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#include <iostream>
#include "opencv2/video/tracking.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/objdetect/objdetect.hpp"
using namespace cv;
using namespace std;
int i = 0;
TermCriteria termcrit(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,20,0.03);
Size subPixWinSize(10,10), winSize(31,31);
//detectAndDisplay - displacement
tuple<pair<Mat, Mat>,pair<Vector<Point2f>, Vector<Point2f>> > detectAndDisplay ( Mat frame )
{
Mat grayframe, prevGray, image;
if (frame.type()!= 8) {
cvtColor(frame, frame, CV_8U);
}
cvtColor(frame, grayframe, CV_RGB2GRAY);
vector<Point2f> corners_prev;
vector<Point2f> corners_now;
String face_cascade_XML = "/Users/x/Documents/x/facedetect/facedetect/haarcascade_frontalface_alt.xml";
CascadeClassifier face_cascade;
vector<Rect> faces(1);
Point center_of_frame(grayframe.size().width/2,grayframe.size().height/2);
pair<Point, Point> corners;
//-- 1. Load the cascades
if( !face_cascade.load( face_cascade_XML ) ){
cout << "Cascade Error" << endl;
};
circle(grayframe, center_of_frame, 1, CV_RGB(0,255,255),8,8,0);
//-- Detect faces
face_cascade.detectMultiScale( grayframe, faces, 1.1, 2, 0, Size(300, 300) );
if (!faces.empty()) {
for( auto faces : faces)
{
Point center_position_of_face((faces.br().x+faces.tl().x)/2,(faces.tl().y+faces.br().y)/2);
Point corner_1(faces.br().x,faces.tl().y);
Point corner_2 = faces.tl();
Point corner_3 = faces.br();
Point corner_4(faces.tl().x,faces.br().y);
rectangle(frame, faces, CV_RGB(0,255,0),4,8,0);
circle(frame, center_position_of_face, 8, CV_RGB(128,128,128),8,8,0);
circle(frame, corner_1, 1, CV_RGB(128,128,128),8,8,0);
circle(frame, corner_2, 1, CV_RGB(128,128,128),8,8,0);
circle(frame, corner_3, 1, CV_RGB(128,128,128),8,8,0);
circle(frame, corner_4, 1, CV_RGB(128,128,128),8,8,0);
line(frame, center_position_of_face, center_of_frame, CV_RGB(0,200,0),1,8);
}
Mat mask(frame.size(),CV_8UC1 ,Scalar(0));
mask(faces.back()).setTo(Scalar(255));
if(prevGray.empty())
{
grayframe.copyTo(prevGray);
}
goodFeaturesToTrack(prevGray, corners_prev, 300, 0.01, 10,mask,3,0,0.04);
goodFeaturesToTrack(grayframe, corners_now, 300, 0.01, 10, mask, 3, 0, 0.04);
cornerSubPix(prevGray, corners_prev, subPixWinSize, Size(-1,-1), termcrit);
cornerSubPix(grayframe, corners_now, subPixWinSize, Size(-1,-1), termcrit);
size_t i, k;
vector<uchar> status;
vector<float> err;
for ( i = 0; i < corners_now.size(); i++)
{
circle( frame, corners_now[i], 4, Scalar(0,255,0), -1, 8, 0 );
}
}
flip(frame, frame, 1);
imshow("Facedetection", frame);
return make_tuple(make_pair(grayframe,prevGray), make_pair(corners_now, corners_prev));
}
int main( int argc, const char** argv )
{
VideoCapture cam(0);
Mat frame;
tuple<pair<Mat, Mat>,pair<Vector<Point2f> , Vector<Point2f>> > grey_frames;
//-- 2. Read the video stream
if( !cam.isOpened() )
{
cout <<"Webcam error" << endl;
return 0;
}
else
{
cout << "Is face detected ?" << endl;
while(waitKey(1) != 'y')
{
cam.read(frame);
if( !frame.empty()){
grey_frames = detectAndDisplay(frame);
}
}
while(waitKey(1))
{
cam.read(frame);
//-- 3. Apply the classifier to the frame
if( !get<1>(grey_frames).second.empty())
{
vector<uchar> status;
vector<float> err;
Mat prevImg = get<0>(grey_frames).second;
Mat nextImg = get<0>(grey_frames).first;
Vector<Point2f> prevPts = get<1>(grey_frames).second;
Vector<Point2f> nextPts = get<1>(grey_frames).first;
calcOpticalFlowPyrLK(prevImg, nextImg, prevPts, nextPts, status, err); //---> here the error occurs.
flip(frame,frame,1);
imshow("tracking", frame);
}
}
}
return 0;
}
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