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https://github.com/overte-org/overte.git
synced 2025-08-05 04:41:15 +02:00
Few pre-review change for avatar resizing
This commit is contained in:
atlante45
parent
bf3c4fa1f8
commit
fbcacc8cf7
2 changed files with 288 additions and 2 deletions
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@ -1396,7 +1396,8 @@ void Avatar::renderJointConnectingCone(glm::vec3 position1, glm::vec3 position2,
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glEnd();
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}
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void Avatar::setScale(const float scale) {_scale = scale;
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void Avatar::setScale(const float scale) {
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_scale = scale;
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_newScale = _scale;
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_skeleton.setScale(_scale);
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@ -144,17 +144,132 @@ Webcam::~Webcam() {
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// stop the grabber thread
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_grabberThread.quit();
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_grabberThread.wait();
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delete _grabber;
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}
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void Webcam::setFrame(const Mat& frame, int format, const Mat& depth, const RotatedRect& faceRect, const JointVector& joints) {
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IplImage image = frame;
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glPixelStorei(GL_UNPACK_ROW_LENGTH, image.widthStep / 3);
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if (_frameTextureID == 0) {
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glGenTextures(1, &_frameTextureID);
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glBindTexture(GL_TEXTURE_2D, _frameTextureID);
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glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, _frameWidth = image.width, _frameHeight = image.height, 0, format,
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GL_UNSIGNED_BYTE, image.imageData);
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glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
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printLog("Capturing video at %dx%d.\n", _frameWidth, _frameHeight);
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} else {
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glBindTexture(GL_TEXTURE_2D, _frameTextureID);
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glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, _frameWidth, _frameHeight, format, GL_UNSIGNED_BYTE, image.imageData);
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}
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if (!depth.empty()) {
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IplImage depthImage = depth;
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glPixelStorei(GL_UNPACK_ROW_LENGTH, depthImage.widthStep);
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if (_depthTextureID == 0) {
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glGenTextures(1, &_depthTextureID);
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glBindTexture(GL_TEXTURE_2D, _depthTextureID);
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glTexImage2D(GL_TEXTURE_2D, 0, GL_LUMINANCE, _depthWidth = depthImage.width, _depthHeight = depthImage.height, 0,
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GL_LUMINANCE, GL_UNSIGNED_BYTE, depthImage.imageData);
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glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
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printLog("Capturing depth at %dx%d.\n", _depthWidth, _depthHeight);
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} else {
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glBindTexture(GL_TEXTURE_2D, _depthTextureID);
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glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, _depthWidth, _depthHeight, GL_LUMINANCE,
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GL_UNSIGNED_BYTE, depthImage.imageData);
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}
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}
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glPixelStorei(GL_UNPACK_ROW_LENGTH, 0);
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glBindTexture(GL_TEXTURE_2D, 0);
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// store our face rect and joints, update our frame count for fps computation
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_faceRect = faceRect;
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_joints = joints;
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_frameCount++;
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const int MAX_FPS = 60;
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const int MIN_FRAME_DELAY = 1000000 / MAX_FPS;
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uint64_t now = usecTimestampNow();
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int remaining = MIN_FRAME_DELAY;
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if (_startTimestamp == 0) {
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_startTimestamp = now;
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} else {
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remaining -= (now - _lastFrameTimestamp);
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}
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_lastFrameTimestamp = now;
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// see if we have joint data
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if (!_joints.isEmpty()) {
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_estimatedJoints.resize(NUM_AVATAR_JOINTS);
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glm::vec3 origin;
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if (_joints[AVATAR_JOINT_LEFT_HIP].isValid && _joints[AVATAR_JOINT_RIGHT_HIP].isValid) {
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origin = glm::mix(_joints[AVATAR_JOINT_LEFT_HIP].position, _joints[AVATAR_JOINT_RIGHT_HIP].position, 0.5f);
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} else if (_joints[AVATAR_JOINT_TORSO].isValid) {
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const glm::vec3 TORSO_TO_PELVIS = glm::vec3(0.0f, -0.09f, -0.01f);
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origin = _joints[AVATAR_JOINT_TORSO].position + TORSO_TO_PELVIS;
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}
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for (int i = 0; i < NUM_AVATAR_JOINTS; i++) {
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if (!_joints[i].isValid) {
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continue;
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}
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const float JOINT_SMOOTHING = 0.5f;
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_estimatedJoints[i].isValid = true;
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_estimatedJoints[i].position = glm::mix(_joints[i].position - origin,
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_estimatedJoints[i].position, JOINT_SMOOTHING);
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_estimatedJoints[i].rotation = safeMix(_joints[i].rotation,
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_estimatedJoints[i].rotation, JOINT_SMOOTHING);
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}
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_estimatedRotation = safeEulerAngles(_estimatedJoints[AVATAR_JOINT_HEAD_BASE].rotation);
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_estimatedPosition = _estimatedJoints[AVATAR_JOINT_HEAD_BASE].position;
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} else {
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// roll is just the angle of the face rect (correcting for 180 degree rotations)
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float roll = faceRect.angle;
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if (roll < -90.0f) {
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roll += 180.0f;
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} else if (roll > 90.0f) {
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roll -= 180.0f;
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}
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const float ROTATION_SMOOTHING = 0.95f;
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_estimatedRotation.z = glm::mix(roll, _estimatedRotation.z, ROTATION_SMOOTHING);
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// determine position based on translation and scaling of the face rect
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if (_initialFaceRect.size.area() == 0) {
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_initialFaceRect = faceRect;
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_estimatedPosition = glm::vec3();
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} else {
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float proportion = sqrtf(_initialFaceRect.size.area() / (float)faceRect.size.area());
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const float DISTANCE_TO_CAMERA = 0.333f;
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const float POSITION_SCALE = 0.5f;
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float z = DISTANCE_TO_CAMERA * proportion - DISTANCE_TO_CAMERA;
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glm::vec3 position = glm::vec3(
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(faceRect.center.x - _initialFaceRect.center.x) * proportion * POSITION_SCALE / _frameWidth,
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(faceRect.center.y - _initialFaceRect.center.y) * proportion * POSITION_SCALE / _frameWidth,
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z);
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const float POSITION_SMOOTHING = 0.95f;
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_estimatedPosition = glm::mix(position, _estimatedPosition, POSITION_SMOOTHING);
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}
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}
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// note that we have data
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_active = true;
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// let the grabber know we're ready for the next frame
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QTimer::singleShot(qMax((int)remaining / 1000, 0), _grabber, SLOT(grabFrame()));
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}
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FrameGrabber::FrameGrabber() : _initialized(false), _capture(0), _searchWindow(0, 0, 0, 0) {
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}
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FrameGrabber::~FrameGrabber() {
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if (_initialized) {
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shutdown();
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}
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}
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#ifdef HAVE_OPENNI
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@ -242,18 +357,188 @@ static void XN_CALLBACK_TYPE calibrationCompleted(SkeletonCapability& capability
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#endif
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void FrameGrabber::reset() {
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_searchWindow = cv::Rect(0, 0, 0, 0);
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#ifdef HAVE_OPENNI
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if (_userGenerator.IsValid() && _userGenerator.GetSkeletonCap().IsTracking(_userID)) {
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_userGenerator.GetSkeletonCap().RequestCalibration(_userID, true);
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}
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#endif
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}
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void FrameGrabber::shutdown() {
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if (_capture != 0) {
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cvReleaseCapture(&_capture);
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_capture = 0;
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}
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_initialized = false;
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thread()->quit();
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}
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void FrameGrabber::grabFrame() {
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if (!(_initialized || init())) {
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return;
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}
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int format = GL_BGR;
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Mat frame;
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JointVector joints;
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#ifdef HAVE_OPENNI
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if (_depthGenerator.IsValid()) {
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_xnContext.WaitAnyUpdateAll();
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frame = Mat(_imageMetaData.YRes(), _imageMetaData.XRes(), CV_8UC3, (void*)_imageGenerator.GetImageMap());
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format = GL_RGB;
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Mat depth = Mat(_depthMetaData.YRes(), _depthMetaData.XRes(), CV_16UC1, (void*)_depthGenerator.GetDepthMap());
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const double EIGHT_BIT_MAX = 255;
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const double ELEVEN_BIT_MAX = 2047;
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depth.convertTo(_grayDepthFrame, CV_8UC1, EIGHT_BIT_MAX / ELEVEN_BIT_MAX);
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_userID = 0;
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XnUInt16 userCount = 1;
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_userGenerator.GetUsers(&_userID, userCount);
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if (userCount > 0 && _userGenerator.GetSkeletonCap().IsTracking(_userID)) {
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joints.resize(NUM_AVATAR_JOINTS);
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const int MAX_ACTIVE_JOINTS = 16;
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XnSkeletonJoint activeJoints[MAX_ACTIVE_JOINTS];
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XnUInt16 activeJointCount = MAX_ACTIVE_JOINTS;
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_userGenerator.GetSkeletonCap().EnumerateActiveJoints(activeJoints, activeJointCount);
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XnSkeletonJointTransformation transform;
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for (int i = 0; i < activeJointCount; i++) {
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AvatarJointID avatarJoint = xnToAvatarJoint(activeJoints[i]);
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if (avatarJoint == AVATAR_JOINT_NULL) {
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continue;
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}
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_userGenerator.GetSkeletonCap().GetSkeletonJoint(_userID, activeJoints[i], transform);
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XnVector3D projected;
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_depthGenerator.ConvertRealWorldToProjective(1, &transform.position.position, &projected);
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glm::quat rotation = xnToGLM(transform.orientation.orientation);
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int parentJoint = getParentJoint(activeJoints[i]);
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if (parentJoint != -1) {
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XnSkeletonJointOrientation parentOrientation;
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_userGenerator.GetSkeletonCap().GetSkeletonJointOrientation(
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_userID, (XnSkeletonJoint)parentJoint, parentOrientation);
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rotation = glm::inverse(xnToGLM(parentOrientation.orientation)) * rotation;
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}
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const float METERS_PER_MM = 1.0f / 1000.0f;
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joints[avatarJoint] = Joint(xnToGLM(transform.position.position, true) * METERS_PER_MM,
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rotation, xnToGLM(projected));
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}
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}
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}
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#endif
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if (frame.empty()) {
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IplImage* image = cvQueryFrame(_capture);
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if (image == 0) {
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// try again later
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QMetaObject::invokeMethod(this, "grabFrame", Qt::QueuedConnection);
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return;
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}
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// make sure it's in the format we expect
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if (image->nChannels != 3 || image->depth != IPL_DEPTH_8U || image->dataOrder != IPL_DATA_ORDER_PIXEL ||
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image->origin != 0) {
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printLog("Invalid webcam image format.\n");
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return;
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}
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frame = image;
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}
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// if we don't have a search window (yet), try using the face cascade
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int channels = 0;
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float ranges[] = { 0, 180 };
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const float* range = ranges;
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if (_searchWindow.area() == 0) {
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vector<cv::Rect> faces;
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_faceCascade.detectMultiScale(frame, faces, 1.1, 6);
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if (!faces.empty()) {
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_searchWindow = faces.front();
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updateHSVFrame(frame, format);
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Mat faceHsv(_hsvFrame, _searchWindow);
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Mat faceMask(_mask, _searchWindow);
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int sizes = 30;
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calcHist(&faceHsv, 1, &channels, faceMask, _histogram, 1, &sizes, &range);
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double min, max;
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minMaxLoc(_histogram, &min, &max);
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_histogram.convertTo(_histogram, -1, (max == 0.0) ? 0.0 : 255.0 / max);
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}
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}
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RotatedRect faceRect;
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if (_searchWindow.area() > 0) {
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updateHSVFrame(frame, format);
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calcBackProject(&_hsvFrame, 1, &channels, _histogram, _backProject, &range);
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bitwise_and(_backProject, _mask, _backProject);
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faceRect = CamShift(_backProject, _searchWindow, TermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 10, 1));
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_searchWindow = faceRect.boundingRect();
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}
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QMetaObject::invokeMethod(Application::getInstance()->getWebcam(), "setFrame",
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Q_ARG(cv::Mat, frame), Q_ARG(int, format), Q_ARG(cv::Mat, _grayDepthFrame),
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Q_ARG(cv::RotatedRect, faceRect), Q_ARG(JointVector, joints));
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}
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bool FrameGrabber::init() {
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_initialized = true;
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// load our face cascade
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switchToResourcesParentIfRequired();
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if (_faceCascade.empty() && !_faceCascade.load("resources/haarcascades/haarcascade_frontalface_alt.xml")) {
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printLog("Failed to load Haar cascade for face tracking.\n");
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return false;
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}
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// first try for a Kinect
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#ifdef HAVE_OPENNI
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_xnContext.Init();
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if (_depthGenerator.Create(_xnContext) == XN_STATUS_OK && _imageGenerator.Create(_xnContext) == XN_STATUS_OK &&
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_userGenerator.Create(_xnContext) == XN_STATUS_OK &&
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_userGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON)) {
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_depthGenerator.GetMetaData(_depthMetaData);
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_imageGenerator.SetPixelFormat(XN_PIXEL_FORMAT_RGB24);
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_imageGenerator.GetMetaData(_imageMetaData);
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XnCallbackHandle userCallbacks, calibrationStartCallback, calibrationCompleteCallback;
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_userGenerator.RegisterUserCallbacks(newUser, lostUser, 0, userCallbacks);
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_userGenerator.GetSkeletonCap().RegisterToCalibrationStart(calibrationStarted, 0, calibrationStartCallback);
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_userGenerator.GetSkeletonCap().RegisterToCalibrationComplete(calibrationCompleted, 0, calibrationCompleteCallback);
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_userGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_UPPER);
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_xnContext.StartGeneratingAll();
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return true;
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}
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#endif
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// next, an ordinary webcam
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if ((_capture = cvCaptureFromCAM(-1)) == 0) {
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printLog("Failed to open webcam.\n");
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return false;
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}
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const int IDEAL_FRAME_WIDTH = 320;
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const int IDEAL_FRAME_HEIGHT = 240;
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cvSetCaptureProperty(_capture, CV_CAP_PROP_FRAME_WIDTH, IDEAL_FRAME_WIDTH);
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cvSetCaptureProperty(_capture, CV_CAP_PROP_FRAME_HEIGHT, IDEAL_FRAME_HEIGHT);
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#ifdef __APPLE__
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configureCamera(0x5ac, 0x8510, false, 0.975, 0.5, 1.0, 0.5, true, 0.5);
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#else
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cvSetCaptureProperty(_capture, CV_CAP_PROP_EXPOSURE, 0.5);
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cvSetCaptureProperty(_capture, CV_CAP_PROP_CONTRAST, 0.5);
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cvSetCaptureProperty(_capture, CV_CAP_PROP_SATURATION, 0.5);
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cvSetCaptureProperty(_capture, CV_CAP_PROP_BRIGHTNESS, 0.5);
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cvSetCaptureProperty(_capture, CV_CAP_PROP_HUE, 0.5);
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cvSetCaptureProperty(_capture, CV_CAP_PROP_GAIN, 0.5);
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#endif
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return true;
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}
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void FrameGrabber::updateHSVFrame(const Mat& frame, int format) {
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cvtColor(frame, _hsvFrame, format == GL_RGB ? CV_RGB2HSV : CV_BGR2HSV);
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inRange(_hsvFrame, Scalar(0, 55, 65), Scalar(180, 256, 256), _mask);
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}
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Joint::Joint(const glm::vec3& position, const glm::quat& rotation, const glm::vec3& projected) :
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