM(!input_name ? 0 : input_name[0] - '0');
+   else
+      capture = cvCaptureFromAVI(input_name);
+
+   // Create a new named window with title: result
+   cvNamedWindow("result", 1);
+
+   // Find if the capture is loaded successfully or not.
+
+   // If loaded succesfully, then:
+   if (capture)
+   {
+      // Capture from the camera.
+      for (;;)
+      {
+         // Capture the frame and load it in IplImage
+         if (!cvGrabFrame(capture))
+            break;
+         frame = cvRetrieveFrame(capture);
+
+         /*
+         if (frame->origin == IPL_ORIGIN_TL)
+            cvCopy(frame, frame_copy, 0);
+         // Else flip and copy the image
+         else
+            cvFlip(frame, frame_copy, 0);
+         */
+         // Call the function to detect and draw the face
+         detect_and_draw(frame);
+
+         // Wait for a while before proceeding to the next frame
+         if (cvWaitKey(10) >= 0)
+            break;
+      }
+
+      // Release the images, and capture memory
+      cvReleaseImage(&frame);
+      cvReleaseCapture(&capture);
+   }
+
+   // Destroy the window previously created with filename: "result"
+   cvDestroyWindow("result");
+
+   // return 0 to indicate successfull execution of the program
+   return 0;
+}
+
+// Function to detect and draw any faces that is present in an image
+void detect_and_draw(IplImage *imgIn)
+{
+   int scale = 1;
+
+   // Create a new image based on the input image
+   IplImage *temp = cvCreateImage(cvSize(320, 240), imgIn->depth, imgIn->nChannels);
+   IplImage *imgPrc = cvCreateImage(cvSize(320, 240), imgIn->depth, 1);
+   cvResize(imgIn, temp, CV_INTER_LINEAR);
+   cvCvtColor(temp, imgPrc, CV_RGB2GRAY);
+
+   // cvConvert(img,temp);
+
+   // Create two points to represent the face locations
+   CvPoint pt1, pt2;
+   int i;
+
+   // Clear the memory storage which was used before
+   cvClearMemStorage(storage);
+
+   // Find whether the cascade is loaded, to find the faces. If yes, then:
+   if (cascade)
+   {
+
+      // There can be more than one face in an image. So create a growable sequence of faces.
+      // Detect the objects and store them in the sequence
+      //		CvSeq* faces = cvHaarDetectObjects(imgPrc, cascade, storage, 1.1, 2,
+      //				CV_HAAR_DO_CANNY_PRUNING, cvSize(40, 40));
+      CvSeq *faces = cvHaarDetectObjects(imgPrc, cascade, storage);
+
+      // Loop the number of faces found.
+      for (i = 0; i < (faces ? faces->total : 0); i++)
+      {
+         // Create a new rectangle for drawing the face
+         CvRect *r = (CvRect *)cvGetSeqElem(faces, i);
+
+         // Find the dimensions of the face,and scale it if necessary
+         pt1.x = r->x * scale;
+         pt2.x = (r->x + r->width) * scale;
+         pt1.y = r->y * scale;
+         pt2.y = (r->y + r->height) * scale;
+
+         // Draw the rectangle in the input image
+         cvRectangle(imgPrc, pt1, pt2, CV_RGB(255, 0, 0), 3, 8, 0);
+
+         // move turret in face direction
+         if (i == 0)
+         {
+            // move x deviation
+            if (imgPrc->width / 2 > pt1.x && imgPrc->width / 2 < pt2.x)
+            {
+               // printf("Face in rect X Axis\n");
+               if (imgPrc->height / 2 > pt1.y && imgPrc->height / 2 < pt2.y)
+               {
+                  // ready to fire
+                  // printf("Face in rect Y Axis\n");
+                  MoveFire();
+               }
+            }
+
+            // move in x direction
+            if (imgPrc->width / 2 < pt1.x)
+            {
+               MoveRight();
+            }
+            else if (imgPrc->width / 2 > pt2.x)
+            {
+               MoveLeft();
+            }
+            else
+            {
+               // move in y direction
+               if (imgPrc->height / 2 < pt1.y)
+               {
+                  MoveDown();
+               }
+               else if (imgPrc->height / 2 > pt2.y)
+               {
+                  MoveUp();
+               }
+            }
+         }
+      }
+      if (i == 0)
+         MoveStop();
+   }
+
+   // Show the image in the window named "result"
+   cvShowImage("result", imgPrc);
+
+   // Release the temp image created.
+   cvReleaseImage(&temp);
+}
+
+int opensocket()
+{
+   int sockfd, portno;
+   struct sockaddr_in serv_addr;
+   struct hostent *server;
+
+   portno = 8088;
+   sockfd = socket(AF_INET, SOCK_STREAM, 0);
+   if (sockfd < 0)
+      printf("ERROR opening socket\n");
+   server = gethostbyname("localhost");
+
+   if (server == NULL)
+   {
+      fprintf(stderr, "ERROR, no such host\n");
+      exit(0);
+   }
+
+   bzero((char *)&serv_addr, sizeof(serv_addr));
+   serv_addr.sin_family = AF_INET;
+   bcopy((char *)server->h_addr,
+         (char *)&serv_addr.sin_addr.s_addr,
+         server->h_length);
+   serv_addr.sin_port = htons(portno);
+
+   if (connect(sockfd, (struct sockaddr *)&serv_addr, sizeof(serv_addr)) < 0)
+      printf("ERROR connecting\n");
+
+   // setup speed slow
+   write(sockfd, "v", 1);
+
+   return sockfd;
+}
+
+void closesocket(int iSocket)
+{
+   close(iSocket);
+}