C++ OpenCV学习笔记（多线程，多个摄像头进行基于Haar+Adaboost实现的人脸检测功能，并发送点位数据给到机器人）

#include <opencv2/core/core.hpp>  
#include <opencv2/imgproc/imgproc.hpp>  
#include <opencv2/opencv.hpp>  

#include <vector>  
#include <cstdio>  
#include <stdio.h>
#include<WINSOCK2.H>
#include<STDIO.H>
#include<iostream>
#include<cstring>
using namespace std;
using namespace cv;
#pragma comment(lib, "ws2_32.lib")

int camera1_flag = 0;
int camera2_flag = 0;


DWORD WINAPI Fun1(LPVOID lpParamter)
{
	int number = 0;
	// 【1】加载分类器  
	CascadeClassifier cascade;
	cascade.load("F:\\opencv\\haarcascade_frontalface_alt.xml");

	Mat frame;
	Mat image;
	Mat grayImage;

	VideoCapture cap(0);

	namedWindow("笔记本摄像头检测", 0);

	cout << "按下esc退出检测！" << endl;
	while (cap.read(frame))
	{
		char c = waitKey(30);
		if (c == 27)
		{
			break;
		}
		while (number >= 30)
		{
			number = 0;
			frame.copyTo(image);
			cvtColor(image, grayImage, CV_BGR2GRAY); // 生成灰度图，提高检测效率  

			// 定义7种颜色，用于标记人脸  
			Scalar colors[] =
			{
				// 红橙黄绿青蓝紫  
				CV_RGB(255, 0, 0),
				CV_RGB(255, 97, 0),
				CV_RGB(255, 255, 0),
				CV_RGB(0, 255, 0),
				CV_RGB(0, 255, 255),
				CV_RGB(0, 0, 255),
				CV_RGB(160, 32, 240)
			};

			// 【3】检测  
			vector<Rect> rect;
			cascade.detectMultiScale(grayImage, rect, 1.1, 3, 0);  // 分类器对象调用  

			printf("笔记本摄像头检测到人脸个数：%d\n", rect.size());

			// 【4】标记--在脸部画圆  
			for (int i = 0; i < rect.size(); i++)
			{
				Point  center;
				int radius;
				center.x = cvRound((rect[i].x + rect[i].width * 0.5));
				center.y = cvRound((rect[i].y + rect[i].height * 0.5));

				radius = cvRound((rect[i].width + rect[i].height) * 0.25);
				circle(frame, center, radius, colors[i % 7], 2);
			}
			if (rect.size() > 0)
			{
				camera1_flag = 1;
			}
			else
			{
				camera1_flag = 0;
			}
		}
		number++;
		// 【5】显示  
		imshow("笔记本摄像头检测", frame);
	}
	cap.release();//释放资源
	return 0L;
}

DWORD WINAPI Fun2(LPVOID lpParamter)
{
	int number = 0;
	// 【1】加载分类器  
	CascadeClassifier cascade;
	cascade.load("F:\\opencv\\haarcascade_frontalface_alt.xml");

	Mat frame;
	Mat image;
	Mat grayImage;

	VideoCapture cap(1);

	namedWindow("外接摄像头检测", 0);

	cout << "按下esc退出检测！" << endl;
	while (cap.read(frame))
	{
		char c = waitKey(30);
		if (c == 27)
		{
			break;
		}
		while (number >= 30)
		{
			number = 0;
			frame.copyTo(image);
			cvtColor(image, grayImage, CV_BGR2GRAY); // 生成灰度图，提高检测效率  

			// 定义7种颜色，用于标记人脸  
			Scalar colors[] =
			{
				// 红橙黄绿青蓝紫  
				CV_RGB(255, 0, 0),
				CV_RGB(255, 97, 0),
				CV_RGB(255, 255, 0),
				CV_RGB(0, 255, 0),
				CV_RGB(0, 255, 255),
				CV_RGB(0, 0, 255),
				CV_RGB(160, 32, 240)
			};

			// 【3】检测  
			vector<Rect> rect;
			cascade.detectMultiScale(grayImage, rect, 1.1, 3, 0);  // 分类器对象调用  

			printf("外接摄像头检测到人脸个数：%d\n", rect.size());

			// 【4】标记--在脸部画圆  
			for (int i = 0; i < rect.size(); i++)
			{
				Point  center;
				int radius;
				center.x = cvRound((rect[i].x + rect[i].width * 0.5));
				center.y = cvRound((rect[i].y + rect[i].height * 0.5));

				radius = cvRound((rect[i].width + rect[i].height) * 0.25);
				circle(frame, center, radius, colors[i % 7], 2);
			}
			if (rect.size() > 0)
			{
				camera2_flag = 1;
			}
			else
			{
				camera2_flag = 0;
			}
		}
		number++;
		// 【5】显示  
		imshow("外接摄像头检测", frame);
	}
	cap.release();//释放资源
	return 0L;
}

void socket_client(char *send_mag)
{
	//初始化
	WSADATA wsaData;
	WSAStartup(MAKEWORD(2, 2), &wsaData);

	//创建套接字
	SOCKET clntSock = socket(PF_INET, SOCK_STREAM, IPPROTO_TCP);

	//向服务器发送消息
	sockaddr_in sockAddr;
	memset(&sockAddr, 0, sizeof(sockAddr));			//每个字节都用0填充
	sockAddr.sin_family = PF_INET;
	sockAddr.sin_addr.S_un.S_addr = inet_addr("192.168.2.124");
	sockAddr.sin_port = htons(1234);
	connect(clntSock, (SOCKADDR*)& sockAddr, sizeof(SOCKADDR));

	//向服务端发送消息
	send(clntSock, send_mag, strlen(send_mag) + sizeof(char), NULL);

	//接收服务器消息
	char szBuffer[MAXBYTE] = { 0 };
	recv(clntSock, szBuffer, MAXBYTE, NULL);

	//输出接收到的数据
	cout << "服务端：" << szBuffer << endl;

	//关闭套接字
	closesocket(clntSock);

	//终止dll
	WSACleanup();

}

int main()
{
	HANDLE hThread1 = CreateThread(NULL, 0, Fun1, NULL, 0, NULL);
	CloseHandle(hThread1);
	HANDLE hThread2 = CreateThread(NULL, 0, Fun2, NULL, 0, NULL);
	CloseHandle(hThread2);

	char camera1_point[] = "1.34,5.5";
	char camera2_point[] = "1.34455,123125.5";

	while (true)
	{
		cout << "等待摄像头检测到行人！！" << endl;
		if (camera1_flag == 1)
		{
			cout << "摄像头1检测到行人！！" << endl;
			socket_client(camera1_point);
			cout << "相机1发送数据完成!" << endl;
		}
		Sleep(3000);
		if (camera2_flag == 1)
		{
			cout << "摄像头2检测到行人！！" << endl;
			socket_client(camera2_point);
			cout << "相机2发送数据完成!" << endl;
		}
	}
	
	return 0;
}