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merge Feature/hand control int develop #7

Merged
SemvdH merged 4 commits from feature/handControl into develop 2021-06-18 13:28:39 +00:00
Conversation 5 Commits 4 Files Changed 13 +60 -255
13 changed files with 60 additions and 255 deletions
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108
src/computervision/OpenPoseVideo.cpp
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@@ -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
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@@ -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
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@@ -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
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@@ -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);
};
}

3
src/computervision/hand_detect_region.cpp
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@@ -33,6 +33,7 @@ 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
@@ -67,7 +68,7 @@ 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");

2
src/entities/Entity.cpp
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@@ -23,5 +23,7 @@ namespace entities
this->rotation.y += rotation.y;
this->rotation.z += rotation.z;
}
}

2
src/entities/Entity.h
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@@ -40,7 +40,7 @@ namespace entities
inline glm::vec3 GetPosition() const { return position; }
inline void SetPosition(const ::glm::vec3& position) { this->position = position; }
inline glm::vec3 GetRotation() const { return rotation; }
inline void SetRotation(const ::glm::vec3& rotation) { this->rotation = rotation; }
void SetRotation(const ::glm::vec3& rotation) { this->rotation = rotation; }
inline float GetScale() const { return scale; }
inline void SetScale(const float scale) { this->scale = scale; }
};

65
src/entities/main_character.cpp
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@@ -7,11 +7,10 @@
#include"../renderEngine/loader.h"
namespace entities
{
float movement_speed;
float down_speed;
float side_speed;
int movement_speed, down_speed, side_speed;
bool is_playing;
MainCharacter::MainCharacter(const models::TexturedModel& model, const glm::vec3& position,
const glm::vec3& rotation, float scale, const collision::Box& bounding_box)
: CollisionEntity(model, position, rotation, scale, bounding_box)
@@ -19,63 +18,58 @@ namespace entities
is_playing = true;
}
void MainCharacter::Move(GLFWwindow* window)
void MainCharacter::Move(std::vector<computervision::HandDetectRegion*> regions)
{
if (is_playing) {
movement_speed = -2.0f; //Forward speed adjustment, bee is moving at a standard speedrate
down_speed = -1.0f; //Down speed adjustment, downspeed is difference between down_speed and UP_SPEED
side_speed = 0; //Side speed adjustment
computervision::HandDetectRegion* reg_left = regions.at(0);
computervision::HandDetectRegion* reg_up = regions.at(1);
computervision::HandDetectRegion* reg_right = regions.at(2);
double delta_time = UpdateDelta();
if (is_playing) {
movement_speed = -15; //Forward speed adjustment, bee is moving at a standard speedrate
down_speed = -50; //Down speed adjustment, downspeed is difference between down_speed and UP_SPEED
side_speed = 0; //Side speed adjustment
//For gameplay with use of keyboard keys: W, A, S, D
//W: Go forward
//A: Go left
//S: Go backwards
//D: Go right
//TODO Implement CV actions
SetRotation(glm::vec3(0, 90, 0));
if (glfwGetKey(window, GLFW_KEY_W) == GLFW_PRESS)
{
movement_speed -= SIDE_SPEED;
}
if (glfwGetKey(window, GLFW_KEY_S) == GLFW_PRESS)
{
movement_speed += SIDE_SPEED;
}
//top right
if (glfwGetKey(window, GLFW_KEY_E) == GLFW_PRESS)
SetRotation(glm::vec3(0, 90, 0));
if (reg_up->IsHandPresent() && reg_left->IsHandPresent())
{
side_speed += SIDE_SPEED;
down_speed += UP_SPEED;
down_speed += UP_SPEED/2;
SetRotation(glm::vec3(10, 90, 0));
}
//right
if (glfwGetKey(window, GLFW_KEY_D) == GLFW_PRESS)
if (reg_left->IsHandPresent())
{
side_speed += SIDE_SPEED;
}
//top left
if (glfwGetKey(window, GLFW_KEY_Q) == GLFW_PRESS)
if (reg_up->IsHandPresent() && reg_right->IsHandPresent())
{
down_speed += UP_SPEED;
down_speed += UP_SPEED/2;
side_speed -= SIDE_SPEED;
SetRotation(glm::vec3(10, 90, 0));
}
//left
if (glfwGetKey(window, GLFW_KEY_A) == GLFW_PRESS)
if (reg_right->IsHandPresent())
{
side_speed -= SIDE_SPEED;
}
if (glfwGetKey(window, GLFW_KEY_SPACE) == GLFW_PRESS)
if (reg_up->IsHandPresent())
{
down_speed += UP_SPEED;
SetRotation(glm::vec3(10, 90, 0));
}
if (glfwGetKey(window, GLFW_KEY_LEFT_SHIFT) == GLFW_PRESS)
{
down_speed -= UP_SPEED;
}
}
IncreasePosition(glm::vec3(side_speed, down_speed, movement_speed));
IncreasePosition(glm::vec3(side_speed*delta_time, down_speed*delta_time, movement_speed*delta_time));
std::cout << "delta time char: "<< delta_time << std::endl;
//Use only for binding bee to house, such that it doesn't go outside of the room.
//TODO delete when boundingbox is implemented!
@@ -85,7 +79,7 @@ namespace entities
else if (position.y < -40) position.y = -40;
//Move player bounding box according to the position on screen
MoveCollisionBox();
if (glfwGetKey(window, GLFW_KEY_Z) == GLFW_PRESS)
if (reg_right->IsHandPresent() && reg_left->IsHandPresent())
{
is_playing = true;
}
@@ -98,7 +92,12 @@ namespace entities
std::cout << "collision" << std::endl;
}
bool MainCharacter::GetOnCollide() {
return is_playing;
double MainCharacter::UpdateDelta()
{
double current_time = glfwGetTime();
static double last_frame_time = current_time;
double delt_time = current_time - last_frame_time;
last_frame_time = current_time;
return delt_time;
}
}

11
src/entities/main_character.h
View File

@@ -2,6 +2,7 @@
#include "collision_entity.h"
#include "../shaders/entity_shader.h"
#include "../computervision/HandDetectRegion.h"
namespace entities
{
@@ -9,8 +10,8 @@ namespace entities
* This class contains the information about the player model
*/
class MainCharacter : public CollisionEntity {
const float SIDE_SPEED = 0.8f; //Standard movement speed for left/right movement
const float UP_SPEED = 2.0f; //Standard movement speed for up movement
const int SIDE_SPEED = 40; //Standard movement speed for left/right movement
const int UP_SPEED = 100; //Standard movement speed for up movement
public:
/*
* @brief: Constructor for the main character model
@@ -31,10 +32,10 @@ namespace entities
*
* @return: Vector with the adjusted side_speed, down_speed, and movement_speed
*/
void Move(GLFWwindow* window);
void Move(std::vector<computervision::HandDetectRegion*> regions);
void OnCollide(const collision::Collision& collision) override;
bool GetOnCollide();
double UpdateDelta();
};
}

14
src/main.cpp
View File

@@ -29,12 +29,7 @@
#include "scenes/startup_Scene.h"
#include "scenes/game_Over_Scene.h"
#include "entities/collision_entity.h"
#include "computervision/object_detection.h"
//#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")
@@ -50,15 +45,6 @@ scene::Scene* current_scene;
bool points_img_available = false;
cv::Mat points_img;
void retrieve_points(std::vector<Point> arm_points, cv::Mat points_on_image)
{
std::cout << "got points!!" << std::endl;
std::cout << "points: " << arm_points << std::endl;
points_img = points_on_image;
points_img_available = true;
}
int main(void)
{
#pragma region OPENGL_SETTINGS

8
src/scenes/in_Game_Scene.cpp
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@@ -60,7 +60,7 @@ namespace scene
}
/**
* temporary!!!!
* temporary?
* just to make some bounding boxes
*/
collision::Box create_bounding_box(glm::vec3 size, glm::vec3 pos, int scale) {
@@ -190,6 +190,9 @@ namespace scene
});
pause_guis.push_back(&pause_button_quit);
regions.push_back(&reg_left);
regions.push_back(&reg_up);
regions.push_back(&reg_right);
//the scene loop, this while loop represent the scene
while (return_value == scene::Scenes::INGAME)
@@ -260,7 +263,8 @@ namespace scene
{
UpdateDeltaTime();
//camera.Move(window);
main_character->Move(window);
update_hand_detection();
main_character->Move(regions);
if (!main_character.get()->GetOnCollide())
{
*ptr = score;

1
wk2_fps.vcxproj
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@@ -59,7 +59,6 @@
<ClInclude Include="src\computervision\hand_detect_region.h" />
<ClInclude Include="src\scenes\in_Game_Scene.h" />
<ClInclude Include="src\scenes\scene.h" />
<ClInclude Include="src\computervision\async\async_arm_detection.h" />
<ClInclude Include="src\computervision\async\StaticCameraInstance.h" />
<ClInclude Include="src\computervision\finger_count.h" />
<ClInclude Include="src\computervision\background_remover.h" />

13
wk2_fps.vcxproj.filters
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@@ -3,12 +3,19 @@
<ItemGroup>
<ClCompile Include="src\collision\collision_handler.cpp" />
<ClCompile Include="src\scenes\in_Game_Scene.cpp" />
<<<<<<< HEAD
<ClCompile Include="src\computervision\ObjectDetection.cpp" />
<ClCompile Include="src\computervision\SkinDetector.cpp" />
<ClCompile Include="src\computervision\FingerCount.cpp" />
<ClCompile Include="src\computervision\BackgroundRemover.cpp" />
=======
<ClCompile Include="src\computervision\async\async_arm_detection.cpp" />
<ClCompile Include="src\computervision\object_detection.cpp" />
<ClCompile Include="src\computervision\OpenPoseVideo.cpp" />
<ClCompile Include="src\computervision\skin_detector.cpp" />
<ClCompile Include="src\computervision\finger_count.cpp" />
<ClCompile Include="src\computervision\background_remover.cpp" />
>>>>>>> develop
<ClCompile Include="src\entities\camera.cpp" />
<ClCompile Include="src\entities\collision_entity.cpp" />
<ClCompile Include="src\entities\entity.cpp" />
@@ -23,7 +30,11 @@
<ClCompile Include="src\toolbox\toolbox.cpp" />
<ClCompile Include="src\scenes\startup_Scene.cpp" />
<ClCompile Include="src\computervision\calibration\HandCalibrator.cpp" />
<<<<<<< HEAD
<ClCompile Include="src\computervision\HandDetectRegion.cpp" />
=======
<ClCompile Include="src\computervision\hand_detect_region.cpp" />
>>>>>>> develop
<ClCompile Include="src\entities\main_character.cpp" />
<ClCompile Include="src\entities\house_generator.cpp" />
<ClCompile Include="src\computervision\MenuTest.cpp" />
@@ -94,11 +105,9 @@
<ClInclude Include="src\collision\collision_handler.h" />
<ClInclude Include="src\scenes\in_Game_Scene.h" />
<ClInclude Include="src\scenes\scene.h" />
<ClInclude Include="src\computervision\async\async_arm_detection.h" />
<ClInclude Include="src\computervision\async\StaticCameraInstance.h" />
<ClInclude Include="src\computervision\FingerCount.h" />
<ClInclude Include="src\computervision\BackgroundRemover.h" />
<ClInclude Include="src\computervision\OpenPoseVideo.h" />
<ClInclude Include="src\computervision\SkinDetector.h" />
<ClInclude Include="src\computervision\ObjectDetection.h" />
<ClInclude Include="src\entities\camera.h" />