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Hands-On Robotics Programming with C++

You're reading from   Hands-On Robotics Programming with C++ Leverage Raspberry Pi 3 and C++ libraries to build intelligent robotics applications

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Product type Paperback
Published in Mar 2019
Publisher Packt
ISBN-13 9781789139006
Length 312 pages
Edition 1st Edition
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Authors (2):
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Lentin Joseph Lentin Joseph
Author Profile Icon Lentin Joseph
Lentin Joseph
Dinesh Tavasalkar Dinesh Tavasalkar
Author Profile Icon Dinesh Tavasalkar
Dinesh Tavasalkar
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Toc

Table of Contents (16) Chapters Close

Preface 1. Section 1: Getting Started with wiringPi on a Raspberry Pi
2. Introduction to the Raspberry Pi FREE CHAPTER 3. Implementing Blink with wiringPi 4. Section 2: Raspberry Pi Robotics
5. Programming the Robot 6. Building an Obstacle-Avoiding Robot 7. Controlling a Robot Using a Laptop 8. Section 3: Face and Object Recognition Robot
9. Accessing the RPi Camera with OpenCV 10. Building an Object-Following Robot with OpenCV 11. Face Detection and Tracking Using the Haar Classifier 12. Section 4: Smartphone-Controlled Robot
13. Building a Voice-Controlled Robot 14. Assessments 15. Other Books You May Enjoy

Detecting the eyes and smile

The program for detecting the eyes and smile is called SmilingFace.cpp, and you can download it from the Chapter08 folder of this book's GitHub repository.

Detecting the eyes

The SmilingFace.cpp program is basically an extension of the FaceDetection.cpp program, meaning that we will first find the region of interest, which is the face. Next, using the Haar CascadeClassifier for the eyes, we will detect the eyes and then draw circles around them.

Before writing the program, let's first understand the different eye CascadeClassifier that are available. OpenCV 4.0 has three main eye cascade classifiers:

  • haarcascade_eye.xml: This classifier will detect both of the eyes simultaneously
  • haarcascade_lefteye_2splits...
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