mirror of
https://github.com/overte-org/overte.git
synced 2025-05-08 23:58:44 +02:00
549 lines
21 KiB
C++
549 lines
21 KiB
C++
//
|
|
// Webcam.cpp
|
|
// interface
|
|
//
|
|
// Created by Andrzej Kapolka on 6/17/13.
|
|
// Copyright (c) 2013 High Fidelity, Inc. All rights reserved.
|
|
|
|
#include <QTimer>
|
|
#include <QtDebug>
|
|
|
|
#include <Log.h>
|
|
#include <SharedUtil.h>
|
|
|
|
#ifdef __APPLE__
|
|
#include <UVCCameraControl.hpp>
|
|
#endif
|
|
|
|
#include "Application.h"
|
|
#include "Webcam.h"
|
|
|
|
using namespace cv;
|
|
using namespace std;
|
|
|
|
#ifdef HAVE_OPENNI
|
|
using namespace xn;
|
|
#endif
|
|
|
|
// register types with Qt metatype system
|
|
int jointVectorMetaType = qRegisterMetaType<JointVector>("JointVector");
|
|
int matMetaType = qRegisterMetaType<Mat>("cv::Mat");
|
|
int rotatedRectMetaType = qRegisterMetaType<RotatedRect>("cv::RotatedRect");
|
|
|
|
Webcam::Webcam() : _enabled(false), _active(false), _frameTextureID(0), _depthTextureID(0) {
|
|
// the grabber simply runs as fast as possible
|
|
_grabber = new FrameGrabber();
|
|
_grabber->moveToThread(&_grabberThread);
|
|
}
|
|
|
|
void Webcam::setEnabled(bool enabled) {
|
|
if (_enabled == enabled) {
|
|
return;
|
|
}
|
|
if ((_enabled = enabled)) {
|
|
_grabberThread.start();
|
|
_startTimestamp = 0;
|
|
_frameCount = 0;
|
|
|
|
// let the grabber know we're ready for the first frame
|
|
QMetaObject::invokeMethod(_grabber, "reset");
|
|
QMetaObject::invokeMethod(_grabber, "grabFrame");
|
|
|
|
} else {
|
|
QMetaObject::invokeMethod(_grabber, "shutdown");
|
|
_active = false;
|
|
}
|
|
}
|
|
|
|
void Webcam::reset() {
|
|
_initialFaceRect = RotatedRect();
|
|
|
|
if (_enabled) {
|
|
// send a message to the grabber
|
|
QMetaObject::invokeMethod(_grabber, "reset");
|
|
}
|
|
}
|
|
|
|
void Webcam::renderPreview(int screenWidth, int screenHeight) {
|
|
if (_enabled && _frameTextureID != 0) {
|
|
glBindTexture(GL_TEXTURE_2D, _frameTextureID);
|
|
glEnable(GL_TEXTURE_2D);
|
|
glColor3f(1.0f, 1.0f, 1.0f);
|
|
glBegin(GL_QUADS);
|
|
const int PREVIEW_HEIGHT = 200;
|
|
int previewWidth = _frameWidth * PREVIEW_HEIGHT / _frameHeight;
|
|
int top = screenHeight - 600;
|
|
int left = screenWidth - previewWidth - 10;
|
|
|
|
glTexCoord2f(0, 0);
|
|
glVertex2f(left, top);
|
|
glTexCoord2f(1, 0);
|
|
glVertex2f(left + previewWidth, top);
|
|
glTexCoord2f(1, 1);
|
|
glVertex2f(left + previewWidth, top + PREVIEW_HEIGHT);
|
|
glTexCoord2f(0, 1);
|
|
glVertex2f(left, top + PREVIEW_HEIGHT);
|
|
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);
|
|
glDisable(GL_TEXTURE_2D);
|
|
|
|
if (!_joints.isEmpty()) {
|
|
glColor3f(1.0f, 0.0f, 0.0f);
|
|
glPointSize(4.0f);
|
|
glBegin(GL_POINTS);
|
|
float projectedScale = PREVIEW_HEIGHT / (float)_depthHeight;
|
|
foreach (const Joint& joint, _joints) {
|
|
if (joint.isValid) {
|
|
glVertex2f(depthLeft + joint.projected.x * projectedScale,
|
|
top - PREVIEW_HEIGHT + joint.projected.y * projectedScale);
|
|
}
|
|
}
|
|
glEnd();
|
|
glPointSize(1.0f);
|
|
}
|
|
} else {
|
|
glBindTexture(GL_TEXTURE_2D, 0);
|
|
glDisable(GL_TEXTURE_2D);
|
|
}
|
|
|
|
glColor3f(1.0f, 1.0f, 1.0f);
|
|
glBegin(GL_LINE_LOOP);
|
|
Point2f facePoints[4];
|
|
_faceRect.points(facePoints);
|
|
float xScale = previewWidth / (float)_frameWidth;
|
|
float yScale = PREVIEW_HEIGHT / (float)_frameHeight;
|
|
glVertex2f(left + facePoints[0].x * xScale, top + facePoints[0].y * yScale);
|
|
glVertex2f(left + facePoints[1].x * xScale, top + facePoints[1].y * yScale);
|
|
glVertex2f(left + facePoints[2].x * xScale, top + facePoints[2].y * yScale);
|
|
glVertex2f(left + facePoints[3].x * xScale, top + facePoints[3].y * yScale);
|
|
glEnd();
|
|
|
|
char fps[20];
|
|
sprintf(fps, "FPS: %d", (int)(roundf(_frameCount * 1000000.0f / (usecTimestampNow() - _startTimestamp))));
|
|
drawtext(left, top + PREVIEW_HEIGHT + 20, 0.10, 0, 1, 0, fps);
|
|
}
|
|
}
|
|
|
|
Webcam::~Webcam() {
|
|
// stop the grabber thread
|
|
_grabberThread.quit();
|
|
_grabberThread.wait();
|
|
|
|
delete _grabber;
|
|
}
|
|
|
|
void Webcam::setFrame(const Mat& frame, int format, const Mat& depth, const RotatedRect& faceRect, const JointVector& joints) {
|
|
IplImage image = frame;
|
|
glPixelStorei(GL_UNPACK_ROW_LENGTH, image.widthStep / 3);
|
|
if (_frameTextureID == 0) {
|
|
glGenTextures(1, &_frameTextureID);
|
|
glBindTexture(GL_TEXTURE_2D, _frameTextureID);
|
|
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, _frameWidth = image.width, _frameHeight = image.height, 0, format,
|
|
GL_UNSIGNED_BYTE, image.imageData);
|
|
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
|
|
printLog("Capturing video at %dx%d.\n", _frameWidth, _frameHeight);
|
|
|
|
} else {
|
|
glBindTexture(GL_TEXTURE_2D, _frameTextureID);
|
|
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);
|
|
glBindTexture(GL_TEXTURE_2D, 0);
|
|
|
|
// store our face rect and joints, update our frame count for fps computation
|
|
_faceRect = faceRect;
|
|
_joints = joints;
|
|
_frameCount++;
|
|
|
|
const int MAX_FPS = 60;
|
|
const int MIN_FRAME_DELAY = 1000000 / MAX_FPS;
|
|
uint64_t now = usecTimestampNow();
|
|
int remaining = MIN_FRAME_DELAY;
|
|
if (_startTimestamp == 0) {
|
|
_startTimestamp = now;
|
|
} else {
|
|
remaining -= (now - _lastFrameTimestamp);
|
|
}
|
|
_lastFrameTimestamp = now;
|
|
|
|
// see if we have joint data
|
|
if (!_joints.isEmpty()) {
|
|
_estimatedJoints.resize(NUM_AVATAR_JOINTS);
|
|
glm::vec3 origin;
|
|
if (_joints[AVATAR_JOINT_LEFT_HIP].isValid && _joints[AVATAR_JOINT_RIGHT_HIP].isValid) {
|
|
origin = glm::mix(_joints[AVATAR_JOINT_LEFT_HIP].position, _joints[AVATAR_JOINT_RIGHT_HIP].position, 0.5f);
|
|
|
|
} else if (_joints[AVATAR_JOINT_TORSO].isValid) {
|
|
const glm::vec3 TORSO_TO_PELVIS = glm::vec3(0.0f, -0.09f, -0.01f);
|
|
origin = _joints[AVATAR_JOINT_TORSO].position + TORSO_TO_PELVIS;
|
|
}
|
|
for (int i = 0; i < NUM_AVATAR_JOINTS; i++) {
|
|
if (!_joints[i].isValid) {
|
|
continue;
|
|
}
|
|
const float JOINT_SMOOTHING = 0.9f;
|
|
_estimatedJoints[i].isValid = true;
|
|
_estimatedJoints[i].position = glm::mix(_joints[i].position - origin,
|
|
_estimatedJoints[i].position, JOINT_SMOOTHING);
|
|
_estimatedJoints[i].rotation = safeMix(_joints[i].rotation,
|
|
_estimatedJoints[i].rotation, JOINT_SMOOTHING);
|
|
}
|
|
_estimatedRotation = safeEulerAngles(_estimatedJoints[AVATAR_JOINT_HEAD_BASE].rotation);
|
|
_estimatedPosition = _estimatedJoints[AVATAR_JOINT_HEAD_BASE].position;
|
|
|
|
} else {
|
|
// roll is just the angle of the face rect (correcting for 180 degree rotations)
|
|
float roll = faceRect.angle;
|
|
if (roll < -90.0f) {
|
|
roll += 180.0f;
|
|
|
|
} else if (roll > 90.0f) {
|
|
roll -= 180.0f;
|
|
}
|
|
const float ROTATION_SMOOTHING = 0.95f;
|
|
_estimatedRotation.z = glm::mix(roll, _estimatedRotation.z, ROTATION_SMOOTHING);
|
|
|
|
// determine position based on translation and scaling of the face rect
|
|
if (_initialFaceRect.size.area() == 0) {
|
|
_initialFaceRect = faceRect;
|
|
_estimatedPosition = glm::vec3();
|
|
|
|
} else {
|
|
float proportion = sqrtf(_initialFaceRect.size.area() / (float)faceRect.size.area());
|
|
const float DISTANCE_TO_CAMERA = 0.333f;
|
|
const float POSITION_SCALE = 0.5f;
|
|
float z = DISTANCE_TO_CAMERA * proportion - DISTANCE_TO_CAMERA;
|
|
glm::vec3 position = glm::vec3(
|
|
(faceRect.center.x - _initialFaceRect.center.x) * proportion * POSITION_SCALE / _frameWidth,
|
|
(faceRect.center.y - _initialFaceRect.center.y) * proportion * POSITION_SCALE / _frameWidth,
|
|
z);
|
|
const float POSITION_SMOOTHING = 0.95f;
|
|
_estimatedPosition = glm::mix(position, _estimatedPosition, POSITION_SMOOTHING);
|
|
}
|
|
}
|
|
|
|
// note that we have data
|
|
_active = true;
|
|
|
|
// let the grabber know we're ready for the next frame
|
|
QTimer::singleShot(qMax((int)remaining / 1000, 0), _grabber, SLOT(grabFrame()));
|
|
}
|
|
|
|
FrameGrabber::FrameGrabber() : _initialized(false), _capture(0), _searchWindow(0, 0, 0, 0) {
|
|
}
|
|
|
|
FrameGrabber::~FrameGrabber() {
|
|
if (_initialized) {
|
|
shutdown();
|
|
}
|
|
}
|
|
|
|
#ifdef HAVE_OPENNI
|
|
static AvatarJointID xnToAvatarJoint(XnSkeletonJoint joint) {
|
|
switch (joint) {
|
|
case XN_SKEL_HEAD: return AVATAR_JOINT_HEAD_TOP;
|
|
case XN_SKEL_NECK: return AVATAR_JOINT_HEAD_BASE;
|
|
case XN_SKEL_TORSO: return AVATAR_JOINT_CHEST;
|
|
|
|
case XN_SKEL_LEFT_SHOULDER: return AVATAR_JOINT_RIGHT_ELBOW;
|
|
case XN_SKEL_LEFT_ELBOW: return AVATAR_JOINT_RIGHT_WRIST;
|
|
|
|
case XN_SKEL_RIGHT_SHOULDER: return AVATAR_JOINT_LEFT_ELBOW;
|
|
case XN_SKEL_RIGHT_ELBOW: return AVATAR_JOINT_LEFT_WRIST;
|
|
|
|
case XN_SKEL_LEFT_HIP: return AVATAR_JOINT_RIGHT_KNEE;
|
|
case XN_SKEL_LEFT_KNEE: return AVATAR_JOINT_RIGHT_HEEL;
|
|
case XN_SKEL_LEFT_FOOT: return AVATAR_JOINT_RIGHT_TOES;
|
|
|
|
case XN_SKEL_RIGHT_HIP: return AVATAR_JOINT_LEFT_KNEE;
|
|
case XN_SKEL_RIGHT_KNEE: return AVATAR_JOINT_LEFT_HEEL;
|
|
case XN_SKEL_RIGHT_FOOT: return AVATAR_JOINT_LEFT_TOES;
|
|
|
|
default: return AVATAR_JOINT_NULL;
|
|
}
|
|
}
|
|
|
|
static int getParentJoint(XnSkeletonJoint joint) {
|
|
switch (joint) {
|
|
case XN_SKEL_HEAD: return XN_SKEL_NECK;
|
|
case XN_SKEL_TORSO: return -1;
|
|
|
|
case XN_SKEL_LEFT_ELBOW: return XN_SKEL_LEFT_SHOULDER;
|
|
case XN_SKEL_LEFT_HAND: return XN_SKEL_LEFT_ELBOW;
|
|
|
|
case XN_SKEL_RIGHT_ELBOW: return XN_SKEL_RIGHT_SHOULDER;
|
|
case XN_SKEL_RIGHT_HAND: return XN_SKEL_RIGHT_ELBOW;
|
|
|
|
case XN_SKEL_LEFT_KNEE: return XN_SKEL_LEFT_HIP;
|
|
case XN_SKEL_LEFT_FOOT: return XN_SKEL_LEFT_KNEE;
|
|
|
|
case XN_SKEL_RIGHT_KNEE: return XN_SKEL_RIGHT_HIP;
|
|
case XN_SKEL_RIGHT_FOOT: return XN_SKEL_RIGHT_KNEE;
|
|
|
|
default: return XN_SKEL_TORSO;
|
|
}
|
|
}
|
|
|
|
static glm::vec3 xnToGLM(const XnVector3D& vector, bool flip = false) {
|
|
return glm::vec3(vector.X * (flip ? -1 : 1), vector.Y, vector.Z);
|
|
}
|
|
|
|
static glm::quat xnToGLM(const XnMatrix3X3& matrix) {
|
|
glm::quat rotation = glm::quat_cast(glm::mat3(
|
|
matrix.elements[0], matrix.elements[1], matrix.elements[2],
|
|
matrix.elements[3], matrix.elements[4], matrix.elements[5],
|
|
matrix.elements[6], matrix.elements[7], matrix.elements[8]));
|
|
return glm::quat(rotation.w, -rotation.x, rotation.y, rotation.z);
|
|
}
|
|
|
|
static void XN_CALLBACK_TYPE newUser(UserGenerator& generator, XnUserID id, void* cookie) {
|
|
printLog("Found user %d.\n", id);
|
|
generator.GetSkeletonCap().RequestCalibration(id, false);
|
|
}
|
|
|
|
static void XN_CALLBACK_TYPE lostUser(UserGenerator& generator, XnUserID id, void* cookie) {
|
|
printLog("Lost user %d.\n", id);
|
|
}
|
|
|
|
static void XN_CALLBACK_TYPE calibrationStarted(SkeletonCapability& capability, XnUserID id, void* cookie) {
|
|
printLog("Calibration started for user %d.\n", id);
|
|
}
|
|
|
|
static void XN_CALLBACK_TYPE calibrationCompleted(SkeletonCapability& capability,
|
|
XnUserID id, XnCalibrationStatus status, void* cookie) {
|
|
if (status == XN_CALIBRATION_STATUS_OK) {
|
|
printLog("Calibration completed for user %d.\n", id);
|
|
capability.StartTracking(id);
|
|
|
|
} else {
|
|
printLog("Calibration failed to user %d.\n", id);
|
|
capability.RequestCalibration(id, true);
|
|
}
|
|
}
|
|
#endif
|
|
|
|
void FrameGrabber::reset() {
|
|
_searchWindow = cv::Rect(0, 0, 0, 0);
|
|
|
|
#ifdef HAVE_OPENNI
|
|
if (_userGenerator.IsValid() && _userGenerator.GetSkeletonCap().IsTracking(_userID)) {
|
|
_userGenerator.GetSkeletonCap().RequestCalibration(_userID, true);
|
|
}
|
|
#endif
|
|
}
|
|
|
|
void FrameGrabber::shutdown() {
|
|
if (_capture != 0) {
|
|
cvReleaseCapture(&_capture);
|
|
_capture = 0;
|
|
}
|
|
_initialized = false;
|
|
|
|
thread()->quit();
|
|
}
|
|
|
|
void FrameGrabber::grabFrame() {
|
|
if (!(_initialized || init())) {
|
|
return;
|
|
}
|
|
int format = GL_BGR;
|
|
Mat frame;
|
|
JointVector joints;
|
|
|
|
#ifdef HAVE_OPENNI
|
|
if (_depthGenerator.IsValid()) {
|
|
_xnContext.WaitAnyUpdateAll();
|
|
frame = Mat(_imageMetaData.YRes(), _imageMetaData.XRes(), CV_8UC3, (void*)_imageGenerator.GetImageMap());
|
|
format = GL_RGB;
|
|
|
|
Mat depth = Mat(_depthMetaData.YRes(), _depthMetaData.XRes(), CV_16UC1, (void*)_depthGenerator.GetDepthMap());
|
|
const double EIGHT_BIT_MAX = 255;
|
|
const double ELEVEN_BIT_MAX = 2047;
|
|
depth.convertTo(_grayDepthFrame, CV_8UC1, EIGHT_BIT_MAX / ELEVEN_BIT_MAX);
|
|
|
|
_userID = 0;
|
|
XnUInt16 userCount = 1;
|
|
_userGenerator.GetUsers(&_userID, userCount);
|
|
if (userCount > 0 && _userGenerator.GetSkeletonCap().IsTracking(_userID)) {
|
|
joints.resize(NUM_AVATAR_JOINTS);
|
|
const int MAX_ACTIVE_JOINTS = 16;
|
|
XnSkeletonJoint activeJoints[MAX_ACTIVE_JOINTS];
|
|
XnUInt16 activeJointCount = MAX_ACTIVE_JOINTS;
|
|
_userGenerator.GetSkeletonCap().EnumerateActiveJoints(activeJoints, activeJointCount);
|
|
XnSkeletonJointTransformation transform;
|
|
for (int i = 0; i < activeJointCount; i++) {
|
|
AvatarJointID avatarJoint = xnToAvatarJoint(activeJoints[i]);
|
|
if (avatarJoint == AVATAR_JOINT_NULL) {
|
|
continue;
|
|
}
|
|
_userGenerator.GetSkeletonCap().GetSkeletonJoint(_userID, activeJoints[i], transform);
|
|
XnVector3D projected;
|
|
_depthGenerator.ConvertRealWorldToProjective(1, &transform.position.position, &projected);
|
|
glm::quat rotation = xnToGLM(transform.orientation.orientation);
|
|
int parentJoint = getParentJoint(activeJoints[i]);
|
|
if (parentJoint != -1) {
|
|
XnSkeletonJointOrientation parentOrientation;
|
|
_userGenerator.GetSkeletonCap().GetSkeletonJointOrientation(
|
|
_userID, (XnSkeletonJoint)parentJoint, parentOrientation);
|
|
rotation = glm::inverse(xnToGLM(parentOrientation.orientation)) * rotation;
|
|
}
|
|
const float METERS_PER_MM = 1.0f / 1000.0f;
|
|
joints[avatarJoint] = Joint(xnToGLM(transform.position.position, true) * METERS_PER_MM,
|
|
rotation, xnToGLM(projected));
|
|
}
|
|
}
|
|
}
|
|
#endif
|
|
|
|
if (frame.empty()) {
|
|
IplImage* image = cvQueryFrame(_capture);
|
|
if (image == 0) {
|
|
// try again later
|
|
QMetaObject::invokeMethod(this, "grabFrame", Qt::QueuedConnection);
|
|
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;
|
|
}
|
|
frame = image;
|
|
}
|
|
|
|
// if we don't have a search window (yet), try using the face cascade
|
|
int channels = 0;
|
|
float ranges[] = { 0, 180 };
|
|
const float* range = ranges;
|
|
if (_searchWindow.area() == 0) {
|
|
vector<cv::Rect> faces;
|
|
_faceCascade.detectMultiScale(frame, faces, 1.1, 6);
|
|
if (!faces.empty()) {
|
|
_searchWindow = faces.front();
|
|
updateHSVFrame(frame, format);
|
|
|
|
Mat faceHsv(_hsvFrame, _searchWindow);
|
|
Mat faceMask(_mask, _searchWindow);
|
|
int sizes = 30;
|
|
calcHist(&faceHsv, 1, &channels, faceMask, _histogram, 1, &sizes, &range);
|
|
double min, max;
|
|
minMaxLoc(_histogram, &min, &max);
|
|
_histogram.convertTo(_histogram, -1, (max == 0.0) ? 0.0 : 255.0 / max);
|
|
}
|
|
}
|
|
RotatedRect faceRect;
|
|
if (_searchWindow.area() > 0) {
|
|
updateHSVFrame(frame, format);
|
|
|
|
calcBackProject(&_hsvFrame, 1, &channels, _histogram, _backProject, &range);
|
|
bitwise_and(_backProject, _mask, _backProject);
|
|
|
|
faceRect = CamShift(_backProject, _searchWindow, TermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 10, 1));
|
|
_searchWindow = faceRect.boundingRect();
|
|
}
|
|
QMetaObject::invokeMethod(Application::getInstance()->getWebcam(), "setFrame",
|
|
Q_ARG(cv::Mat, frame), Q_ARG(int, format), Q_ARG(cv::Mat, _grayDepthFrame),
|
|
Q_ARG(cv::RotatedRect, faceRect), Q_ARG(JointVector, joints));
|
|
}
|
|
|
|
bool FrameGrabber::init() {
|
|
_initialized = true;
|
|
|
|
// load our face cascade
|
|
switchToResourcesParentIfRequired();
|
|
if (_faceCascade.empty() && !_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
|
|
#ifdef HAVE_OPENNI
|
|
_xnContext.Init();
|
|
if (_depthGenerator.Create(_xnContext) == XN_STATUS_OK && _imageGenerator.Create(_xnContext) == XN_STATUS_OK &&
|
|
_userGenerator.Create(_xnContext) == XN_STATUS_OK &&
|
|
_userGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON)) {
|
|
_depthGenerator.GetMetaData(_depthMetaData);
|
|
_imageGenerator.SetPixelFormat(XN_PIXEL_FORMAT_RGB24);
|
|
_imageGenerator.GetMetaData(_imageMetaData);
|
|
|
|
XnCallbackHandle userCallbacks, calibrationStartCallback, calibrationCompleteCallback;
|
|
_userGenerator.RegisterUserCallbacks(newUser, lostUser, 0, userCallbacks);
|
|
_userGenerator.GetSkeletonCap().RegisterToCalibrationStart(calibrationStarted, 0, calibrationStartCallback);
|
|
_userGenerator.GetSkeletonCap().RegisterToCalibrationComplete(calibrationCompleted, 0, calibrationCompleteCallback);
|
|
|
|
_userGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_UPPER);
|
|
|
|
_xnContext.StartGeneratingAll();
|
|
return true;
|
|
}
|
|
#endif
|
|
|
|
// next, an ordinary webcam
|
|
if ((_capture = cvCaptureFromCAM(-1)) == 0) {
|
|
printLog("Failed to open webcam.\n");
|
|
return false;
|
|
}
|
|
const int IDEAL_FRAME_WIDTH = 320;
|
|
const int IDEAL_FRAME_HEIGHT = 240;
|
|
cvSetCaptureProperty(_capture, CV_CAP_PROP_FRAME_WIDTH, IDEAL_FRAME_WIDTH);
|
|
cvSetCaptureProperty(_capture, CV_CAP_PROP_FRAME_HEIGHT, IDEAL_FRAME_HEIGHT);
|
|
|
|
#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_SATURATION, 0.5);
|
|
cvSetCaptureProperty(_capture, CV_CAP_PROP_BRIGHTNESS, 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) {
|
|
cvtColor(frame, _hsvFrame, format == GL_RGB ? CV_RGB2HSV : CV_BGR2HSV);
|
|
inRange(_hsvFrame, Scalar(0, 55, 65), Scalar(180, 256, 256), _mask);
|
|
}
|
|
|
|
Joint::Joint(const glm::vec3& position, const glm::quat& rotation, const glm::vec3& projected) :
|
|
isValid(true), position(position), rotation(rotation), projected(projected) {
|
|
}
|
|
|
|
Joint::Joint() : isValid(false) {
|
|
}
|