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Basic blob tracking for LEDs.

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This commit is contained in:
Andrzej Kapolka 2013-08-26 16:49:20 -07:00
parent 8d8ba532e1
commit 455565a9b9
2 changed files with 61 additions and 15 deletions
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64
interface/src/Webcam.cpp
View file

@ -30,6 +30,7 @@ using namespace xn;
// register types with Qt metatype system
int jointVectorMetaType = qRegisterMetaType<JointVector>("JointVector");
int keyPointVectorMetaType = qRegisterMetaType<KeyPointVector>("KeyPointVector");
int matMetaType = qRegisterMetaType<Mat>("cv::Mat");
int rotatedRectMetaType = qRegisterMetaType<RotatedRect>("cv::RotatedRect");
@ -140,6 +141,12 @@ void Webcam::renderPreview(int screenWidth, int screenHeight) {
glVertex2f(left + facePoints[3].x * xScale, top + facePoints[3].y * yScale);
glEnd();
glColor3f(1.0f, 0.0f, 0.0f);
for (KeyPointVector::iterator it = _keyPoints.begin(); it != _keyPoints.end(); it++) {
renderCircle(glm::vec3(left + it->pt.x * xScale, top + it->pt.y * yScale, 0.0f),
it->size * 0.5f, glm::vec3(0.0f, 0.0f, 1.0f), 8);
}
const int MAX_FPS_CHARACTERS = 30;
char fps[MAX_FPS_CHARACTERS];
sprintf(fps, "FPS: %d", (int)(roundf(_frameCount * 1000000.0f / (usecTimestampNow() - _startTimestamp))));
@ -157,8 +164,8 @@ Webcam::~Webcam() {
const float METERS_PER_MM = 1.0f / 1000.0f;
void Webcam::setFrame(const Mat& color, int format, const Mat& depth, float midFaceDepth,
float aspectRatio, const RotatedRect& faceRect, bool sending, const JointVector& joints) {
void Webcam::setFrame(const Mat& color, int format, const Mat& depth, float midFaceDepth, float aspectRatio,
const RotatedRect& faceRect, bool sending, const JointVector& joints, const KeyPointVector& keyPoints) {
if (!_enabled) {
return; // was queued before we shut down; ignore
}
@ -210,6 +217,7 @@ void Webcam::setFrame(const Mat& color, int format, const Mat& depth, float midF
_faceRect = faceRect;
_sending = sending;
_joints = _skeletonTrackingOn ? joints : JointVector();
_keyPoints = keyPoints;
_frameCount++;
const int MAX_FPS = 60;
@ -285,9 +293,21 @@ void Webcam::setFrame(const Mat& color, int format, const Mat& depth, float midF
QTimer::singleShot(qMax((int)remaining / 1000, 0), _grabber, SLOT(grabFrame()));
}
FrameGrabber::FrameGrabber() : _initialized(false), _videoSendMode(FULL_FRAME_VIDEO),
_depthOnly(false), _ledTrackingOn(false), _capture(0), _searchWindow(0, 0, 0, 0),
_smoothedMidFaceDepth(UNINITIALIZED_FACE_DEPTH), _colorCodec(), _depthCodec(), _frameCount(0) {
static SimpleBlobDetector::Params createBlobDetectorParams() {
SimpleBlobDetector::Params params;
params.blobColor = 255;
params.filterByArea = true;
params.minArea = 5;
params.maxArea = 5000;
params.filterByCircularity = true;
params.filterByInertia = false;
params.filterByConvexity = true;
return params;
}
FrameGrabber::FrameGrabber() : _initialized(false), _videoSendMode(FULL_FRAME_VIDEO), _depthOnly(false), _ledTrackingOn(false),
_capture(0), _searchWindow(0, 0, 0, 0), _smoothedMidFaceDepth(UNINITIALIZED_FACE_DEPTH), _colorCodec(), _depthCodec(),
_frameCount(0), _blobDetector(createBlobDetectorParams()) {
}
FrameGrabber::~FrameGrabber() {
@ -392,6 +412,11 @@ void FrameGrabber::setDepthOnly(bool depthOnly) {
destroyCodecs();
}
void FrameGrabber::setLEDTrackingOn(bool ledTrackingOn) {
_ledTrackingOn = ledTrackingOn;
configureCapture();
}
void FrameGrabber::reset() {
_searchWindow = cv::Rect(0, 0, 0, 0);
@ -495,7 +520,7 @@ void FrameGrabber::grabFrame() {
float depthBitrateMultiplier = 1.0f;
Mat faceTransform;
float aspectRatio;
if (_videoSendMode == FULL_FRAME_VIDEO) {
if (_ledTrackingOn || _videoSendMode == FULL_FRAME_VIDEO) {
// no need to find the face if we're sending full frame video
_smoothedFaceRect = RotatedRect(Point2f(color.cols / 2.0f, color.rows / 2.0f), Size2f(color.cols, color.rows), 0.0f);
encodedWidth = color.cols;
@ -569,6 +594,11 @@ void FrameGrabber::grabFrame() {
aspectRatio = _smoothedFaceRect.size.width / _smoothedFaceRect.size.height;
}
KeyPointVector keyPoints;
if (_ledTrackingOn) {
_blobDetector.detect(color, keyPoints);
}
const ushort ELEVEN_BIT_MINIMUM = 0;
const uchar EIGHT_BIT_MIDPOINT = 128;
double depthOffset;
@ -617,7 +647,7 @@ void FrameGrabber::grabFrame() {
_frameCount++;
QByteArray payload;
if (_videoSendMode != NO_VIDEO) {
if (!_ledTrackingOn && _videoSendMode != NO_VIDEO) {
// start the payload off with the aspect ratio (zero for full frame)
payload.append((const char*)&aspectRatio, sizeof(float));
@ -791,7 +821,7 @@ void FrameGrabber::grabFrame() {
QMetaObject::invokeMethod(Application::getInstance()->getWebcam(), "setFrame",
Q_ARG(cv::Mat, color), Q_ARG(int, format), Q_ARG(cv::Mat, _grayDepthFrame), Q_ARG(float, _smoothedMidFaceDepth),
Q_ARG(float, aspectRatio), Q_ARG(cv::RotatedRect, _smoothedFaceRect), Q_ARG(bool, !payload.isEmpty()),
Q_ARG(JointVector, joints));
Q_ARG(JointVector, joints), Q_ARG(KeyPointVector, keyPoints));
}
bool FrameGrabber::init() {
@ -841,18 +871,28 @@ bool FrameGrabber::init() {
cvSetCaptureProperty(_capture, CV_CAP_PROP_FRAME_WIDTH, IDEAL_FRAME_WIDTH);
cvSetCaptureProperty(_capture, CV_CAP_PROP_FRAME_HEIGHT, IDEAL_FRAME_HEIGHT);
configureCapture();
return true;
}
void FrameGrabber::configureCapture() {
#ifdef HAVE_OPENNI
if (_depthGenerator.IsValid()) {
return; // don't bother handling LED tracking with depth camera
}
#endif
#ifdef __APPLE__
configureCamera(0x5ac, 0x8510, false, 0.975, 0.5, 1.0, 0.5, true, 0.5);
#else
cvSetCaptureProperty(_capture, CV_CAP_PROP_EXPOSURE, 0.5);
cvSetCaptureProperty(_capture, CV_CAP_PROP_CONTRAST, 0.5);
cvSetCaptureProperty(_capture, CV_CAP_PROP_CONTRAST, _ledTrackingOn ? 0.99 : 0.5);
cvSetCaptureProperty(_capture, CV_CAP_PROP_SATURATION, 0.5);
cvSetCaptureProperty(_capture, CV_CAP_PROP_BRIGHTNESS, 0.5);
cvSetCaptureProperty(_capture, CV_CAP_PROP_BRIGHTNESS, _ledTrackingOn ? 0.99 : 0.5);
cvSetCaptureProperty(_capture, CV_CAP_PROP_HUE, 0.5);
cvSetCaptureProperty(_capture, CV_CAP_PROP_GAIN, 0.5);
#endif
return true;
}
void FrameGrabber::updateHSVFrame(const Mat& frame, int format) {

12
interface/src/Webcam.h
View file

@ -35,6 +35,7 @@ class FrameGrabber;
class Joint;
typedef QVector<Joint> JointVector;
typedef std::vector<cv::KeyPoint> KeyPointVector;
class Webcam : public QObject {
Q_OBJECT
@ -68,8 +69,8 @@ public:
public slots:
void setEnabled(bool enabled);
void setFrame(const cv::Mat& color, int format, const cv::Mat& depth, float midFaceDepth,
float aspectRatio, const cv::RotatedRect& faceRect, bool sending, const JointVector& joints);
void setFrame(const cv::Mat& color, int format, const cv::Mat& depth, float midFaceDepth, float aspectRatio,
const cv::RotatedRect& faceRect, bool sending, const JointVector& joints, const KeyPointVector& keyPoints);
void setSkeletonTrackingOn(bool toggle) { _skeletonTrackingOn = toggle; };
private:
@ -88,6 +89,7 @@ private:
cv::RotatedRect _initialFaceRect;
float _initialFaceDepth;
JointVector _joints;
KeyPointVector _keyPoints;
uint64_t _startTimestamp;
int _frameCount;
@ -113,7 +115,7 @@ public slots:
void cycleVideoSendMode();
void setDepthOnly(bool depthOnly);
void setLEDTrackingOn(bool ledTrackingOn) { _ledTrackingOn = ledTrackingOn; }
void setLEDTrackingOn(bool ledTrackingOn);
void reset();
void shutdown();
void grabFrame();
@ -125,6 +127,7 @@ private:
bool init();
void updateHSVFrame(const cv::Mat& frame, int format);
void destroyCodecs();
void configureCapture();
bool _initialized;
VideoSendMode _videoSendMode;
@ -149,6 +152,8 @@ private:
QByteArray _encodedFace;
cv::RotatedRect _smoothedFaceRect;
cv::SimpleBlobDetector _blobDetector;
#ifdef HAVE_OPENNI
xn::Context _xnContext;
xn::DepthGenerator _depthGenerator;
@ -173,6 +178,7 @@ public:
};
Q_DECLARE_METATYPE(JointVector)
Q_DECLARE_METATYPE(KeyPointVector)
Q_DECLARE_METATYPE(cv::Mat)
Q_DECLARE_METATYPE(cv::RotatedRect)