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Got the depth information displaying.

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This commit is contained in:
Andrzej Kapolka 2013-06-26 15:35:44 -07:00
parent c0b5bc5922
commit 5ef400b193
2 changed files with 92 additions and 38 deletions
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120
interface/src/Webcam.cpp
View file

@ -25,7 +25,7 @@ using namespace std;
int matMetaType = qRegisterMetaType<Mat>("cv::Mat"); int matMetaType = qRegisterMetaType<Mat>("cv::Mat");
int rotatedRectMetaType = qRegisterMetaType<RotatedRect>("cv::RotatedRect"); int rotatedRectMetaType = qRegisterMetaType<RotatedRect>("cv::RotatedRect");
Webcam::Webcam() : _enabled(false), _active(false), _frameTextureID(0) { Webcam::Webcam() : _enabled(false), _active(false), _frameTextureID(0), _depthTextureID(0) {
// the grabber simply runs as fast as possible // the grabber simply runs as fast as possible
_grabber = new FrameGrabber(); _grabber = new FrameGrabber();
_grabber->moveToThread(&_grabberThread); _grabber->moveToThread(&_grabberThread);
@ -79,6 +79,22 @@ void Webcam::renderPreview(int screenWidth, int screenHeight) {
glTexCoord2f(0, 1); glTexCoord2f(0, 1);
glVertex2f(left, top + PREVIEW_HEIGHT); glVertex2f(left, top + PREVIEW_HEIGHT);
glEnd(); glEnd();
if (_depthTextureID != 0) {
glBindTexture(GL_TEXTURE_2D, _depthTextureID);
glBegin(GL_QUADS);
int depthPreviewWidth = _depthWidth * PREVIEW_HEIGHT / _depthHeight;
int depthLeft = screenWidth - depthPreviewWidth - 10;
glTexCoord2f(0, 0);
glVertex2f(depthLeft, top - PREVIEW_HEIGHT);
glTexCoord2f(1, 0);
glVertex2f(depthLeft + depthPreviewWidth, top - PREVIEW_HEIGHT);
glTexCoord2f(1, 1);
glVertex2f(depthLeft + depthPreviewWidth, top);
glTexCoord2f(0, 1);
glVertex2f(depthLeft, top);
glEnd();
}
glBindTexture(GL_TEXTURE_2D, 0); glBindTexture(GL_TEXTURE_2D, 0);
glDisable(GL_TEXTURE_2D); glDisable(GL_TEXTURE_2D);
@ -107,20 +123,38 @@ Webcam::~Webcam() {
delete _grabber; delete _grabber;
} }
void Webcam::setFrame(const Mat& frame, const RotatedRect& faceRect) { void Webcam::setFrame(const Mat& frame, int format, const Mat& depth, const RotatedRect& faceRect) {
IplImage image = frame; IplImage image = frame;
glPixelStorei(GL_UNPACK_ROW_LENGTH, image.widthStep / 3); glPixelStorei(GL_UNPACK_ROW_LENGTH, image.widthStep / 3);
if (_frameTextureID == 0) { if (_frameTextureID == 0) {
glGenTextures(1, &_frameTextureID); glGenTextures(1, &_frameTextureID);
glBindTexture(GL_TEXTURE_2D, _frameTextureID); glBindTexture(GL_TEXTURE_2D, _frameTextureID);
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, _frameWidth = image.width, _frameHeight = image.height, 0, GL_BGR, glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, _frameWidth = image.width, _frameHeight = image.height, 0, format,
GL_UNSIGNED_BYTE, image.imageData); GL_UNSIGNED_BYTE, image.imageData);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
printLog("Capturing webcam at %dx%d.\n", _frameWidth, _frameHeight); printLog("Capturing video at %dx%d.\n", _frameWidth, _frameHeight);
} else { } else {
glBindTexture(GL_TEXTURE_2D, _frameTextureID); glBindTexture(GL_TEXTURE_2D, _frameTextureID);
glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, _frameWidth, _frameHeight, GL_BGR, GL_UNSIGNED_BYTE, image.imageData); glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, _frameWidth, _frameHeight, format, GL_UNSIGNED_BYTE, image.imageData);
}
if (!depth.empty()) {
IplImage depthImage = depth;
glPixelStorei(GL_UNPACK_ROW_LENGTH, depthImage.widthStep);
if (_depthTextureID == 0) {
glGenTextures(1, &_depthTextureID);
glBindTexture(GL_TEXTURE_2D, _depthTextureID);
glTexImage2D(GL_TEXTURE_2D, 0, GL_LUMINANCE, _depthWidth = depthImage.width, _depthHeight = depthImage.height, 0,
GL_LUMINANCE, GL_UNSIGNED_BYTE, depthImage.imageData);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
printLog("Capturing depth at %dx%d.\n", _depthWidth, _depthHeight);
} else {
glBindTexture(GL_TEXTURE_2D, _depthTextureID);
glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, _depthWidth, _depthHeight, GL_LUMINANCE,
GL_UNSIGNED_BYTE, depthImage.imageData);
}
} }
glPixelStorei(GL_UNPACK_ROW_LENGTH, 0); glPixelStorei(GL_UNPACK_ROW_LENGTH, 0);
glBindTexture(GL_TEXTURE_2D, 0); glBindTexture(GL_TEXTURE_2D, 0);
@ -195,39 +229,51 @@ void FrameGrabber::reset() {
_searchWindow = Rect(0, 0, 0, 0); _searchWindow = Rect(0, 0, 0, 0);
} }
static Mat videoFrame, depthFrame;
static bool gotVideoFrame, gotDepthFrame;
void FrameGrabber::grabFrame() { void FrameGrabber::grabFrame() {
if (_capture == 0 && _freenectContext == 0 && !init()) { if (_capture == 0 && _freenectContext == 0 && !init()) {
return; return;
} }
int format = GL_BGR;
::gotVideoFrame = ::gotDepthFrame = false;
if (_freenectContext != 0) { if (_freenectContext != 0) {
freenect_process_events(_freenectContext); freenect_process_events(_freenectContext);
return; if (::gotDepthFrame) {
::depthFrame.convertTo(_grayDepth, CV_8UC1, 255.0 / 2047.0);
}
format = GL_RGB;
} else {
IplImage* image = cvQueryFrame(_capture);
if (image != 0) {
// make sure it's in the format we expect
if (image->nChannels != 3 || image->depth != IPL_DEPTH_8U || image->dataOrder != IPL_DATA_ORDER_PIXEL ||
image->origin != 0) {
printLog("Invalid webcam image format.\n");
return;
}
::videoFrame = image;
::gotVideoFrame = true;
}
} }
if (!::gotVideoFrame) {
IplImage* image = cvQueryFrame(_capture);
if (image == 0) {
// try again later // try again later
QMetaObject::invokeMethod(this, "grabFrame", Qt::QueuedConnection); QMetaObject::invokeMethod(this, "grabFrame", Qt::QueuedConnection);
return; return;
}
// make sure it's in the format we expect
if (image->nChannels != 3 || image->depth != IPL_DEPTH_8U || image->dataOrder != IPL_DATA_ORDER_PIXEL ||
image->origin != 0) {
printLog("Invalid webcam image format.\n");
return;
} }
// if we don't have a search window (yet), try using the face cascade // if we don't have a search window (yet), try using the face cascade
Mat frame = image;
int channels = 0; int channels = 0;
float ranges[] = { 0, 180 }; float ranges[] = { 0, 180 };
const float* range = ranges; const float* range = ranges;
if (_searchWindow.area() == 0) { if (_searchWindow.area() == 0) {
vector<Rect> faces; vector<Rect> faces;
_faceCascade.detectMultiScale(frame, faces, 1.1, 6); _faceCascade.detectMultiScale(::videoFrame, faces, 1.1, 6);
if (!faces.empty()) { if (!faces.empty()) {
_searchWindow = faces.front(); _searchWindow = faces.front();
updateHSVFrame(frame); updateHSVFrame(::videoFrame, format);
Mat faceHsv(_hsvFrame, _searchWindow); Mat faceHsv(_hsvFrame, _searchWindow);
Mat faceMask(_mask, _searchWindow); Mat faceMask(_mask, _searchWindow);
@ -240,7 +286,7 @@ void FrameGrabber::grabFrame() {
} }
RotatedRect faceRect; RotatedRect faceRect;
if (_searchWindow.area() > 0) { if (_searchWindow.area() > 0) {
updateHSVFrame(frame); updateHSVFrame(::videoFrame, format);
calcBackProject(&_hsvFrame, 1, &channels, _histogram, _backProject, &range); calcBackProject(&_hsvFrame, 1, &channels, _histogram, _backProject, &range);
bitwise_and(_backProject, _mask, _backProject); bitwise_and(_backProject, _mask, _backProject);
@ -249,7 +295,7 @@ void FrameGrabber::grabFrame() {
_searchWindow = faceRect.boundingRect(); _searchWindow = faceRect.boundingRect();
} }
QMetaObject::invokeMethod(Application::getInstance()->getWebcam(), "setFrame", QMetaObject::invokeMethod(Application::getInstance()->getWebcam(), "setFrame",
Q_ARG(cv::Mat, frame), Q_ARG(cv::RotatedRect, faceRect)); Q_ARG(cv::Mat, ::videoFrame), Q_ARG(int, format), Q_ARG(cv::Mat, _grayDepth), Q_ARG(cv::RotatedRect, faceRect));
} }
const char* FREENECT_LOG_LEVEL_NAMES[] = { "fatal", "error", "warning", "notice", "info", "debug", "spew", "flood" }; const char* FREENECT_LOG_LEVEL_NAMES[] = { "fatal", "error", "warning", "notice", "info", "debug", "spew", "flood" };
@ -258,18 +304,29 @@ static void logCallback(freenect_context* freenectDevice, freenect_loglevel leve
printLog("Freenect %s: %s\n", FREENECT_LOG_LEVEL_NAMES[level], msg); printLog("Freenect %s: %s\n", FREENECT_LOG_LEVEL_NAMES[level], msg);
} }
static freenect_frame_mode freenectVideoMode, freenectDepthMode;
static void depthCallback(freenect_device* freenectDevice, void* depth, uint32_t timestamp) { static void depthCallback(freenect_device* freenectDevice, void* depth, uint32_t timestamp) {
qDebug() << "Got depth " << depth << timestamp; ::depthFrame = Mat(::freenectDepthMode.height, ::freenectDepthMode.width, CV_16UC1, depth);
::gotDepthFrame = true;
} }
static void videoCallback(freenect_device* freenectDevice, void* video, uint32_t timestamp) { static void videoCallback(freenect_device* freenectDevice, void* video, uint32_t timestamp) {
qDebug() << "Got video " << video << timestamp; ::videoFrame = Mat(::freenectVideoMode.height, ::freenectVideoMode.width, CV_8UC3, video);
::gotVideoFrame = true;
} }
bool FrameGrabber::init() { bool FrameGrabber::init() {
// load our face cascade
switchToResourcesParentIfRequired();
if (!_faceCascade.load("resources/haarcascades/haarcascade_frontalface_alt.xml")) {
printLog("Failed to load Haar cascade for face tracking.\n");
return false;
}
// first try for a Kinect // first try for a Kinect
if (freenect_init(&_freenectContext, 0) >= 0) { if (freenect_init(&_freenectContext, 0) >= 0) {
freenect_set_log_level(_freenectContext, FREENECT_LOG_DEBUG); freenect_set_log_level(_freenectContext, FREENECT_LOG_WARNING);
freenect_set_log_callback(_freenectContext, logCallback); freenect_set_log_callback(_freenectContext, logCallback);
freenect_select_subdevices(_freenectContext, FREENECT_DEVICE_CAMERA); freenect_select_subdevices(_freenectContext, FREENECT_DEVICE_CAMERA);
@ -277,10 +334,10 @@ bool FrameGrabber::init() {
if (freenect_open_device(_freenectContext, &_freenectDevice, 0) >= 0) { if (freenect_open_device(_freenectContext, &_freenectDevice, 0) >= 0) {
freenect_set_depth_callback(_freenectDevice, depthCallback); freenect_set_depth_callback(_freenectDevice, depthCallback);
freenect_set_video_callback(_freenectDevice, videoCallback); freenect_set_video_callback(_freenectDevice, videoCallback);
_freenectVideoMode = freenect_find_video_mode(FREENECT_RESOLUTION_MEDIUM, FREENECT_VIDEO_RGB); ::freenectVideoMode = freenect_find_video_mode(FREENECT_RESOLUTION_MEDIUM, FREENECT_VIDEO_RGB);
freenect_set_video_mode(_freenectDevice, _freenectVideoMode); freenect_set_video_mode(_freenectDevice, ::freenectVideoMode);
_freenectDepthMode = freenect_find_depth_mode(FREENECT_RESOLUTION_MEDIUM, FREENECT_DEPTH_11BIT); ::freenectDepthMode = freenect_find_depth_mode(FREENECT_RESOLUTION_MEDIUM, FREENECT_DEPTH_11BIT);
freenect_set_depth_mode(_freenectDevice, _freenectDepthMode); freenect_set_depth_mode(_freenectDevice, ::freenectDepthMode);
freenect_start_depth(_freenectDevice); freenect_start_depth(_freenectDevice);
freenect_start_video(_freenectDevice); freenect_start_video(_freenectDevice);
@ -312,15 +369,10 @@ bool FrameGrabber::init() {
cvSetCaptureProperty(_capture, CV_CAP_PROP_GAIN, 0.5); cvSetCaptureProperty(_capture, CV_CAP_PROP_GAIN, 0.5);
#endif #endif
switchToResourcesParentIfRequired();
if (!_faceCascade.load("resources/haarcascades/haarcascade_frontalface_alt.xml")) {
printLog("Failed to load Haar cascade for face tracking.\n");
return false;
}
return true; return true;
} }
void FrameGrabber::updateHSVFrame(const Mat& frame) { void FrameGrabber::updateHSVFrame(const Mat& frame, int format) {
cvtColor(frame, _hsvFrame, CV_BGR2HSV); cvtColor(frame, _hsvFrame, format == GL_RGB ? CV_RGB2HSV : CV_BGR2HSV);
inRange(_hsvFrame, Scalar(0, 55, 65), Scalar(180, 256, 256), _mask); inRange(_hsvFrame, Scalar(0, 55, 65), Scalar(180, 256, 256), _mask);
} }

10
interface/src/Webcam.h
View file

@ -45,7 +45,7 @@ public:
public slots: public slots:
void setEnabled(bool enabled); void setEnabled(bool enabled);
void setFrame(const cv::Mat& image, const cv::RotatedRect& faceRect); void setFrame(const cv::Mat& video, int format, const cv::Mat& depth, const cv::RotatedRect& faceRect);
private: private:
@ -56,7 +56,10 @@ private:
bool _active; bool _active;
int _frameWidth; int _frameWidth;
int _frameHeight; int _frameHeight;
int _depthWidth;
int _depthHeight;
GLuint _frameTextureID; GLuint _frameTextureID;
GLuint _depthTextureID;
cv::RotatedRect _faceRect; cv::RotatedRect _faceRect;
cv::RotatedRect _initialFaceRect; cv::RotatedRect _initialFaceRect;
@ -85,7 +88,7 @@ public slots:
private: private:
bool init(); bool init();
void updateHSVFrame(const cv::Mat& frame); void updateHSVFrame(const cv::Mat& frame, int format);
CvCapture* _capture; CvCapture* _capture;
cv::CascadeClassifier _faceCascade; cv::CascadeClassifier _faceCascade;
@ -94,11 +97,10 @@ private:
cv::SparseMat _histogram; cv::SparseMat _histogram;
cv::Mat _backProject; cv::Mat _backProject;
cv::Rect _searchWindow; cv::Rect _searchWindow;
cv::Mat _grayDepth;
freenect_context* _freenectContext; freenect_context* _freenectContext;
freenect_device* _freenectDevice; freenect_device* _freenectDevice;
freenect_frame_mode _freenectVideoMode;
freenect_frame_mode _freenectDepthMode;
}; };
Q_DECLARE_METATYPE(cv::Mat) Q_DECLARE_METATYPE(cv::Mat)