sem/SDBA
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

[ADD] made movement based on hand position

Browse Source
This commit is contained in:
Nathalie Seen
2021-06-11 14:46:24 +02:00
parent 504b97b320
commit 3517d2b36a
11 changed files with 53 additions and 334 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
src/computervision/HandDetectRegion.cpp
View File

@@ -24,6 +24,7 @@ namespace computervision
skin_detector.drawSkinColorSampler(camera_frame,start_x_pos,start_y_pos,region_width,region_height);
// remove background from image
foreground = background_remover.getForeground(input_frame);
// detect the hand contours
@@ -35,7 +36,7 @@ namespace computervision
//imshow("output" + region_id, frame_out);
//imshow("foreground" + region_id, foreground);
//imshow("handMask" + region_id, handMask);
/*imshow("handDetection", fingerCountDebug);*/
//imshow("handDetection", fingerCountDebug);
hand_present = hand_calibrator.CheckIfHandPresent(handMask,handcalibration::HandDetectionType::GAME);
//std::string text = (hand_present ? "hand" : "no");

108
src/computervision/OpenPoseVideo.cpp
View File

@@ -1,108 +0,0 @@
#include "OpenPoseVideo.h"
using namespace std;
using namespace cv;
using namespace cv::dnn;
namespace computervision
{
#define MPI
#ifdef MPI
const int POSE_PAIRS[7][2] =
{
{0,1}, {1,2}, {2,3},
{3,4}, {1,5}, {5,6},
{6,7}
};
string protoFile = "res/pose/mpi/pose_deploy_linevec_faster_4_stages.prototxt";
string weightsFile = "res/pose/mpi/pose_iter_160000.caffemodel";
int nPoints = 8;
#endif
#ifdef COCO
const int POSE_PAIRS[17][2] =
{
{1,2}, {1,5}, {2,3},
{3,4}, {5,6}, {6,7},
{1,8}, {8,9}, {9,10},
{1,11}, {11,12}, {12,13},
{1,0}, {0,14},
{14,16}, {0,15}, {15,17}
};
string protoFile = "pose/coco/pose_deploy_linevec.prototxt";
string weightsFile = "pose/coco/pose_iter_440000.caffemodel";
int nPoints = 18;
#endif
Net net;
void OpenPoseVideo::setup() {
net = readNetFromCaffe(protoFile, weightsFile);
net.setPreferableBackend(DNN_TARGET_CPU);
}
void OpenPoseVideo::movementSkeleton(Mat& inputImage, std::function<void(std::vector<Point>&, cv::Mat& poinst_on_image)> f) {
std::cout << "movement skeleton start" << std::endl;
int inWidth = 368;
int inHeight = 368;
float thresh = 0.01;
Mat frame;
int frameWidth = inputImage.size().width;
int frameHeight = inputImage.size().height;
double t = (double)cv::getTickCount();
std::cout << "reading input image and blob" << std::endl;
frame = inputImage;
Mat inpBlob = blobFromImage(frame, 1.0 / 255, Size(inWidth, inHeight), Scalar(0, 0, 0), false, false);
std::cout << "done reading image and blob" << std::endl;
net.setInput(inpBlob);
std::cout << "done setting input to net" << std::endl;
Mat output = net.forward();
std::cout << "time took to set input and forward: " << t << std::endl;
int H = output.size[2];
int W = output.size[3];
std::cout << "about to find position of boxy parts" << std::endl;
// find the position of the body parts
vector<Point> points(nPoints);
for (int n = 0; n < nPoints; n++)
{
// Probability map of corresponding body's part.
Mat probMap(H, W, CV_32F, output.ptr(0, n));
Point2f p(-1, -1);
Point maxLoc;
double prob;
minMaxLoc(probMap, 0, &prob, 0, &maxLoc);
if (prob > thresh)
{
p = maxLoc;
p.x *= (float)frameWidth / W;
p.y *= (float)frameHeight / H;
circle(frame, cv::Point((int)p.x, (int)p.y), 8, Scalar(0, 255, 255), -1);
cv::putText(frame, cv::format("%d", n), cv::Point((int)p.x, (int)p.y), cv::FONT_HERSHEY_COMPLEX, 1.1, cv::Scalar(0, 0, 255), 2);
}
points[n] = p;
}
cv::putText(frame, cv::format("time taken = %.2f sec", t), cv::Point(50, 50), cv::FONT_HERSHEY_COMPLEX, .8, cv::Scalar(255, 50, 0), 2);
std::cout << "time taken: " << t << std::endl;
//imshow("Output-Keypoints", frame);
//imshow("Output-Skeleton", frame);
std::cout << "about to call points receiving method" << std::endl;
f(points,frame);
}
}

19
src/computervision/OpenPoseVideo.h
View File

@@ -1,19 +0,0 @@
#pragma once
#include <opencv2/dnn.hpp>
#include <opencv2/imgproc.hpp>
#include <opencv2/highgui.hpp>
#include <iostream>
using namespace cv;
namespace computervision
{
class OpenPoseVideo{
private:
public:
void movementSkeleton(Mat& inputImage, std::function<void(std::vector<Point>&, cv::Mat& poinst_on_image)> f);
void setup();
};
}

46
src/computervision/async/async_arm_detection.cpp
View File

@@ -1,46 +0,0 @@
#include <iostream>
#include "async_arm_detection.h"
#include "../OpenPoseVideo.h"
#include <thread>
#include "StaticCameraInstance.h"
namespace computervision
{
AsyncArmDetection::AsyncArmDetection()
{
}
void AsyncArmDetection::run_arm_detection(std::function<void(std::vector<Point>, cv::Mat poinst_on_image)> points_ready_func, OpenPoseVideo op)
{
VideoCapture cap = static_camera::getCap();
std::cout << "STARTING THREAD LAMBDA" << std::endl;
/*cv::VideoCapture cap = static_camera::GetCap();*/
if (!cap.isOpened())
{
std::cout << "capture was closed, opening..." << std::endl;
cap.open(0);
}
while (true)
{
Mat img;
cap.read(img);
op.movementSkeleton(img, points_ready_func);
}
}
void AsyncArmDetection::start(std::function<void(std::vector<Point>, cv::Mat poinst_on_image)> points_ready_func, OpenPoseVideo op)
{
std::cout << "starting function" << std::endl;
std::thread async_arm_detect_thread(&AsyncArmDetection::run_arm_detection,this, points_ready_func, op);
async_arm_detect_thread.detach(); // makes sure the thread is detached from the variable.
}
}

23
src/computervision/async/async_arm_detection.h
View File

@@ -1,23 +0,0 @@
#pragma once
#include <vector>
#include <opencv2/core/types.hpp>
#include <opencv2/videoio.hpp>
#include <functional>
#include "../OpenPoseVideo.h"
#include "StaticCameraInstance.h"
namespace computervision
{
class AsyncArmDetection
{
public:
AsyncArmDetection(void);
void start(std::function<void(std::vector<cv::Point>, cv::Mat poinst_on_image)>, computervision::OpenPoseVideo op);
private:
void run_arm_detection(std::function<void(std::vector<Point>, cv::Mat poinst_on_image)> points_ready_func, OpenPoseVideo op);
};
}