Mirrors/overte
3
0
Fork 0
mirror of https://github.com/overte-org/overte.git synced 2025-08-08 17:39:26 +02:00
Code Issues Projects Releases Packages Wiki Activity Actions

When we have a mean face depth, use that rather than the face size to

Browse source 
estimate the z coordinate.
This commit is contained in:
Andrzej Kapolka 2013-07-30 11:07:33 -07:00
parent 3b4a4daec3
commit 3c437076a7
2 changed files with 32 additions and 20 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

47
interface/src/Webcam.cpp
View file

@ -57,8 +57,11 @@ void Webcam::setEnabled(bool enabled) {
} }
} }
const float UNINITIALIZED_FACE_DEPTH = 0.0f;
void Webcam::reset() { void Webcam::reset() {
_initialFaceRect = RotatedRect(); _initialFaceRect = RotatedRect();
_initialFaceDepth = UNINITIALIZED_FACE_DEPTH;
if (_enabled) { if (_enabled) {
// send a message to the grabber // send a message to the grabber
@ -149,7 +152,8 @@ Webcam::~Webcam() {
delete _grabber; delete _grabber;
} }
void Webcam::setFrame(const Mat& color, int format, const Mat& depth, const RotatedRect& faceRect, const JointVector& joints) { void Webcam::setFrame(const Mat& color, int format, const Mat& depth, float meanFaceDepth,
const RotatedRect& faceRect, const JointVector& joints) {
IplImage colorImage = color; IplImage colorImage = color;
glPixelStorei(GL_UNPACK_ROW_LENGTH, colorImage.widthStep / 3); glPixelStorei(GL_UNPACK_ROW_LENGTH, colorImage.widthStep / 3);
if (_colorTextureID == 0) { if (_colorTextureID == 0) {
@ -232,22 +236,28 @@ void Webcam::setFrame(const Mat& color, int format, const Mat& depth, const Rota
const float ROTATION_SMOOTHING = 0.95f; const float ROTATION_SMOOTHING = 0.95f;
_estimatedRotation.z = glm::mix(_faceRect.angle, _estimatedRotation.z, ROTATION_SMOOTHING); _estimatedRotation.z = glm::mix(_faceRect.angle, _estimatedRotation.z, ROTATION_SMOOTHING);
// determine position based on translation and scaling of the face rect // determine position based on translation and scaling of the face rect/mean face depth
if (_initialFaceRect.size.area() == 0) { if (_initialFaceRect.size.area() == 0) {
_initialFaceRect = _faceRect; _initialFaceRect = _faceRect;
_estimatedPosition = glm::vec3(); _estimatedPosition = glm::vec3();
_initialFaceDepth = meanFaceDepth;
} else { } else {
float proportion = sqrtf(_initialFaceRect.size.area() / (float)_faceRect.size.area()); float proportion, z;
const float DISTANCE_TO_CAMERA = 0.333f; if (meanFaceDepth == UNINITIALIZED_FACE_DEPTH) {
proportion = sqrtf(_initialFaceRect.size.area() / (float)_faceRect.size.area());
const float INITIAL_DISTANCE_TO_CAMERA = 0.333f;
z = INITIAL_DISTANCE_TO_CAMERA * proportion - INITIAL_DISTANCE_TO_CAMERA;
} else {
z = (meanFaceDepth - _initialFaceDepth) / 1000.0f;
proportion = meanFaceDepth / _initialFaceDepth;
}
const float POSITION_SCALE = 0.5f; const float POSITION_SCALE = 0.5f;
float z = DISTANCE_TO_CAMERA * proportion - DISTANCE_TO_CAMERA; _estimatedPosition = glm::vec3(
glm::vec3 position = glm::vec3(
(_faceRect.center.x - _initialFaceRect.center.x) * proportion * POSITION_SCALE / _textureSize.width, (_faceRect.center.x - _initialFaceRect.center.x) * proportion * POSITION_SCALE / _textureSize.width,
(_faceRect.center.y - _initialFaceRect.center.y) * proportion * POSITION_SCALE / _textureSize.width, (_faceRect.center.y - _initialFaceRect.center.y) * proportion * POSITION_SCALE / _textureSize.width,
z); z);
const float POSITION_SMOOTHING = 0.95f;
_estimatedPosition = glm::mix(position, _estimatedPosition, POSITION_SMOOTHING);
} }
} }
@ -259,7 +269,7 @@ void Webcam::setFrame(const Mat& color, int format, const Mat& depth, const Rota
} }
FrameGrabber::FrameGrabber() : _initialized(false), _capture(0), _searchWindow(0, 0, 0, 0), FrameGrabber::FrameGrabber() : _initialized(false), _capture(0), _searchWindow(0, 0, 0, 0),
_depthOffset(0.0), _codec(), _frameCount(0) { _smoothedMeanFaceDepth(UNINITIALIZED_FACE_DEPTH), _codec(), _frameCount(0) {
} }
FrameGrabber::~FrameGrabber() { FrameGrabber::~FrameGrabber() {
@ -598,16 +608,17 @@ void FrameGrabber::grabFrame() {
} }
} }
} }
double mean = (depthSamples == 0) ? 0.0 : depthTotal / (double)depthSamples; float mean = (depthSamples == 0) ? UNINITIALIZED_FACE_DEPTH : depthTotal / (float)depthSamples;
// update the depth offset based on the mean // smooth the mean over time
const double DEPTH_OFFSET_SMOOTHING = 0.95; const float DEPTH_OFFSET_SMOOTHING = 0.95f;
const double EIGHT_BIT_MIDPOINT = 128.0; _smoothedMeanFaceDepth = (_smoothedMeanFaceDepth == UNINITIALIZED_FACE_DEPTH) ? mean :
double meanOffset = EIGHT_BIT_MIDPOINT - mean; glm::mix(mean, _smoothedMeanFaceDepth, DEPTH_OFFSET_SMOOTHING);
_depthOffset = (_depthOffset == 0.0) ? meanOffset : glm::mix(meanOffset, _depthOffset, DEPTH_OFFSET_SMOOTHING);
// convert from 11 to 8 bits for preview/local display // convert from 11 to 8 bits for preview/local display
depth.convertTo(_grayDepthFrame, CV_8UC1, 1.0, _depthOffset); const double EIGHT_BIT_MIDPOINT = 128.0;
double depthOffset = EIGHT_BIT_MIDPOINT - _smoothedMeanFaceDepth;
depth.convertTo(_grayDepthFrame, CV_8UC1, 1.0, depthOffset);
// likewise for the encoded representation // likewise for the encoded representation
uchar* yline = (uchar*)_encodedFace.data() + vpxImage.stride[0] * ENCODED_FACE_HEIGHT; uchar* yline = (uchar*)_encodedFace.data() + vpxImage.stride[0] * ENCODED_FACE_HEIGHT;
@ -621,7 +632,7 @@ void FrameGrabber::grabFrame() {
*ydest++ = EIGHT_BIT_MAXIMUM; *ydest++ = EIGHT_BIT_MAXIMUM;
} else { } else {
*ydest++ = saturate_cast<uchar>(depth + _depthOffset); *ydest++ = saturate_cast<uchar>(depth + depthOffset);
} }
} }
yline += vpxImage.stride[0]; yline += vpxImage.stride[0];
@ -646,7 +657,7 @@ void FrameGrabber::grabFrame() {
} }
QMetaObject::invokeMethod(Application::getInstance()->getWebcam(), "setFrame", QMetaObject::invokeMethod(Application::getInstance()->getWebcam(), "setFrame",
Q_ARG(cv::Mat, color), Q_ARG(int, format), Q_ARG(cv::Mat, _grayDepthFrame), Q_ARG(cv::Mat, color), Q_ARG(int, format), Q_ARG(cv::Mat, _grayDepthFrame), Q_ARG(float, _smoothedMeanFaceDepth),
Q_ARG(cv::RotatedRect, _smoothedFaceRect), Q_ARG(JointVector, joints)); Q_ARG(cv::RotatedRect, _smoothedFaceRect), Q_ARG(JointVector, joints));
} }

5
interface/src/Webcam.h
View file

@ -62,7 +62,7 @@ public:
public slots: public slots:
void setEnabled(bool enabled); void setEnabled(bool enabled);
void setFrame(const cv::Mat& color, int format, const cv::Mat& depth, void setFrame(const cv::Mat& color, int format, const cv::Mat& depth, float meanFaceDepth,
const cv::RotatedRect& faceRect, const JointVector& joints); const cv::RotatedRect& faceRect, const JointVector& joints);
private: private:
@ -77,6 +77,7 @@ private:
cv::Size2f _textureSize; cv::Size2f _textureSize;
cv::RotatedRect _faceRect; cv::RotatedRect _faceRect;
cv::RotatedRect _initialFaceRect; cv::RotatedRect _initialFaceRect;
float _initialFaceDepth;
JointVector _joints; JointVector _joints;
uint64_t _startTimestamp; uint64_t _startTimestamp;
@ -117,7 +118,7 @@ private:
cv::Mat _backProject; cv::Mat _backProject;
cv::Rect _searchWindow; cv::Rect _searchWindow;
cv::Mat _grayDepthFrame; cv::Mat _grayDepthFrame;
double _depthOffset; float _smoothedMeanFaceDepth;
vpx_codec_ctx_t _codec; vpx_codec_ctx_t _codec;
int _frameCount; int _frameCount;