Merge branch 'develop' into mergebranch-Jasper
This commit is contained in:
SemvdH
@@ -6,117 +6,140 @@
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#include "ObjectDetection.h"
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#include "BackgroundRemover.h"
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#include "SkinDetector.h"
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#include "FaceDetector.h"
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#include "FingerCount.h"
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#include "async/StaticCameraInstance.h"
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#include "calibration/HandCalibrator.h"
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namespace computervision
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{
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cv::VideoCapture cap(0);
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cv::Mat img, imgGray, img2, img2Gray, img3, img4;
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cv::Mat img, img_gray, img2, img2_gray, img3, img4;
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int handMaskStartXPos, handMaskStartYPos, handMaskWidth, handMaskHeight;
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bool handMaskGenerated = false;
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int hand_mask_start_x_pos, hand_mask_start_y_pos, hand_mask_width, hand_mask_height;
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bool hand_mask_generated = false;
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Mat frame, frameOut, handMask, foreground, fingerCountDebug;
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BackgroundRemover backgroundRemover;
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SkinDetector skinDetector;
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FaceDetector faceDetector;
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FingerCount fingerCount;
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Mat frame, frame_out, handMask, foreground, fingerCountDebug;
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BackgroundRemover background_remover;
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SkinDetector skin_detector;
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FingerCount finger_count;
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handcalibration::HandCalibrator hand_calibrator;
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cv::VideoCapture cap = static_camera::getCap();
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ObjectDetection::ObjectDetection()
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{
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}
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cv::Mat ObjectDetection::readCamera() {
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cv::Mat ObjectDetection::ReadCamera() {
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cap.read(img);
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return img;
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}
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bool ObjectDetection::detectHand(Mat cameraFrame)
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cv::VideoCapture ObjectDetection::GetCap()
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{
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Mat inputFrame = generateHandMaskSquare(cameraFrame);
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frameOut = inputFrame.clone();
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return cap;
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}
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bool ObjectDetection::DetectHand(Mat camera_frame, bool& hand_present)
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{
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Mat input_frame = GenerateHandMaskSquare(camera_frame);
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frame_out = input_frame.clone();
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// detect skin color
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skinDetector.drawSkinColorSampler(frameOut);
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skin_detector.drawSkinColorSampler(camera_frame);
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// remove background from image
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foreground = backgroundRemover.getForeground(inputFrame);
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foreground = background_remover.getForeground(input_frame);
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// detect the hand contours
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handMask = skinDetector.getSkinMask(foreground);
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handMask = skin_detector.getSkinMask(foreground);
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// count the amount of fingers and put the info on the matrix
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fingerCountDebug = fingerCount.findFingersCount(handMask, frameOut);
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fingerCountDebug = finger_count.findFingersCount(handMask, frame_out);
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// get the amount of fingers
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int fingers_amount = fingerCount.getAmountOfFingers();
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int fingers_amount = finger_count.getAmountOfFingers();
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// draw the hand rectangle on the camera input, and draw text showing if the hand is open or closed.
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drawHandMaskRect(&cameraFrame);
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string hand_text = fingers_amount > 0 ? "open" : "closed";
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putText(cameraFrame,hand_text, Point(10, 75), FONT_HERSHEY_PLAIN, 2.0, Scalar(255, 0, 255),3);
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imshow("camera", cameraFrame);
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DrawHandMask(&camera_frame);
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hand_calibrator.SetAmountOfFingers(fingers_amount);
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finger_count.DrawHandContours(camera_frame);
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hand_calibrator.DrawHandCalibrationText(camera_frame);
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imshow("camera", camera_frame);
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/*imshow("output", frame_out);
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imshow("foreground", foreground);
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imshow("handMask", handMask);
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imshow("handDetection", fingerCountDebug);*/
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hand_present = hand_calibrator.CheckIfHandPresent(handMask,handcalibration::HandDetectionType::MENU);
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hand_calibrator.SetHandPresent(hand_present);
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//imshow("output", frameOut);
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//imshow("foreground", foreground);
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//imshow("handMask", handMask);
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//imshow("handDetection", fingerCountDebug);
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int key = waitKey(1);
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if (key == 98) // b, calibrate the background
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backgroundRemover.calibrate(inputFrame);
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{
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background_remover.calibrate(input_frame);
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hand_calibrator.SetBackGroundCalibrated(true);
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}
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else if (key == 115) // s, calibrate the skin color
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skinDetector.calibrate(inputFrame);
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{
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skin_detector.calibrate(input_frame);
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hand_calibrator.SetSkinCalibration(true);
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}
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return fingers_amount > 0;
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}
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void ObjectDetection::calculateDifference()
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void ObjectDetection::CalculateDifference()
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{
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cap.read(img);
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cap.read(img2);
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cv::cvtColor(img, imgGray, cv::COLOR_RGBA2GRAY);
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cv::cvtColor(img2, img2Gray, cv::COLOR_RGBA2GRAY);
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cv::cvtColor(img, img_gray, cv::COLOR_RGBA2GRAY);
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cv::cvtColor(img2, img2_gray, cv::COLOR_RGBA2GRAY);
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cv::absdiff(imgGray, img2Gray, img3);
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cv::absdiff(img_gray, img2_gray, img3);
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cv::threshold(img3, img4, 50, 170, cv::THRESH_BINARY);
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imshow("threshold", img4);
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}
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cv::Mat ObjectDetection::generateHandMaskSquare(cv::Mat img)
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cv::Mat ObjectDetection::GenerateHandMaskSquare(cv::Mat img)
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{
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handMaskStartXPos = 20;
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handMaskStartYPos = img.rows / 5;
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handMaskWidth = img.cols / 3;
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handMaskHeight = img.cols / 3;
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hand_mask_start_x_pos = 20;
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hand_mask_start_y_pos = img.rows / 5;
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hand_mask_width = img.cols / 3;
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hand_mask_height = img.cols / 3;
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cv::Mat mask = cv::Mat::zeros(img.size(), img.type());
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cv::Mat dstImg = cv::Mat::zeros(img.size(), img.type());
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cv::Mat distance_img = cv::Mat::zeros(img.size(), img.type());
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cv::rectangle(mask, Rect(handMaskStartXPos, handMaskStartYPos, handMaskWidth, handMaskHeight), Scalar(255, 255, 255), -1);
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cv::rectangle(mask, Rect(hand_mask_start_x_pos, hand_mask_start_y_pos, hand_mask_width, hand_mask_height), Scalar(255, 255, 255), -1);
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img.copyTo(dstImg, mask);
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img.copyTo(distance_img, mask);
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handMaskGenerated = true;
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return dstImg;
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hand_mask_generated = true;
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return distance_img;
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}
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bool ObjectDetection::drawHandMaskRect(cv::Mat* input)
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bool ObjectDetection::DrawHandMask(cv::Mat* input)
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{
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if (!handMaskGenerated) return false;
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rectangle(*input, Rect(handMaskStartXPos, handMaskStartYPos, handMaskWidth, handMaskHeight), Scalar(255, 255, 255));
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if (!hand_mask_generated) return false;
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rectangle(*input, Rect(hand_mask_start_x_pos, hand_mask_start_y_pos, hand_mask_width, hand_mask_height), Scalar(255, 255, 255));
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return true;
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}
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void ObjectDetection::showWebcam()
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void ObjectDetection::ShowWebcam()
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{
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imshow("Webcam image", img);
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}
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