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overte/interface/src/Webcam.cpp
Andrzej Kapolka 353d674ad9 Masking tweak.
2013-07-30 15:56:47 -07:00

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//
// 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 <vpx_encoder.h>
#include <vp8cx.h>
#ifdef __APPLE__
#include <UVCCameraControl.hpp>
#endif
#include <SharedUtil.h>
#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), _colorTextureID(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;
}
}
const float UNINITIALIZED_FACE_DEPTH = 0.0f;
void Webcam::reset() {
_initialFaceRect = RotatedRect();
_initialFaceDepth = UNINITIALIZED_FACE_DEPTH;
if (_enabled) {
// send a message to the grabber
QMetaObject::invokeMethod(_grabber, "reset");
}
}
void Webcam::renderPreview(int screenWidth, int screenHeight) {
if (_enabled && _colorTextureID != 0) {
glBindTexture(GL_TEXTURE_2D, _colorTextureID);
glEnable(GL_TEXTURE_2D);
glColor3f(1.0f, 1.0f, 1.0f);
glBegin(GL_QUADS);
const int PREVIEW_HEIGHT = 200;
int previewWidth = _textureSize.width * PREVIEW_HEIGHT / _textureSize.height;
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);
glTexCoord2f(0, 0);
glVertex2f(left, top - PREVIEW_HEIGHT);
glTexCoord2f(1, 0);
glVertex2f(left + previewWidth, top - PREVIEW_HEIGHT);
glTexCoord2f(1, 1);
glVertex2f(left + previewWidth, top);
glTexCoord2f(0, 1);
glVertex2f(left, 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 / _textureSize.height;
foreach (const Joint& joint, _joints) {
if (joint.isValid) {
glVertex2f(left + 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 / _textureSize.width;
float yScale = PREVIEW_HEIGHT / _textureSize.height;
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();
const int MAX_FPS_CHARACTERS = 30;
char fps[MAX_FPS_CHARACTERS];
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;
}
const float METERS_PER_MM = 1.0f / 1000.0f;
void Webcam::setFrame(const Mat& color, int format, const Mat& depth, float meanFaceDepth,
const RotatedRect& faceRect, const JointVector& joints) {
IplImage colorImage = color;
glPixelStorei(GL_UNPACK_ROW_LENGTH, colorImage.widthStep / 3);
if (_colorTextureID == 0) {
glGenTextures(1, &_colorTextureID);
glBindTexture(GL_TEXTURE_2D, _colorTextureID);
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, _textureSize.width = colorImage.width, _textureSize.height = colorImage.height,
0, format, GL_UNSIGNED_BYTE, colorImage.imageData);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
qDebug("Capturing video at %gx%g.\n", _textureSize.width, _textureSize.height);
} else {
glBindTexture(GL_TEXTURE_2D, _colorTextureID);
glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, _textureSize.width, _textureSize.height, format,
GL_UNSIGNED_BYTE, colorImage.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, depthImage.width, depthImage.height, 0,
GL_LUMINANCE, GL_UNSIGNED_BYTE, depthImage.imageData);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
} else {
glBindTexture(GL_TEXTURE_2D, _depthTextureID);
glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, _textureSize.width, _textureSize.height, 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 = 0.5f;
_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
const float ROTATION_SMOOTHING = 0.95f;
_estimatedRotation.z = glm::mix(_faceRect.angle, _estimatedRotation.z, ROTATION_SMOOTHING);
// determine position based on translation and scaling of the face rect/mean face depth
if (_initialFaceRect.size.area() == 0) {
_initialFaceRect = _faceRect;
_estimatedPosition = glm::vec3();
_initialFaceDepth = meanFaceDepth;
} else {
float proportion, z;
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) * METERS_PER_MM;
proportion = meanFaceDepth / _initialFaceDepth;
}
const float POSITION_SCALE = 0.5f;
_estimatedPosition = glm::vec3(
(_faceRect.center.x - _initialFaceRect.center.x) * proportion * POSITION_SCALE / _textureSize.width,
(_faceRect.center.y - _initialFaceRect.center.y) * proportion * POSITION_SCALE / _textureSize.width,
z);
}
}
// 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),
_smoothedMeanFaceDepth(UNINITIALIZED_FACE_DEPTH), _colorCodec(), _depthCodec(), _frameCount(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) {
qDebug("Found user %d.\n", id);
generator.GetSkeletonCap().RequestCalibration(id, false);
}
static void XN_CALLBACK_TYPE lostUser(UserGenerator& generator, XnUserID id, void* cookie) {
qDebug("Lost user %d.\n", id);
}
static void XN_CALLBACK_TYPE calibrationStarted(SkeletonCapability& capability, XnUserID id, void* cookie) {
qDebug("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) {
qDebug("Calibration completed for user %d.\n", id);
capability.StartTracking(id);
} else {
qDebug("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;
}
if (_colorCodec.name != 0) {
vpx_codec_destroy(&_colorCodec);
_colorCodec.name = 0;
}
if (_depthCodec.name != 0) {
vpx_codec_destroy(&_depthCodec);
_depthCodec.name = 0;
}
_initialized = false;
thread()->quit();
}
static Point clip(const Point& point, const Rect& bounds) {
return Point(glm::clamp(point.x, bounds.x, bounds.x + bounds.width - 1),
glm::clamp(point.y, bounds.y, bounds.y + bounds.height - 1));
}
void FrameGrabber::grabFrame() {
if (!(_initialized || init())) {
return;
}
int format = GL_BGR;
Mat color, depth;
JointVector joints;
#ifdef HAVE_OPENNI
if (_depthGenerator.IsValid()) {
_xnContext.WaitAnyUpdateAll();
color = Mat(_imageMetaData.YRes(), _imageMetaData.XRes(), CV_8UC3, (void*)_imageGenerator.GetImageMap());
format = GL_RGB;
depth = Mat(_depthMetaData.YRes(), _depthMetaData.XRes(), CV_16UC1, (void*)_depthGenerator.GetDepthMap());
_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;
}
joints[avatarJoint] = Joint(xnToGLM(transform.position.position, true) * METERS_PER_MM,
rotation, xnToGLM(projected));
}
}
}
#endif
if (color.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) {
qDebug("Invalid webcam image format.\n");
return;
}
color = 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<Rect> faces;
_faceCascade.detectMultiScale(color, faces, 1.1, 6);
if (!faces.empty()) {
_searchWindow = faces.front();
updateHSVFrame(color, 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(color, 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));
Rect faceBounds = faceRect.boundingRect();
Rect imageBounds(0, 0, color.cols, color.rows);
_searchWindow = Rect(clip(faceBounds.tl(), imageBounds), clip(faceBounds.br(), imageBounds));
}
const int ENCODED_FACE_WIDTH = 128;
const int ENCODED_FACE_HEIGHT = 128;
if (_colorCodec.name == 0) {
// initialize encoder context(s)
vpx_codec_enc_cfg_t codecConfig;
vpx_codec_enc_config_default(vpx_codec_vp8_cx(), &codecConfig, 0);
codecConfig.rc_target_bitrate = ENCODED_FACE_WIDTH * ENCODED_FACE_HEIGHT *
codecConfig.rc_target_bitrate / codecConfig.g_w / codecConfig.g_h;
codecConfig.g_w = ENCODED_FACE_WIDTH;
codecConfig.g_h = ENCODED_FACE_HEIGHT;
vpx_codec_enc_init(&_colorCodec, vpx_codec_vp8_cx(), &codecConfig, 0);
if (!depth.empty()) {
int DEPTH_BITRATE_MULTIPLIER = 2;
codecConfig.rc_target_bitrate *= 2;
vpx_codec_enc_init(&_depthCodec, vpx_codec_vp8_cx(), &codecConfig, 0);
}
}
// correct for 180 degree rotations
if (faceRect.angle < -90.0f) {
faceRect.angle += 180.0f;
} else if (faceRect.angle > 90.0f) {
faceRect.angle -= 180.0f;
}
// compute the smoothed face rect
if (_smoothedFaceRect.size.area() == 0) {
_smoothedFaceRect = faceRect;
} else {
const float FACE_RECT_SMOOTHING = 0.9f;
_smoothedFaceRect.center.x = glm::mix(faceRect.center.x, _smoothedFaceRect.center.x, FACE_RECT_SMOOTHING);
_smoothedFaceRect.center.y = glm::mix(faceRect.center.y, _smoothedFaceRect.center.y, FACE_RECT_SMOOTHING);
_smoothedFaceRect.size.width = glm::mix(faceRect.size.width, _smoothedFaceRect.size.width, FACE_RECT_SMOOTHING);
_smoothedFaceRect.size.height = glm::mix(faceRect.size.height, _smoothedFaceRect.size.height, FACE_RECT_SMOOTHING);
_smoothedFaceRect.angle = glm::mix(faceRect.angle, _smoothedFaceRect.angle, FACE_RECT_SMOOTHING);
}
// resize/rotate face into encoding rectangle
_faceColor.create(ENCODED_FACE_WIDTH, ENCODED_FACE_HEIGHT, CV_8UC3);
Point2f sourcePoints[4];
_smoothedFaceRect.points(sourcePoints);
Point2f destPoints[] = { Point2f(0, ENCODED_FACE_HEIGHT), Point2f(0, 0), Point2f(ENCODED_FACE_WIDTH, 0) };
Mat transform = getAffineTransform(sourcePoints, destPoints);
warpAffine(color, _faceColor, transform, _faceColor.size());
// convert from RGB to YV12
const int ENCODED_BITS_PER_Y = 8;
const int ENCODED_BITS_PER_VU = 2;
const int ENCODED_BITS_PER_PIXEL = ENCODED_BITS_PER_Y + 2 * ENCODED_BITS_PER_VU;
const int BITS_PER_BYTE = 8;
_encodedFace.resize(ENCODED_FACE_WIDTH * ENCODED_FACE_HEIGHT * ENCODED_BITS_PER_PIXEL / BITS_PER_BYTE);
vpx_image_t vpxImage;
vpx_img_wrap(&vpxImage, VPX_IMG_FMT_YV12, ENCODED_FACE_WIDTH, ENCODED_FACE_HEIGHT, 1, (unsigned char*)_encodedFace.data());
uchar* yline = vpxImage.planes[0];
uchar* vline = vpxImage.planes[1];
uchar* uline = vpxImage.planes[2];
const int Y_RED_WEIGHT = (int)(0.299 * 256);
const int Y_GREEN_WEIGHT = (int)(0.587 * 256);
const int Y_BLUE_WEIGHT = (int)(0.114 * 256);
const int V_RED_WEIGHT = (int)(0.713 * 256);
const int U_BLUE_WEIGHT = (int)(0.564 * 256);
int redIndex = 0;
int greenIndex = 1;
int blueIndex = 2;
if (format == GL_BGR) {
redIndex = 2;
blueIndex = 0;
}
for (int i = 0; i < ENCODED_FACE_HEIGHT; i += 2) {
uchar* ydest = yline;
uchar* vdest = vline;
uchar* udest = uline;
for (int j = 0; j < ENCODED_FACE_WIDTH; j += 2) {
uchar* tl = _faceColor.ptr(i, j);
uchar* tr = _faceColor.ptr(i, j + 1);
uchar* bl = _faceColor.ptr(i + 1, j);
uchar* br = _faceColor.ptr(i + 1, j + 1);
ydest[0] = (tl[redIndex] * Y_RED_WEIGHT + tl[1] * Y_GREEN_WEIGHT + tl[blueIndex] * Y_BLUE_WEIGHT) >> 8;
ydest[1] = (tr[redIndex] * Y_RED_WEIGHT + tr[1] * Y_GREEN_WEIGHT + tr[blueIndex] * Y_BLUE_WEIGHT) >> 8;
ydest[vpxImage.stride[0]] = (bl[redIndex] * Y_RED_WEIGHT + bl[greenIndex] *
Y_GREEN_WEIGHT + bl[blueIndex] * Y_BLUE_WEIGHT) >> 8;
ydest[vpxImage.stride[0] + 1] = (br[redIndex] * Y_RED_WEIGHT + br[greenIndex] *
Y_GREEN_WEIGHT + br[blueIndex] * Y_BLUE_WEIGHT) >> 8;
ydest += 2;
int totalRed = tl[redIndex] + tr[redIndex] + bl[redIndex] + br[redIndex];
int totalGreen = tl[greenIndex] + tr[greenIndex] + bl[greenIndex] + br[greenIndex];
int totalBlue = tl[blueIndex] + tr[blueIndex] + bl[blueIndex] + br[blueIndex];
int totalY = (totalRed * Y_RED_WEIGHT + totalGreen * Y_GREEN_WEIGHT + totalBlue * Y_BLUE_WEIGHT) >> 8;
*vdest++ = (((totalRed - totalY) * V_RED_WEIGHT) >> 10) + 128;
*udest++ = (((totalBlue - totalY) * U_BLUE_WEIGHT) >> 10) + 128;
}
yline += vpxImage.stride[0] * 2;
vline += vpxImage.stride[1];
uline += vpxImage.stride[2];
}
// encode the frame
vpx_codec_encode(&_colorCodec, &vpxImage, ++_frameCount, 1, 0, VPX_DL_REALTIME);
// start the payload off with the aspect ratio
QByteArray payload(sizeof(float), 0);
*(float*)payload.data() = _smoothedFaceRect.size.width / _smoothedFaceRect.size.height;
// extract the encoded frame
vpx_codec_iter_t iterator = 0;
const vpx_codec_cx_pkt_t* packet;
while ((packet = vpx_codec_get_cx_data(&_colorCodec, &iterator)) != 0) {
if (packet->kind == VPX_CODEC_CX_FRAME_PKT) {
// prepend the length, which will indicate whether there's a depth frame too
payload.append((const char*)&packet->data.frame.sz, sizeof(packet->data.frame.sz));
payload.append((const char*)packet->data.frame.buf, packet->data.frame.sz);
}
}
if (!depth.empty()) {
// warp the face depth without interpolation (because it will contain invalid zero values)
_faceDepth.create(ENCODED_FACE_WIDTH, ENCODED_FACE_HEIGHT, CV_16UC1);
warpAffine(depth, _faceDepth, transform, _faceDepth.size(), INTER_NEAREST);
// find the mean of the valid values
qint64 depthTotal = 0;
qint64 depthSamples = 0;
ushort* src = _faceDepth.ptr<ushort>();
const ushort ELEVEN_BIT_MINIMUM = 0;
const ushort ELEVEN_BIT_MAXIMUM = 2047;
for (int i = 0; i < ENCODED_FACE_HEIGHT; i++) {
for (int j = 0; j < ENCODED_FACE_WIDTH; j++) {
ushort depth = *src++;
if (depth != ELEVEN_BIT_MINIMUM && depth != ELEVEN_BIT_MAXIMUM) {
depthTotal += depth;
depthSamples++;
}
}
}
float mean = (depthSamples == 0) ? UNINITIALIZED_FACE_DEPTH : depthTotal / (float)depthSamples;
// smooth the mean over time
const float DEPTH_OFFSET_SMOOTHING = 0.95f;
_smoothedMeanFaceDepth = (_smoothedMeanFaceDepth == UNINITIALIZED_FACE_DEPTH) ? mean :
glm::mix(mean, _smoothedMeanFaceDepth, DEPTH_OFFSET_SMOOTHING);
// convert from 11 to 8 bits for preview/local display
const uchar EIGHT_BIT_MIDPOINT = 128;
double depthOffset = EIGHT_BIT_MIDPOINT - _smoothedMeanFaceDepth;
depth.convertTo(_grayDepthFrame, CV_8UC1, 1.0, depthOffset);
// likewise for the encoded representation
uchar* yline = vpxImage.planes[0];
uchar* vline = vpxImage.planes[1];
uchar* uline = vpxImage.planes[2];
const uchar EIGHT_BIT_MAXIMUM = 255;
for (int i = 0; i < ENCODED_FACE_HEIGHT; i += 2) {
uchar* ydest = yline;
uchar* vdest = vline;
uchar* udest = uline;
for (int j = 0; j < ENCODED_FACE_WIDTH; j += 2) {
ushort tl = *_faceDepth.ptr<ushort>(i, j);
ushort tr = *_faceDepth.ptr<ushort>(i, j + 1);
ushort bl = *_faceDepth.ptr<ushort>(i + 1, j);
ushort br = *_faceDepth.ptr<ushort>(i + 1, j + 1);
uchar mask = EIGHT_BIT_MAXIMUM;
ydest[0] = (tl == ELEVEN_BIT_MINIMUM) ? (mask = EIGHT_BIT_MIDPOINT) : saturate_cast<uchar>(tl + depthOffset);
ydest[1] = (tr == ELEVEN_BIT_MINIMUM) ? (mask = EIGHT_BIT_MIDPOINT) : saturate_cast<uchar>(tr + depthOffset);
ydest[vpxImage.stride[0]] = (bl == ELEVEN_BIT_MINIMUM) ?
(mask = EIGHT_BIT_MIDPOINT) : saturate_cast<uchar>(bl + depthOffset);
ydest[vpxImage.stride[0] + 1] = (br == ELEVEN_BIT_MINIMUM) ?
(mask = EIGHT_BIT_MIDPOINT) : saturate_cast<uchar>(br + depthOffset);
ydest += 2;
*vdest++ = mask;
*udest++ = EIGHT_BIT_MIDPOINT;
}
yline += vpxImage.stride[0] * 2;
vline += vpxImage.stride[1];
uline += vpxImage.stride[2];
}
// encode the frame
vpx_codec_encode(&_depthCodec, &vpxImage, _frameCount, 1, 0, VPX_DL_REALTIME);
// extract the encoded frame
vpx_codec_iter_t iterator = 0;
const vpx_codec_cx_pkt_t* packet;
while ((packet = vpx_codec_get_cx_data(&_depthCodec, &iterator)) != 0) {
if (packet->kind == VPX_CODEC_CX_FRAME_PKT) {
payload.append((const char*)packet->data.frame.buf, packet->data.frame.sz);
}
}
}
QMetaObject::invokeMethod(Application::getInstance(), "sendAvatarFaceVideoMessage",
Q_ARG(int, _frameCount), Q_ARG(QByteArray, payload));
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::RotatedRect, _smoothedFaceRect), 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")) {
qDebug("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);
// make the depth viewpoint match that of the video image
if (_depthGenerator.IsCapabilitySupported(XN_CAPABILITY_ALTERNATIVE_VIEW_POINT)) {
_depthGenerator.GetAlternativeViewPointCap().SetViewPoint(_imageGenerator);
}
_xnContext.StartGeneratingAll();
return true;
}
#endif
// next, an ordinary webcam
if ((_capture = cvCaptureFromCAM(-1)) == 0) {
qDebug("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) {
}
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