[ADD] basis for async arm detection

src/computervision/ObjectDetection.cpp

@@ -11,7 +11,7 @@
 
 namespace computervision
 {
-	cv::VideoCapture cap(1);
+	cv::VideoCapture cap(0);
 
 	cv::Mat img, imgGray, img2, img2Gray, img3, img4;
 
@@ -33,6 +33,11 @@ namespace computervision
 		return img;
 	}
 
+	cv::VideoCapture ObjectDetection::getCap()
+	{
+		return cap;
+	}
+
 	bool ObjectDetection::detectHand(Mat cameraFrame)
 	{
 		Mat inputFrame = generateHandMaskSquare(cameraFrame);

src/computervision/ObjectDetection.h

@@ -65,6 +65,8 @@ namespace computervision
 		 */
 		bool drawHandMaskRect(cv::Mat *input);
 
+		cv::VideoCapture getCap();
+
 	};
 
 

src/computervision/OpenPoseVideo.cpp

@@ -44,59 +44,34 @@ namespace computervision
 		net = readNetFromCaffe(protoFile, weightsFile);
 	}
 
-	void OpenPoseVideo::movementSkeleton(Mat inputImage) {
-
-		//string device = "cpu";
-		//string videoFile = "sample_video.mp4";
-
-		// Take arguments from commmand line
-		/*if (argc == 2)
-		{
-			if ((string)argv[1] == "gpu")
-				device = "gpu";
-			else
-				videoFile = argv[1];
-		}
-		else if (argc == 3)
-		{
-			videoFile = argv[1];
-			if ((string)argv[2] == "gpu")
-				device = "gpu";
-		}*/
+	void OpenPoseVideo::movementSkeleton(Mat inputImage, std::function<void(std::vector<Point>)> f) {
+		std::cout << "movement skeleton start" << std::endl;
 
 		int inWidth = 368;
 		int inHeight = 368;
 		float thresh = 0.01;
 
-		Mat frame, frameCopy;
+		Mat frame;
 		int frameWidth = inputImage.size().width;
 		int frameHeight = inputImage.size().height;
 
-		/*if (device == "cpu")
-		{
-			cout << "Using CPU device" << endl;
-			net.setPreferableBackend(DNN_TARGET_CPU);
-		}
-		else if (device == "gpu")
-		{
-			cout << "Using GPU device" << endl;
-			net.setPreferableBackend(DNN_BACKEND_CUDA);
-			net.setPreferableTarget(DNN_TARGET_CUDA);
-		}*/
-
 		double t = (double)cv::getTickCount();
+		std::cout << "reading input image and blob" << std::endl;
 
 		frame = inputImage;
-		frameCopy = frame.clone();
 		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();
 
 		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++)
@@ -114,31 +89,16 @@ namespace computervision
 				p.x *= (float)frameWidth / W;
 				p.y *= (float)frameHeight / H;
 
-				circle(frameCopy, cv::Point((int)p.x, (int)p.y), 8, Scalar(0, 255, 255), -1);
-				cv::putText(frameCopy, cv::format("%d", n), cv::Point((int)p.x, (int)p.y), cv::FONT_HERSHEY_COMPLEX, 1.1, cv::Scalar(0, 0, 255), 2);
+				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;
 		}
 
-		int nPairs = sizeof(POSE_PAIRS) / sizeof(POSE_PAIRS[0]);
-
-		for (int n = 0; n < nPairs; n++)
-		{
-			// lookup 2 connected body/hand parts
-			Point2f partA = points[POSE_PAIRS[n][0]];
-			Point2f partB = points[POSE_PAIRS[n][1]];
-
-			if (partA.x <= 0 || partA.y <= 0 || partB.x <= 0 || partB.y <= 0)
-				continue;
-
-			line(frame, partA, partB, Scalar(0, 255, 255), 8);
-			circle(frame, partA, 8, Scalar(0, 0, 255), -1);
-			circle(frame, partB, 8, Scalar(0, 0, 255), -1);
-		}
-
-		t = ((double)cv::getTickCount() - t) / cv::getTickFrequency();
 		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);
 		// imshow("Output-Keypoints", frameCopy);
 		imshow("Output-Skeleton", frame);
+		std::cout << "about to call points receiving method" << std::endl;
+		f(points);
 	}
 }

src/computervision/OpenPoseVideo.h

@@ -13,7 +13,7 @@ namespace computervision
 	private:
 
 	public:
-		void movementSkeleton(Mat inputImage);
+		void movementSkeleton(Mat inputImage,std::function<void(std::vector<Point>)> f);
 		void setup();
 	};
 }

src/computervision/async/async_arm_detection.cpp

@@ -0,0 +1,43 @@
+#include <iostream>
+#include "async_arm_detection.h"
+#include "../OpenPoseVideo.h"
+#include <thread>
+
+
+namespace computervision
+{
+	AsyncArmDetection::AsyncArmDetection()
+	{
+
+	}
+
+	void AsyncArmDetection::run_arm_detection()
+	{
+
+	}
+
+	void AsyncArmDetection::start(std::function<void(std::vector<Point>)> points_ready_func, cv::VideoCapture cap, OpenPoseVideo op)
+	{
+
+		auto lambda = [](std::function<void(std::vector<Point>)> f, cv::VideoCapture c, OpenPoseVideo op) {
+			std::cout << "STARTING THREAD LAMBDA" << std::endl;
+			cv::VideoCapture cap(0);
+
+			if (!cap.isOpened())
+			{
+				std::cout << "error opening video" << std::endl;
+				return;
+			}
+
+			while (true)
+			{
+				Mat img;
+				cap.read(img);
+				op.movementSkeleton(img, f);
+			}
+		};
+
+		std::cout << "starting function" << std::endl;
+		std::thread async_arm_detect_thread(lambda, points_ready_func, cap, op);
+	}
+}

src/computervision/async/async_arm_detection.h

@@ -0,0 +1,22 @@
+#pragma once
+#include <vector>
+#include <opencv2/core/types.hpp>
+#include <opencv2/videoio.hpp>
+#include <functional>
+#include "../OpenPoseVideo.h"
+
+
+namespace computervision
+{
+	class AsyncArmDetection
+	{
+	public:
+		AsyncArmDetection(void);
+
+		
+		void start(std::function<void(std::vector<cv::Point>)>, cv::VideoCapture cap, computervision::OpenPoseVideo op);
+	private:
+		void run_arm_detection();
+	};
+
+}

src/main.cpp

@@ -1,6 +1,8 @@
 #include <GL/glew.h>
 #include <GLFW/glfw3.h>
 #include <glm/gtc/matrix_transform.hpp>
+#include <functional>
+#include <vector>
 #define STB_IMAGE_IMPLEMENTATION
 #include "stb_image.h"
 #include <ostream>
@@ -21,6 +23,8 @@
 //#include "computervision/OpenPoseImage.h"
 #include "computervision/OpenPoseVideo.h"
 
+#include "computervision/async/async_arm_detection.h"
+
 #pragma comment(lib, "glfw3.lib")
 #pragma comment(lib, "glew32s.lib")
 #pragma comment(lib, "opengl32.lib")
@@ -29,6 +33,11 @@ static double UpdateDelta();
 
 static GLFWwindow* window;
 
+void retrieve_points(std::vector<Point> arm_points)
+{
+	std::cout << "got points!!" << std::endl;
+	std::cout << "points: " << arm_points << std::endl;
+}
 
 int main(void)
 {
@@ -68,6 +77,7 @@ int main(void)
 	computervision::ObjectDetection objDetect;
 	//computervision::OpenPoseImage openPoseImage;
 	computervision::OpenPoseVideo openPoseVideo;
+	openPoseVideo.setup();
 
 
 	// set up object detection
@@ -75,7 +85,11 @@ int main(void)
 	cv::Mat cameraFrame;
 
 
-	openPoseVideo.setup();
+	//openPoseVideo.setup();
+
+	computervision::AsyncArmDetection as;
+	as.start(retrieve_points, objDetect.getCap(),openPoseVideo);
+	
 
 	// Main game loop
 	while (!glfwWindowShouldClose(window))
@@ -95,7 +109,6 @@ int main(void)
 
 		cameraFrame = objDetect.readCamera();
 		//objDetect.detectHand(cameraFrame);
-		openPoseVideo.movementSkeleton(cameraFrame);
 
 		// Finish up
 		shader.Stop();