main.c

gistfile1.txt

//File: simpletest_raspicam_cv.cpp 
//Will test Trained Cascade Object detection

#include <opencv2/highgui/highgui.hpp>  // OpenCV window I/O
#include <opencv2/imgproc/imgproc.hpp> // Gaussian Blur
#include <stdio.h>
#include <raspicam/raspicam_cv.h>
#include <opencv2/opencv.hpp>
#include "gpio_test.h"
#include <bcm2835.h>
#include <opencv2/core/core.hpp>        // Basic OpenCV structures (cv::Mat, Scalar)

//default capture width and height
//const int FRAME_WIDTH = 640;
//const int FRAME_HEIGHT = 480;
const int FRAME_WIDTH = 1280;
const int FRAME_HEIGHT = 960;


using namespace std;
using namespace cv;
Mat ReferenceFrame;
const string WindowName = "Object Detection example";

class CascadeDetectorAdapter: public DetectionBasedTracker::IDetector
{
public:
    CascadeDetectorAdapter(cv::Ptr<cv::CascadeClassifier> detector):
        IDetector(),
        Detector(detector)
    {
        CV_Assert(detector);
    }

    void detect(const cv::Mat &Image, std::vector<cv::Rect> &objects)
    {
        Detector->detectMultiScale(Image, objects, scaleFactor, minNeighbours, 0, minObjSize, maxObjSize);
    }

    virtual ~CascadeDetectorAdapter()
    {}

private:
    CascadeDetectorAdapter();
    cv::Ptr<cv::CascadeClassifier> Detector;
};

int main(int , char** )
{
   int test = 0;
   test = gpio_init();

    
namedWindow(WindowName);
Mat ReferenceFrame;
Mat GrayFrame;
vector<Rect> Faces;
raspicam::RaspiCam_Cv Camera;

Camera.set( CV_CAP_PROP_FORMAT, CV_8UC3 );
//Camera.set( CV_CAP_PROP_FORMAT, CV_8UC1 );
Camera.set( CV_CAP_PROP_FRAME_WIDTH, FRAME_WIDTH);
Camera.set( CV_CAP_PROP_FRAME_HEIGHT, FRAME_HEIGHT);
//Open camera
cout<<"Opening Camera..."<<endl;
if (!Camera.open()) {cerr<<"Error opening the camera"<<endl;return -1;}
for(int l=0;l<2;l++)
{
    Camera.grab();
    Camera.retrieve ( ReferenceFrame);
    imshow(WindowName, ReferenceFrame);
    waitKey(1);
}
ReferenceFrame = GrayFrame;
std::string cascadeFrontalfilename = "/home/pi/OlleOpenCV2_3/cascade_obj.xml";
cv::Ptr<cv::CascadeClassifier> cascade = makePtr<cv::CascadeClassifier>(cascadeFrontalfilename);
cv::Ptr<DetectionBasedTracker::IDetector> MainDetector = makePtr<CascadeDetectorAdapter>(cascade);
cascade = makePtr<cv::CascadeClassifier>(cascadeFrontalfilename);
cv::Ptr<DetectionBasedTracker::IDetector> TrackingDetector = makePtr<CascadeDetectorAdapter>(cascade);
DetectionBasedTracker::Parameters params;
DetectionBasedTracker Detector(MainDetector, TrackingDetector, params);

if (!Detector.run())
{
    printf("Error: Detector initialization failed\n");
    return 2;
}

int antal =0;
for(int i= 0;i<1000;i++)
{
  //  VideoStream >> ReferenceFrame;
  i=0;//Run forever comment out this for a limited run time 
  //      		cvtColor(image,HSV,COLOR_BGR2HSV);
    Camera.grab();
    Camera.retrieve ( ReferenceFrame);
    cvtColor(ReferenceFrame, GrayFrame, COLOR_RGB2GRAY);
    Detector.process(GrayFrame);
    Detector.getObjects(Faces);
    int thickness=5;
    for (size_t i = 0; i < Faces.size(); i++)
    {
        rectangle(ReferenceFrame, Faces[i], Scalar(0,255,0), thickness);
        printf("Object find X: %d", Faces[i].x);
        printf(" Y: %d", Faces[i].y);
        printf(" Height: %d", Faces[i].height);
        printf(" Width: %d\n", Faces[i].width);
    }
    imshow(WindowName, ReferenceFrame);
    waitKey(1);
    //gpio_blink(); //Add this if you want to test GPIO pin but I have add 2x 0,5sec time delay in gpio_test.c so it will run slowly with this test GPIO In/Out example added
}

Detector.stop();
cout<<"Stop camera..."<<endl;
Camera.release();

return 0;
}