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/////////////////////////////////////////////////////////////
// Many source code lines are copied from RaspiVid.c
// Copyright (c) 2012, Broadcom Europe Ltd
//
// Lines have been added by Pierre Raufast - June 2013
// pierre.raufast@gmail.com
// to work with OpenCV 2.3
// visit thinkrpi.wordpress.com
// Enjoy !
// How to do face detection with your Raspberry Pi Camera module and OpenCV
//
// minor edits by libby to remove detection of specific people and to add in other functions on face detect
// see https://thinkrpi.wordpress.com/2013/06/15/opencvpi-cam-step-7-face-recognition/
// and http://planb.nicecupoftea.org/2015/02/06/notes-on-a-tv-as-radio-prototype/
// For a better world, read Giono's Books
//
/////////////////////////////////////////////////////////////
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <memory.h>
#include <unistd.h> // execv(), fork()
//new
#include <cv.h>
#include <highgui.h>
#include "time.h"
extern "C" {
#include "bcm_host.h"
#include "interface/vcos/vcos.h"
#include "interface/mmal/mmal.h"
#include "interface/mmal/mmal_logging.h"
#include "interface/mmal/mmal_buffer.h"
#include "interface/mmal/util/mmal_util.h"
#include "interface/mmal/util/mmal_util_params.h"
#include "interface/mmal/util/mmal_default_components.h"
#include "interface/mmal/util/mmal_connection.h"
#include "RaspiCamControl.h"
#include "RaspiPreview.h"
#include "RaspiCLI.h"
}
#include <semaphore.h>
// OPENCV
#include <iostream>
#include <fstream>
#include <sstream>
#include "time.h"
#include "opencv2/core/core.hpp"
#include "opencv2/contrib/contrib.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/objdetect/objdetect.hpp"
using namespace cv;
using namespace std;
// for debug and trace
#define TRACE 1
#define DEBUG_MODE 0
#define DEBUG if (DEBUG_MODE==1)
CascadeClassifier face_cascade;
CvPoint Myeye_left;
CvPoint Myeye_right;
int num_components = 10;
double thresh = 10.0;
Ptr<FaceRecognizer> model = createFisherFaceRecognizer(num_components);
string fn_haar;
int im_width; // image width
int im_height; // image height
char key;
Mat gray,frame,face,face_resized;
vector<Mat> images;
vector<int> labels;
int bHisto;
vector< Rect_<int> > faces;
///////////////////////
/// Camera number to use - we only have one camera, indexed from 0.
#define CAMERA_NUMBER 0
// Standard port setting for the camera component
#define MMAL_CAMERA_PREVIEW_PORT 0
#define MMAL_CAMERA_VIDEO_PORT 1
#define MMAL_CAMERA_CAPTURE_PORT 2
// Video format information
#define VIDEO_FRAME_RATE_NUM 30
#define VIDEO_FRAME_RATE_DEN 1
/// Video render needs at least 2 buffers.
#define VIDEO_OUTPUT_BUFFERS_NUM 3
// Max bitrate we allow for recording
const int MAX_BITRATE = 30000000; // 30Mbits/s
// variable to convert I420 frame to IplImage
int nCount=0;
IplImage *py, *pu, *pv, *pu_big, *pv_big, *image,* dstImage;
int mmal_status_to_int(MMAL_STATUS_T status);
/** Structure containing all state information for the current run
*/
typedef struct
{
int timeout; /// Time taken before frame is grabbed and app then shuts down. Units are milliseconds
int width; /// Requested width of image
int height; /// requested height of image
int bitrate; /// Requested bitrate
int framerate; /// Requested frame rate (fps)
int graymode; /// capture in gray only (2x faster)
int immutableInput; /// Flag to specify whether encoder works in place or creates a new buffer. Result is preview can display either
/// the camera output or the encoder output (with compression artifacts)
RASPIPREVIEW_PARAMETERS preview_parameters; /// Preview setup parameters
RASPICAM_CAMERA_PARAMETERS camera_parameters; /// Camera setup parameters
MMAL_COMPONENT_T *camera_component; /// Pointer to the camera component
MMAL_COMPONENT_T *encoder_component; /// Pointer to the encoder component
MMAL_CONNECTION_T *preview_connection; /// Pointer to the connection from camera to preview
MMAL_CONNECTION_T *encoder_connection; /// Pointer to the connection from camera to encoder
MMAL_POOL_T *video_pool; /// Pointer to the pool of buffers used by encoder output port
} RASPIVID_STATE;
/** Struct used to pass information in encoder port userdata to callback
*/
typedef struct
{
FILE *file_handle; /// File handle to write buffer data to.
VCOS_SEMAPHORE_T complete_semaphore; /// semaphore which is posted when we reach end of frame (indicates end of capture or fault)
RASPIVID_STATE *pstate; /// pointer to our state in case required in callback
} PORT_USERDATA;
////////////////////////////////////////
/////////////////////////////////////////////////
// trace if TRACE==1
/////////////////////////////////////////////////
void trace(string s)
{
if (TRACE==1)
{
cout<<s<<"\n";
}
}
/////////////////////////////////////////
// default status
static void default_status(RASPIVID_STATE *state)
{
if (!state)
{
vcos_assert(0);
return;
}
// Default everything to zero
memset(state, 0, sizeof(RASPIVID_STATE));
// Now set anything non-zero
state->timeout = 65000; // capture time : here 65 s
state->width = 320; // use a multiple of 320 (640, 1280)
state->height = 240; // use a multiple of 240 (480, 960)
state->bitrate = 17000000; // This is a decent default bitrate for 1080p
state->framerate = VIDEO_FRAME_RATE_NUM;
state->immutableInput = 1;
state->graymode = 1; //gray by default, much faster than color (0), mandatory for face reco
// Setup preview window defaults
raspipreview_set_defaults(&state->preview_parameters);
// Set up the camera_parameters to default
raspicamcontrol_set_defaults(&state->camera_parameters);
}
/**
* buffer header callback function for video
*
* @param port Pointer to port from which callback originated
* @param buffer mmal buffer header pointer
*/
static void video_buffer_callback(MMAL_PORT_T *port, MMAL_BUFFER_HEADER_T *buffer)
{
MMAL_BUFFER_HEADER_T *new_buffer;
PORT_USERDATA *pData = (PORT_USERDATA *)port->userdata;
if (pData)
{
if (buffer->length)
{
mmal_buffer_header_mem_lock(buffer);
//
// *** PR : OPEN CV Stuff here !
//
int w=pData->pstate->width; // get image size
int h=pData->pstate->height;
int h4=h/4;
memcpy(py->imageData,buffer->data,w*h); // read Y
// for face reco, we just keep gray channel, py
gray=cvarrToMat(py);
//cvShowImage("camcvWin", py); // display only gray channel
////////////////////////////////
// FACE RECOGNITION START HERE
////////////////////////////////
// detect faces
face_cascade.detectMultiScale(gray, faces, 1.1, 3, CV_HAAR_SCALE_IMAGE, Size(80,80));
if(faces.size()>0){
trace("found faces");
system("xset s activate");
}else{
trace("NO faces");
system("xset s reset");
}
for(int i = 0; i < faces.size(); i++)
{
// crop face (pretty easy with opencv, don't you think ?
Rect face_i = faces[i];
face = gray(face_i);
// resized face and display it
cv::resize(face, face_resized, Size(im_width, im_height), 1.0, 1.0, CV_INTER_NN); //INTER_CUBIC);
// create a rectangle around the face
rectangle(gray, face_i, CV_RGB(255, 255 ,255), 1);
} // end for
/////////////////////////
// END OF FACE RECO
/////////////////////////
// Show the result:
imshow("camcvWin", gray);
key = (char) waitKey(1);
nCount++; // count frames displayed
mmal_buffer_header_mem_unlock(buffer);
}
else vcos_log_error("buffer null");
}
else
{
vcos_log_error("Received a encoder buffer callback with no state");
}
// release buffer back to the pool
mmal_buffer_header_release(buffer);
// and send one back to the port (if still open)
if (port->is_enabled)
{
MMAL_STATUS_T status;
new_buffer = mmal_queue_get(pData->pstate->video_pool->queue);
if (new_buffer)
status = mmal_port_send_buffer(port, new_buffer);
if (!new_buffer || status != MMAL_SUCCESS)
vcos_log_error("Unable to return a buffer to the encoder port");
}
}
/**
* Create the camera component, set up its ports
*
* @param state Pointer to state control struct
*
* @return 0 if failed, pointer to component if successful
*
*/
static MMAL_COMPONENT_T *create_camera_component(RASPIVID_STATE *state)
{
MMAL_COMPONENT_T *camera = 0;
MMAL_ES_FORMAT_T *format;
MMAL_PORT_T *preview_port = NULL, *video_port = NULL, *still_port = NULL;
MMAL_STATUS_T status;
/* Create the component */
status = mmal_component_create(MMAL_COMPONENT_DEFAULT_CAMERA, &camera);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Failed to create camera component");
goto error;
}
if (!camera->output_num)
{
vcos_log_error("Camera doesn't have output ports");
goto error;
}
video_port = camera->output[MMAL_CAMERA_VIDEO_PORT];
still_port = camera->output[MMAL_CAMERA_CAPTURE_PORT];
// set up the camera configuration
{
MMAL_PARAMETER_CAMERA_CONFIG_T cam_config =
{
{ MMAL_PARAMETER_CAMERA_CONFIG, sizeof(cam_config) },
cam_config.max_stills_w = state->width,
cam_config.max_stills_h = state->height,
cam_config.stills_yuv422 = 0,
cam_config.one_shot_stills = 0,
cam_config.max_preview_video_w = state->width,
cam_config.max_preview_video_h = state->height,
cam_config.num_preview_video_frames = 3,
cam_config.stills_capture_circular_buffer_height = 0,
cam_config.fast_preview_resume = 0,
cam_config.use_stc_timestamp = MMAL_PARAM_TIMESTAMP_MODE_RESET_STC
};
mmal_port_parameter_set(camera->control, &cam_config.hdr);
}
// Set the encode format on the video port
format = video_port->format;
format->encoding_variant = MMAL_ENCODING_I420;
format->encoding = MMAL_ENCODING_I420;
format->es->video.width = state->width;
format->es->video.height = state->height;
format->es->video.crop.x = 0;
format->es->video.crop.y = 0;
format->es->video.crop.width = state->width;
format->es->video.crop.height = state->height;
format->es->video.frame_rate.num = state->framerate;
format->es->video.frame_rate.den = VIDEO_FRAME_RATE_DEN;
status = mmal_port_format_commit(video_port);
if (status)
{
vcos_log_error("camera video format couldn't be set");
goto error;
}
// PR : plug the callback to the video port
status = mmal_port_enable(video_port, video_buffer_callback);
if (status)
{
vcos_log_error("camera video callback2 error");
goto error;
}
// Ensure there are enough buffers to avoid dropping frames
if (video_port->buffer_num < VIDEO_OUTPUT_BUFFERS_NUM)
video_port->buffer_num = VIDEO_OUTPUT_BUFFERS_NUM;
// Set the encode format on the still port
format = still_port->format;
format->encoding = MMAL_ENCODING_OPAQUE;
format->encoding_variant = MMAL_ENCODING_I420;
format->es->video.width = state->width;
format->es->video.height = state->height;
format->es->video.crop.x = 0;
format->es->video.crop.y = 0;
format->es->video.crop.width = state->width;
format->es->video.crop.height = state->height;
format->es->video.frame_rate.num = 1;
format->es->video.frame_rate.den = 1;
status = mmal_port_format_commit(still_port);
if (status)
{
vcos_log_error("camera still format couldn't be set");
goto error;
}
//PR : create pool of message on video port
MMAL_POOL_T *pool;
video_port->buffer_size = video_port->buffer_size_recommended;
video_port->buffer_num = video_port->buffer_num_recommended;
pool = mmal_port_pool_create(video_port, video_port->buffer_num, video_port->buffer_size);
if (!pool)
{
vcos_log_error("Failed to create buffer header pool for video output port");
}
state->video_pool = pool;
/* Ensure there are enough buffers to avoid dropping frames */
if (still_port->buffer_num < VIDEO_OUTPUT_BUFFERS_NUM)
still_port->buffer_num = VIDEO_OUTPUT_BUFFERS_NUM;
/* Enable component */
status = mmal_component_enable(camera);
if (status)
{
vcos_log_error("camera component couldn't be enabled");
goto error;
}
raspicamcontrol_set_all_parameters(camera, &state->camera_parameters);
state->camera_component = camera;
return camera;
error:
if (camera)
mmal_component_destroy(camera);
return 0;
}
/**
* Destroy the camera component
*
* @param state Pointer to state control struct
*
*/
static void destroy_camera_component(RASPIVID_STATE *state)
{
if (state->camera_component)
{
mmal_component_destroy(state->camera_component);
state->camera_component = NULL;
}
}
/**
* Destroy the encoder component
*
* @param state Pointer to state control struct
*
*/
static void destroy_encoder_component(RASPIVID_STATE *state)
{
// Get rid of any port buffers first
if (state->video_pool)
{
mmal_port_pool_destroy(state->encoder_component->output[0], state->video_pool);
}
if (state->encoder_component)
{
mmal_component_destroy(state->encoder_component);
state->encoder_component = NULL;
}
}
/**
* Connect two specific ports together
*
* @param output_port Pointer the output port
* @param input_port Pointer the input port
* @param Pointer to a mmal connection pointer, reassigned if function successful
* @return Returns a MMAL_STATUS_T giving result of operation
*
*/
static MMAL_STATUS_T connect_ports(MMAL_PORT_T *output_port, MMAL_PORT_T *input_port, MMAL_CONNECTION_T **connection)
{
MMAL_STATUS_T status;
status = mmal_connection_create(connection, output_port, input_port, MMAL_CONNECTION_FLAG_TUNNELLING | MMAL_CONNECTION_FLAG_ALLOCATION_ON_INPUT);
if (status == MMAL_SUCCESS)
{
status = mmal_connection_enable(*connection);
if (status != MMAL_SUCCESS)
mmal_connection_destroy(*connection);
}
return status;
}
/**
* Checks if specified port is valid and enabled, then disables it
*
* @param port Pointer the port
*
*/
static void check_disable_port(MMAL_PORT_T *port)
{
if (port && port->is_enabled)
mmal_port_disable(port);
}
/**
* Handler for sigint signals
*
* @param signal_number ID of incoming signal.
*
*/
static void signal_handler(int signal_number)
{
// Going to abort on all signals
vcos_log_error("Aborting program\n");
// TODO : Need to close any open stuff...how?
exit(255);
}
/**
* main
*/
int main(int argc, const char **argv)
{
/////////////////////////////////
// BEGIN OF FACE RECO INIT
/////////////////////////////////
cout<<"start\n";
fn_haar = "/usr/share/opencv/haarcascades/haarcascade_frontalface_default.xml";
DEBUG cout<<"(OK) csv="<<fn_haar<<"\n";
if (!face_cascade.load(fn_haar))
{
cout <<"(E) face cascade model not loaded :"+fn_haar+"\n";
return -1;
}
trace("(init) Load modele : ok");
/////////////////////////////////
// END OF FACE RECO INIT
/////////////////////////////////
// Our main data storage vessel..
RASPIVID_STATE state;
MMAL_STATUS_T status;// = -1;
MMAL_PORT_T *camera_video_port = NULL;
MMAL_PORT_T *camera_still_port = NULL;
MMAL_PORT_T *preview_input_port = NULL;
MMAL_PORT_T *encoder_input_port = NULL;
MMAL_PORT_T *encoder_output_port = NULL;
time_t timer_begin,timer_end;
double secondsElapsed;
bcm_host_init();
signal(SIGINT, signal_handler);
// read default status
default_status(&state);
// init windows and OpenCV Stuff
cvNamedWindow("camcvWin", CV_WINDOW_AUTOSIZE);
int w=state.width;
int h=state.height;
dstImage = cvCreateImage(cvSize(w,h), IPL_DEPTH_8U, 3);
py = cvCreateImage(cvSize(w,h), IPL_DEPTH_8U, 1); // Y component of YUV I420 frame
pu = cvCreateImage(cvSize(w/2,h/2), IPL_DEPTH_8U, 1); // U component of YUV I420 frame
pv = cvCreateImage(cvSize(w/2,h/2), IPL_DEPTH_8U, 1); // V component of YUV I420 frame
pu_big = cvCreateImage(cvSize(w,h), IPL_DEPTH_8U, 1);
pv_big = cvCreateImage(cvSize(w,h), IPL_DEPTH_8U, 1);
image = cvCreateImage(cvSize(w,h), IPL_DEPTH_8U, 3); // final picture to display
// create camera
if (!create_camera_component(&state))
{
vcos_log_error("%s: Failed to create camera component", __func__);
}
// else if (!raspipreview_create(&state.preview_parameters))
else if ( (status = raspipreview_create(&state.preview_parameters)) != MMAL_SUCCESS)
{
vcos_log_error("%s: Failed to create preview component", __func__);
destroy_camera_component(&state);
}
else
{
PORT_USERDATA callback_data;
camera_video_port = state.camera_component->output[MMAL_CAMERA_VIDEO_PORT];
camera_still_port = state.camera_component->output[MMAL_CAMERA_CAPTURE_PORT];
VCOS_STATUS_T vcos_status;
callback_data.pstate = &state;
vcos_status = vcos_semaphore_create(&callback_data.complete_semaphore, "RaspiStill-sem", 0);
vcos_assert(vcos_status == VCOS_SUCCESS);
// assign data to use for callback
camera_video_port->userdata = (struct MMAL_PORT_USERDATA_T *)&callback_data;
// init timer
time(&timer_begin);
// start capture
if (mmal_port_parameter_set_boolean(camera_video_port, MMAL_PARAMETER_CAPTURE, 1) != MMAL_SUCCESS)
{
return 0;
}
// Send all the buffers to the video port
int num = mmal_queue_length(state.video_pool->queue);
int q;
for (q=0;q<num;q++)
{
MMAL_BUFFER_HEADER_T *buffer = mmal_queue_get(state.video_pool->queue);
if (!buffer)
vcos_log_error("Unable to get a required buffer %d from pool queue", q);
if (mmal_port_send_buffer(camera_video_port, buffer)!= MMAL_SUCCESS)
vcos_log_error("Unable to send a buffer to encoder output port (%d)", q);
}
// Now wait until we need to stop
vcos_sleep(state.timeout);
//mmal_status_to_int(status);
// Disable all our ports that are not handled by connections
check_disable_port(camera_still_port);
if (state.camera_component)
mmal_component_disable(state.camera_component);
//destroy_encoder_component(&state);
raspipreview_destroy(&state.preview_parameters);
destroy_camera_component(&state);
}
if (status != 0)
raspicamcontrol_check_configuration(128);
time(&timer_end); /* get current time; same as: timer = time(NULL) */
cvReleaseImage(&dstImage);
cvReleaseImage(&pu);
cvReleaseImage(&pv);
cvReleaseImage(&py);
cvReleaseImage(&pu_big);
cvReleaseImage(&pv_big);
secondsElapsed = difftime(timer_end,timer_begin);
printf ("%.f seconds for %d frames : FPS = %f\n", secondsElapsed,nCount,(float)((float)(nCount)/secondsElapsed));
return 0;
}
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