Added accelerated Viola-Jones face detector.

CMakeLists.txt

@@ -19,10 +19,18 @@ find_package(Eigen REQUIRED)
 find_package(GLUT REQUIRED)
 # HDF5
 find_package(HDF5 REQUIRED)
+# OpenCV
+find_package(OpenCV REQUIRED)
 # OpenGL
 find_package(OpenGL REQUIRED)
 # OpenNI
 find_package(OpenNI2 REQUIRED)
+# OpenMP
+find_package(OpenMP)
+if (OPENMP_FOUND)
+  set (CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
+  set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
+endif()
 
 set(MODULE_NAMES
     cameras

README.md

@@ -16,5 +16,6 @@ DIP can be compiled and installed using CMake.
 * CUDA 5.0
 * Eigen 3.0.0
 * HDF5
+* OpenCV
 * OpenNI2
 * OpenGL/GLUT

applications/CMakeLists.txt

@@ -1,6 +1,7 @@
 set(APPLICATION_NAMES
     camera_capture
     camera_viewer
+    face_detection
     face_modeling
     object_modeling
     )

applications/face_detection/CMakeLists.txt

@@ -0,0 +1,51 @@
+SET(APPICATION_NAME face_detection)
+
+SET(MODULE_DEPENDENCIES
+    cameras
+    common
+    io
+    segmentation
+    )
+
+include(includes.cmake)
+
+foreach(DEPENDENT ${MODULE_DEPENDENCIES})
+  include(${PROJECT_SOURCE_DIR}/${DEPENDENT}/includes.cmake)
+
+  set(INCLUDE_DIRS
+    ${INCLUDE_DIRS}
+    ${PROJECT_SOURCE_DIR}/${DEPENDENT}/include
+    )
+endforeach(DEPENDENT)
+
+set(INCLUDE_DIRS
+    ${INCLUDE_DIRS}
+    )
+
+include_directories(${INCLUDE_DIRS})
+
+set(INCS
+    )
+
+set(SRCS
+    ${APPICATION_NAME}.cpp
+    )
+
+set(LIBS
+    ${GLUT_LIBRARIES}
+    ${OpenCV_LIBRARIES}
+    ${OPENGL_LIBRARIES}
+    ${MODULE_DEPENDENCIES}
+    )
+
+add_executable(${APPICATION_NAME} ${SRCS} ${INCS})
+target_link_libraries(${APPICATION_NAME} ${LIBS})
+
+install(TARGETS ${APPICATION_NAME} DESTINATION ${BIN_INSTALL_DIR})
+
+include(../copy_file.cmake)
+copy_file("${PROJECT_SOURCE_DIR}/data/haarcascade_frontalface_default.xml")
+
+if(WIN32)
+  include(install.cmake)
+endif()

applications/face_detection/face_detection.cpp

@@ -0,0 +1,245 @@
+/*
+Copyright (c) 2013-2014, Gregory P. Meyer
+                         University of Illinois Board of Trustees
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the copyright holder(s) nor the names of its
+      contributors may be used to endorse or promote products derived from
+      this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+// Standard Libraries
+#include <stdio.h>
+#include <stdlib.h>
+
+// OpenGL
+#include <GL/glut.h>
+
+// DIP
+#include <dip/cameras/camera.h>
+#include <dip/cameras/dumpfile.h>
+#include <dip/cameras/primesense.h>
+#include <dip/common/types.h>
+#include <dip/segmentation/facemasker.h>
+
+using namespace cv;
+using namespace dip;
+using namespace std;
+
+const int kWindowWidth = 640;
+const int kWindowHeight = 480;
+
+const int kFramesPerSecond = 30;
+
+const int kMaxDifference = 250;
+const int kMinDepth = 50;
+const int kMaxDepth = 5000;
+const float kMinFaceSize = 100.0f;
+const float kMaxFaceSize = 225.0f;
+
+const char kCascade[] = "haarcascade_frontalface_default.xml";
+
+CascadeClassifier g_cascade;
+FaceMasker *g_masker = NULL;
+
+Camera *g_camera = NULL;
+
+Depth *g_depth = NULL;
+Color *g_color = NULL;
+
+GLuint g_texture;
+
+void close() {
+  if (g_camera != NULL)
+    delete g_camera;
+
+  if (g_depth != NULL)
+    delete [] g_depth;
+  if (g_color != NULL)
+    delete [] g_color;
+
+  exit(0);
+}
+
+void display() {
+  glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+
+  glMatrixMode(GL_PROJECTION);
+  glLoadIdentity();
+
+  glOrtho(0.0f, 1.0f, 0.0f, 1.0f, -10.0f, 10.0f);
+
+  // Update depth image.
+  if (g_camera->Update(g_depth)) {
+    printf("Unable to update depth image.\n");
+    close();
+  }
+
+  // Update color image.
+  if (g_camera->Update(g_color)) {
+    printf("Unable to update color image.\n");
+    close();
+  }
+
+  // Detect faces in color image.
+  Mat image(g_camera->height(COLOR_SENSOR), g_camera->width(COLOR_SENSOR),
+            CV_8UC3, g_color);
+
+  // Eliminate sub-images using depth image.
+  Size window_size = g_cascade.getOriginalWindowSize();
+  g_masker->Run(kMaxDifference, kMinDepth, kMaxDepth,
+                kMinFaceSize, kMaxFaceSize, window_size.width,
+                g_camera->width(DEPTH_SENSOR), g_camera->height(DEPTH_SENSOR),
+                g_camera->fx(DEPTH_SENSOR), g_depth);
+
+  vector<Rect> faces;
+  g_cascade.detectMultiScale(image, faces, 1.1, 3);
+
+  // Update Texture
+  glEnable(GL_TEXTURE_2D);
+
+  glBindTexture(GL_TEXTURE_2D, g_texture);
+
+  glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, g_camera->width(COLOR_SENSOR),
+                  g_camera->height(COLOR_SENSOR), GL_RGB, GL_UNSIGNED_BYTE,
+                  g_color);
+
+  glDisable(GL_TEXTURE_2D);
+
+  // Display Frame
+  glEnable(GL_TEXTURE_2D);
+
+  glBindTexture(GL_TEXTURE_2D, g_texture);
+
+  glBegin(GL_QUADS);
+    glTexCoord2f(0.0f, 1.0f); glVertex3f(0.0f, 0.0f, 0.0f);
+    glTexCoord2f(0.0f, 0.0f); glVertex3f(0.0f, 1.0f, 0.0f);
+    glTexCoord2f(1.0f, 0.0f); glVertex3f(1.0f, 1.0f, 0.0f);
+    glTexCoord2f(1.0f, 1.0f); glVertex3f(1.0f, 0.0f, 0.0f);
+  glEnd();
+
+  glDisable(GL_TEXTURE_2D);
+  // Draw face rectangles.
+  for (unsigned int i = 0; i < faces.size(); i++) {
+    float left = (float)faces[i].x /
+                  g_camera->width(COLOR_SENSOR);
+    float right = (float)(faces[i].x + faces[i].width) /
+                  g_camera->width(COLOR_SENSOR);
+    float top = 1.0f - ((float)faces[i].y / 
+                g_camera->height(COLOR_SENSOR));
+    float bottom = 1.0f - ((float)(faces[i].y + faces[i].height) /
+                   g_camera->height(COLOR_SENSOR));
+
+    glBegin(GL_LINE_LOOP);
+      glVertex3f(left, top, 0.0f);
+      glVertex3f(right, top, 0.0f);
+      glVertex3f(right, bottom, 0.0f);
+      glVertex3f(left, bottom, 0.0f);
+    glEnd();
+  }
+
+  glutSwapBuffers();
+}
+
+void reshape(int w, int h) {
+  glViewport(0, 0, w, h);
+}
+
+void keyboard(unsigned char key, int x, int y) {
+  switch (key) {
+  // Quit Program
+  case 27:
+    close();
+    break;
+  }
+}
+
+void timer(int fps) {
+  glutPostRedisplay();
+  glutTimerFunc(1000 / fps, timer, fps);
+}
+
+int main(int argc, char **argv) {
+  if (argc > 2) {
+    printf("Usage: %s [Dump File]\n", argv[0]);
+    return -1;
+  }
+
+  glutInit(&argc, argv);
+
+  // Initialize camera.
+  if (argc < 2)
+    g_camera = new PrimeSense();
+  else
+    g_camera = new DumpFile(argv[1]);
+
+  if (!g_camera->enabled()) {
+    printf("Unable to Open Camera\n");
+    return -1;
+  }
+
+  // Initialize buffers.
+  g_depth = new Depth[g_camera->width(DEPTH_SENSOR) *
+                      g_camera->height(DEPTH_SENSOR)];
+  g_color = new Color[g_camera->width(COLOR_SENSOR) *
+                      g_camera->height(COLOR_SENSOR)];
+
+  // Initialize face classifier.
+  if (!g_cascade.load(kCascade)) {
+    printf("Failed to load cascade classifier.\n");
+    return -1;
+  }
+
+  // Initialize face masker.
+  g_masker = new FaceMasker;
+  Ptr<CascadeClassifier::MaskGenerator> masker_ptr(g_masker);
+  g_cascade.setMaskGenerator(masker_ptr);
+
+  // Initialize OpenGL.
+  glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB | GLUT_DEPTH);
+  glutInitWindowSize(kWindowWidth, kWindowHeight);
+  glutInitWindowPosition(100, 100);
+  glutCreateWindow("Face Detection");
+
+  glutDisplayFunc(display);
+  glutReshapeFunc(reshape);
+  glutKeyboardFunc(keyboard);
+  glutTimerFunc(1000 / kFramesPerSecond, timer, kFramesPerSecond);
+
+  // Initialize texture.
+  glEnable(GL_TEXTURE_2D);
+
+  glGenTextures(1, &g_texture);
+  glBindTexture(GL_TEXTURE_2D, g_texture);
+
+  glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
+  glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
+
+  glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, g_camera->width(COLOR_SENSOR),
+               g_camera->height(COLOR_SENSOR), 0, GL_RGB,
+               GL_UNSIGNED_BYTE, NULL);
+
+  glDisable(GL_TEXTURE_2D);
+
+  glutMainLoop();
+
+  return 0;
+}

applications/face_detection/includes.cmake

@@ -0,0 +1,6 @@
+set(INCLUDE_DIRS
+    ${INCLUDE_DIRS}
+    ${GLUT_INCLUDE_DIR}
+    ${OpenCV_INCLUDE_DIRS}
+    ${OPENGL_INCLUDE_DIR}
+    )

applications/face_detection/install.cmake

@@ -0,0 +1,32 @@
+include(../copy_file.cmake)
+
+# Copy and Install HDF5 DLLs
+copy_file("${HDF5_INCLUDE_DIR}/../bin/hdf5.dll")
+copy_file("${HDF5_INCLUDE_DIR}/../bin/hdf5_cpp.dll")
+copy_file("${HDF5_INCLUDE_DIR}/../bin/szip.dll")
+copy_file("${HDF5_INCLUDE_DIR}/../bin/zlib.dll")
+
+# Copy and Install GLUT DLLs
+copy_file("${GLUT_INCLUDE_DIR}/../bin/freeglut.dll")
+
+# Copy and Install OpenNI2 DLLs
+copy_file("${OPENNI2_INCLUDE_DIRS}/../Redist/OpenNI2.dll")
+
+add_custom_command(TARGET ${APPICATION_NAME} POST_BUILD
+                   COMMAND ${CMAKE_COMMAND} -E copy_directory
+                   "${OPENNI2_INCLUDE_DIRS}/../Redist/OpenNI2"
+                   "$<TARGET_FILE_DIR:${APPICATION_NAME}>/OpenNI2")
+install(DIRECTORY "${OPENNI2_INCLUDE_DIRS}/../Redist/OpenNI2"
+        DESTINATION "${BIN_INSTALL_DIR}")
+
+# Copy and Install OpenCV DLLs
+set(OpenCV_NUMBER
+    "${OpenCV_VERSION_MAJOR}${OpenCV_VERSION_MINOR}${OpenCV_VERSION_PATCH}")
+copy_file("${OpenCV_DIR}/bin/Release/opencv_core${OpenCV_NUMBER}.dll")
+copy_file("${OpenCV_DIR}/bin/Debug/opencv_core${OpenCV_NUMBER}d.dll")
+copy_file("${OpenCV_DIR}/bin/Release/opencv_highgui${OpenCV_NUMBER}.dll")
+copy_file("${OpenCV_DIR}/bin/Debug/opencv_highgui${OpenCV_NUMBER}d.dll")
+copy_file("${OpenCV_DIR}/bin/Release/opencv_imgproc${OpenCV_NUMBER}.dll")
+copy_file("${OpenCV_DIR}/bin/Debug/opencv_imgproc${OpenCV_NUMBER}d.dll")
+copy_file("${OpenCV_DIR}/bin/Release/opencv_objdetect${OpenCV_NUMBER}.dll")
+copy_file("${OpenCV_DIR}/bin/Debug/opencv_objdetect${OpenCV_NUMBER}d.dll")

common/CMakeLists.txt

@@ -22,6 +22,7 @@ set(INCLUDE_DIRS
 include_directories(${INCLUDE_DIRS})
 
 set(INCS
+    include/dip/${MODULE_NAME}/distance.h
     include/dip/${MODULE_NAME}/error.h
     include/dip/${MODULE_NAME}/integralimage.h
     include/dip/${MODULE_NAME}/macros.h
@@ -31,6 +32,7 @@ set(INCS
     )
 
 set(SRCS
+    src/distance.cpp
     src/error.cu
     src/integralimage.cpp
     src/memory.cu