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Terminology change to reflect the fact that we're no longer using the mean.

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This commit is contained in:
Andrzej Kapolka 2013-07-31 14:40:33 -07:00
parent 729158f882
commit 415949cc26
2 changed files with 20 additions and 25 deletions
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39
interface/src/Webcam.cpp
View file

@ -154,7 +154,7 @@ Webcam::~Webcam() {
const float METERS_PER_MM = 1.0f / 1000.0f; const float METERS_PER_MM = 1.0f / 1000.0f;
void Webcam::setFrame(const Mat& color, int format, const Mat& depth, float meanFaceDepth, void Webcam::setFrame(const Mat& color, int format, const Mat& depth, float midFaceDepth,
const RotatedRect& faceRect, const JointVector& joints) { 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);
@ -242,18 +242,18 @@ void Webcam::setFrame(const Mat& color, int format, const Mat& depth, float mean
if (_initialFaceRect.size.area() == 0) { if (_initialFaceRect.size.area() == 0) {
_initialFaceRect = _faceRect; _initialFaceRect = _faceRect;
_estimatedPosition = glm::vec3(); _estimatedPosition = glm::vec3();
_initialFaceDepth = meanFaceDepth; _initialFaceDepth = midFaceDepth;
} else { } else {
float proportion, z; float proportion, z;
if (meanFaceDepth == UNINITIALIZED_FACE_DEPTH) { if (midFaceDepth == UNINITIALIZED_FACE_DEPTH) {
proportion = sqrtf(_initialFaceRect.size.area() / (float)_faceRect.size.area()); proportion = sqrtf(_initialFaceRect.size.area() / (float)_faceRect.size.area());
const float INITIAL_DISTANCE_TO_CAMERA = 0.333f; const float INITIAL_DISTANCE_TO_CAMERA = 0.333f;
z = INITIAL_DISTANCE_TO_CAMERA * proportion - INITIAL_DISTANCE_TO_CAMERA; z = INITIAL_DISTANCE_TO_CAMERA * proportion - INITIAL_DISTANCE_TO_CAMERA;
} else { } else {
z = (meanFaceDepth - _initialFaceDepth) * METERS_PER_MM; z = (midFaceDepth - _initialFaceDepth) * METERS_PER_MM;
proportion = meanFaceDepth / _initialFaceDepth; proportion = midFaceDepth / _initialFaceDepth;
} }
const float POSITION_SCALE = 0.5f; const float POSITION_SCALE = 0.5f;
_estimatedPosition = glm::vec3( _estimatedPosition = glm::vec3(
@ -271,7 +271,7 @@ void Webcam::setFrame(const Mat& color, int format, const Mat& depth, float mean
} }
FrameGrabber::FrameGrabber() : _initialized(false), _capture(0), _searchWindow(0, 0, 0, 0), FrameGrabber::FrameGrabber() : _initialized(false), _capture(0), _searchWindow(0, 0, 0, 0),
_smoothedMeanFaceDepth(UNINITIALIZED_FACE_DEPTH), _colorCodec(), _depthCodec(), _frameCount(0) { _smoothedMidFaceDepth(UNINITIALIZED_FACE_DEPTH), _colorCodec(), _depthCodec(), _frameCount(0) {
} }
FrameGrabber::~FrameGrabber() { FrameGrabber::~FrameGrabber() {
@ -622,39 +622,34 @@ void FrameGrabber::grabFrame() {
_smoothedFaceDepth.create(ENCODED_FACE_WIDTH, ENCODED_FACE_HEIGHT, CV_16UC1); _smoothedFaceDepth.create(ENCODED_FACE_WIDTH, ENCODED_FACE_HEIGHT, CV_16UC1);
// smooth and find the minimum/mean of the valid values // smooth the depth over time
const ushort ELEVEN_BIT_MINIMUM = 0; const ushort ELEVEN_BIT_MINIMUM = 0;
const ushort ELEVEN_BIT_MAXIMUM = 2047; const ushort ELEVEN_BIT_MAXIMUM = 2047;
const float DEPTH_SMOOTHING = 0.25f; const float DEPTH_SMOOTHING = 0.25f;
qint64 depthTotal = 0;
qint64 depthSamples = 0;
ushort depthMinimum = ELEVEN_BIT_MAXIMUM;
ushort* src = _faceDepth.ptr<ushort>(); ushort* src = _faceDepth.ptr<ushort>();
ushort* dest = _smoothedFaceDepth.ptr<ushort>(); ushort* dest = _smoothedFaceDepth.ptr<ushort>();
ushort minimumDepth = numeric_limits<ushort>::max();
for (int i = 0; i < ENCODED_FACE_HEIGHT; i++) { for (int i = 0; i < ENCODED_FACE_HEIGHT; i++) {
for (int j = 0; j < ENCODED_FACE_WIDTH; j++) { for (int j = 0; j < ENCODED_FACE_WIDTH; j++) {
ushort depth = *src++; ushort depth = *src++;
if (depth != ELEVEN_BIT_MINIMUM && depth != ELEVEN_BIT_MAXIMUM) { if (depth != ELEVEN_BIT_MINIMUM && depth != ELEVEN_BIT_MAXIMUM) {
depthTotal += depth; minimumDepth = min(minimumDepth, depth);
depthMinimum = min(depthMinimum, depth);
depthSamples++;
*dest = (*dest == ELEVEN_BIT_MINIMUM) ? depth : (ushort)glm::mix(depth, *dest, DEPTH_SMOOTHING); *dest = (*dest == ELEVEN_BIT_MINIMUM) ? depth : (ushort)glm::mix(depth, *dest, DEPTH_SMOOTHING);
} }
dest++; dest++;
} }
} }
const ushort DEPTH_MINIMUM_OFFSET = 64; const ushort MINIMUM_DEPTH_OFFSET = 64;
float mean = (depthSamples == 0) ? UNINITIALIZED_FACE_DEPTH : depthMinimum + DEPTH_MINIMUM_OFFSET; float midFaceDepth = minimumDepth + MINIMUM_DEPTH_OFFSET;
// smooth the mean over time // smooth the mid face depth over time
const float DEPTH_OFFSET_SMOOTHING = 0.5f; const float MID_FACE_DEPTH_SMOOTHING = 0.5f;
_smoothedMeanFaceDepth = (_smoothedMeanFaceDepth == UNINITIALIZED_FACE_DEPTH) ? mean : _smoothedMidFaceDepth = (_smoothedMidFaceDepth == UNINITIALIZED_FACE_DEPTH) ? midFaceDepth :
glm::mix(mean, _smoothedMeanFaceDepth, DEPTH_OFFSET_SMOOTHING); glm::mix(midFaceDepth, _smoothedMidFaceDepth, MID_FACE_DEPTH_SMOOTHING);
// convert from 11 to 8 bits for preview/local display // convert from 11 to 8 bits for preview/local display
const uchar EIGHT_BIT_MIDPOINT = 128; const uchar EIGHT_BIT_MIDPOINT = 128;
double depthOffset = EIGHT_BIT_MIDPOINT - _smoothedMeanFaceDepth; double depthOffset = EIGHT_BIT_MIDPOINT - _smoothedMidFaceDepth;
depth.convertTo(_grayDepthFrame, CV_8UC1, 1.0, depthOffset); depth.convertTo(_grayDepthFrame, CV_8UC1, 1.0, depthOffset);
// likewise for the encoded representation // likewise for the encoded representation
@ -707,7 +702,7 @@ void FrameGrabber::grabFrame() {
Q_ARG(int, _frameCount), Q_ARG(QByteArray, payload)); Q_ARG(int, _frameCount), Q_ARG(QByteArray, payload));
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(float, _smoothedMeanFaceDepth), Q_ARG(cv::Mat, color), Q_ARG(int, format), Q_ARG(cv::Mat, _grayDepthFrame), Q_ARG(float, _smoothedMidFaceDepth),
Q_ARG(cv::RotatedRect, _smoothedFaceRect), Q_ARG(JointVector, joints)); Q_ARG(cv::RotatedRect, _smoothedFaceRect), Q_ARG(JointVector, joints));
} }

4
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, float meanFaceDepth, void setFrame(const cv::Mat& color, int format, const cv::Mat& depth, float midFaceDepth,
const cv::RotatedRect& faceRect, const JointVector& joints); const cv::RotatedRect& faceRect, const JointVector& joints);
private: private:
@ -118,7 +118,7 @@ private:
cv::Mat _backProject; cv::Mat _backProject;
cv::Rect _searchWindow; cv::Rect _searchWindow;
cv::Mat _grayDepthFrame; cv::Mat _grayDepthFrame;
float _smoothedMeanFaceDepth; float _smoothedMidFaceDepth;
vpx_codec_ctx_t _colorCodec; vpx_codec_ctx_t _colorCodec;
vpx_codec_ctx_t _depthCodec; vpx_codec_ctx_t _depthCodec;