added face forehead detection

CMakeCache.txt

@@ -22,7 +22,7 @@ CMAKE_AR:FILEPATH=/usr/bin/ar
 
 //Choose the type of build, options are: None Debug Release RelWithDebInfo
 // MinSizeRel ...
-CMAKE_BUILD_TYPE:STRING=
+CMAKE_BUILD_TYPE:STRING=Debug
 
 //Enable/Disable color output during build.
 CMAKE_COLOR_MAKEFILE:BOOL=ON

CMakeFiles/OpTests.dir/flags.make

@@ -2,7 +2,7 @@
 # Generated by "Unix Makefiles" Generator, CMake Version 3.16
 
 # compile CXX with /usr/bin/c++
-CXX_FLAGS =  
+CXX_FLAGS = -g  
 
 CXX_DEFINES = 
 

CMakeFiles/OpTests.dir/link.txt

@@ -1 +1 @@
-/usr/bin/c++     CMakeFiles/OpTests.dir/ppg.cpp.o  -o OpTests  -Wl,-rpath,/home/tom/freenect2/lib /usr/lib/x86_64-linux-gnu/libopencv_stitching.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_aruco.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_bgsegm.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_bioinspired.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_ccalib.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_dnn_objdetect.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_dnn_superres.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_dpm.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_face.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_freetype.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_fuzzy.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_hdf.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_hfs.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_img_hash.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_line_descriptor.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_quality.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_reg.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_rgbd.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_saliency.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_shape.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_stereo.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_structured_light.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_superres.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_surface_matching.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_tracking.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_videostab.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_viz.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_xobjdetect.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_xphoto.so.4.2.0 /home/tom/freenect2/lib/libfreenect2.so -lpthread /usr/lib/x86_64-linux-gnu/libopencv_highgui.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_datasets.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_plot.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_text.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_dnn.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_ml.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_phase_unwrapping.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_optflow.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_ximgproc.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_video.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_videoio.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_imgcodecs.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_objdetect.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_calib3d.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_features2d.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_flann.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_photo.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_imgproc.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_core.so.4.2.0 
+/usr/bin/c++  -g   CMakeFiles/OpTests.dir/ppg.cpp.o  -o OpTests  -Wl,-rpath,/home/tom/freenect2/lib /usr/lib/x86_64-linux-gnu/libopencv_stitching.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_aruco.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_bgsegm.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_bioinspired.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_ccalib.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_dnn_objdetect.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_dnn_superres.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_dpm.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_face.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_freetype.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_fuzzy.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_hdf.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_hfs.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_img_hash.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_line_descriptor.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_quality.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_reg.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_rgbd.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_saliency.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_shape.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_stereo.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_structured_light.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_superres.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_surface_matching.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_tracking.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_videostab.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_viz.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_xobjdetect.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_xphoto.so.4.2.0 /home/tom/freenect2/lib/libfreenect2.so -lpthread /usr/lib/x86_64-linux-gnu/libopencv_highgui.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_datasets.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_plot.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_text.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_dnn.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_ml.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_phase_unwrapping.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_optflow.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_ximgproc.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_video.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_videoio.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_imgcodecs.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_objdetect.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_calib3d.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_features2d.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_flann.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_photo.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_imgproc.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_core.so.4.2.0 

cmake_install.cmake

@@ -12,7 +12,7 @@ if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
     string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
            CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
   else()
-    set(CMAKE_INSTALL_CONFIG_NAME "")
+    set(CMAKE_INSTALL_CONFIG_NAME "Debug")
   endif()
   message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
 endif()

ppg.cpp

@@ -35,6 +35,7 @@
 #include <libfreenect2/logger.h>
 
 
+
 bool protonect_shutdown = false; // Whether the running application should shut down.
 
 void sigint_handler(int s)
@@ -96,22 +97,94 @@ int main()
     //! [start]
 
     cv::Mat rgbmat;
+    
+    cv::CascadeClassifier faceDetector;
+    if(!faceDetector.load("./haarcascade_frontalface_alt.xml")){
+        std::cerr <<"[ERROR] Unable to load face cascade" << std::endl;
+        return -1;
+    }
+    
+    
+    
+    
+    bool isDiscardData = true;
+    int countDiscard = 0;
+    const int DISCARD_DURATION = 2;//maybe do a float?
+    const int FPS = 30;//can actually switch to 15fps in low light, but for this application it is not very important
 
+    std::cout << "beginning loop" << std::endl;
     while(!protonect_shutdown)
     {
+        int64 start = cv::getTickCount();//gotta check var type is it appropriate
+        
         listener.waitForNewFrame(frames);
         libfreenect2::Frame *rgb = frames[libfreenect2::Frame::Color];
         cv::Mat(rgb->height, rgb->width, CV_8UC4, rgb->data).copyTo(rgbmat);
-        cv::imshow("rgb", rgbmat);
-        
+
         if(cv::waitKey(1) >= 0){//the listener waits for frames, there is no need to limit speed ourselves
 
             protonect_shutdown = true;
         }
 
-
-
         listener.release(frames);
+        
+        
+        
+        
+
+        
+        if(isDiscardData){
+            countDiscard++;
+            cv::imshow("rgb", rgbmat);
+            double fps = cv::getTickFrequency() / (cv::getTickCount() - start);
+            std::cout << "FPS : " << fps << std::endl;
+            if(countDiscard == DISCARD_DURATION*FPS){
+                isDiscardData = false;
+                std::cout << "not discarding data anymore" << std::endl;
+            }
+            
+            continue;
+        }
+        
+        cv::Mat frame_gray;
+        cvtColor( rgbmat, frame_gray, cv::COLOR_BGR2GRAY );
+        equalizeHist(frame_gray, frame_gray);
+        
+        std::vector<cv::Rect> faceRectangles;
+        faceDetector.detectMultiScale(frame_gray, faceRectangles, 1.1, 3, 0, cv::Size(150, 150));
+        //all default parameters besides setting a min face size to be valid
+        
+        /*
+        printf("%zd face(s) are found.\n", faceRectangles.size());
+        for (int i = 0; i < faceRectangles.size(); i++) {
+            cv::Rect r = faceRectangles[i];
+            printf("a face is found at Rect(%d,%d,%d,%d).\n", r.x, r.y, r.width, r.height);
+        }
+        */
+        
+        if(faceRectangles.empty() == false){//THIS WAS AN INFURIATING BUG
+            cv::rectangle(rgbmat, faceRectangles[0], cv::Scalar(100, 0, 255), 1, 1, 0);
+            
+            cv::Rect foreheadROI;
+            foreheadROI = faceRectangles[0];
+            foreheadROI.height *= 0.3;
+            //foreheadROI.width *= 0.8;
+            cv::rectangle(rgbmat, foreheadROI, cv::Scalar(50, 200, 50), 1, 1, 0);
+        }
+        
+        
+        
+        
+        
+        
+        
+        
+        cv::imshow("rgb", rgbmat);
+        //cv::imshow("grayscale", frame_gray);
+        
+        double fps = cv::getTickFrequency() / (cv::getTickCount() - start);
+        std::cout << "FPS : " << fps << std::endl;
+        
     }
     //! [loop end]