void ShapeDetection::draw( bool useBalance, bool showNegativeSpace )
{
gl::setMatricesWindow( Vec2i(getWindowWidth(), getWindowHeight()) );
// draw points
for( int i=0; i<mTrackedShapes.size(); i++){
if( mTrackedShapes[i].mOffBalance && useBalance ){
glBegin( GL_POLYGON );
} else if (showNegativeSpace) {
glLineWidth(2.0f);
glBegin( GL_LINE_LOOP );
} else{
glLineWidth(1.0f);
glBegin(GL_LINE_LOOP);
}
glLineWidth(1.0f);
glBegin(GL_LINE_LOOP);
for( int j=0; j<mTrackedShapes[i].hull.size(); j++ ){
if (showNegativeSpace) {
gl::color( Color( 0.0f, 0.0f, 0.0f ) );
} else {
gl::color(Color( 0.5f, 0.5f, 0.5f) );
}
Vec2f v = fromOcv( mTrackedShapes[i].hull[j] );
// offset the points to align with the camera used for the mesh
float newX = lmap(v.x, 0.0f, 320.0f, 0.0f, float(getWindowWidth()));
float newY = lmap(v.y, 0.0f, 240.0f, 0.0f, float(getWindowHeight()));
Vec2f pos = Vec2f( newX, newY);
gl::vertex( pos );
}
glEnd();
// glLineWidth(10.0f);
// gl::enableAlphaBlending();
//// glEnable(GL_BLEND);
// gl::color(0.0f, 0.75f, 1.0f);
// glBegin( GL_LINE_STRIP );
// int counter = 50;
// for( Vec3f v: mTrackedShapes[i].mTrailPoint.mTrail ) {
//// gl::color( ColorA( 0.0f, 0.75f, 1.0f, (1.0 - counter*2/100)) );
//// glColor4f(0.0f, 0.75f, 1.0f, (1.0 - counter*2/100));
// float newX = lmap(v.x, 0.0f, 320.0f, 0.0f, float(getWindowWidth()));
// float newY = lmap(v.y, 0.0f, 240.0f, 0.0f, float(getWindowHeight()));
// gl::vertex( newX, newY );
// counter--;
// }
// glEnd();
//// glDisable(GL_BLEND);
// gl::disableAlphaBlending();
}
}
void KinectUser::update()
{
mNIUserTracker.setSmoothing( mHandSmoothing );
if ( mNI.checkNewVideoFrame() && mOutlineEnable )
{
// generate user outline shapes
Surface8u maskSurface = mNIUserTracker.getUserMask();
cv::Mat cvMask, cvMaskFiltered;
cvMask = toOcv( Channel8u( maskSurface ) );
cv::blur( cvMask, cvMaskFiltered, cv::Size( mOutlineBlurAmt, mOutlineBlurAmt ) );
cv::Mat dilateElm = cv::getStructuringElement( cv::MORPH_RECT,
cv::Size( mOutlineDilateAmt, mOutlineDilateAmt ) );
cv::Mat erodeElm = cv::getStructuringElement( cv::MORPH_RECT,
cv::Size( mOutlineErodeAmt, mOutlineErodeAmt ) );
cv::erode( cvMaskFiltered, cvMaskFiltered, erodeElm, cv::Point( -1, -1 ), 1 );
cv::dilate( cvMaskFiltered, cvMaskFiltered, dilateElm, cv::Point( -1, -1 ), 3 );
cv::erode( cvMaskFiltered, cvMaskFiltered, erodeElm, cv::Point( -1, -1 ), 1 );
cv::blur( cvMaskFiltered, cvMaskFiltered, cv::Size( mOutlineBlurAmt, mOutlineBlurAmt ) );
cv::threshold( cvMaskFiltered, cvMaskFiltered, mOutlineThres, 255, CV_THRESH_BINARY);
vector< vector< cv::Point > > contours;
cv::findContours( cvMaskFiltered, contours, CV_RETR_LIST, CV_CHAIN_APPROX_SIMPLE );
mShape.clear();
for ( vector< vector< cv::Point > >::const_iterator it = contours.begin();
it != contours.end(); ++it )
{
vector< cv::Point >::const_iterator pit = it->begin();
if ( it->empty() )
continue;
mShape.moveTo( mOutputMapping.map( fromOcv( *pit ) ) );
++pit;
for ( ; pit != it->end(); ++pit )
{
mShape.lineTo( mOutputMapping.map( fromOcv( *pit ) ) );
}
mShape.close();
}
}
// retrieve hand positions
mHandPositions.clear();
const XnSkeletonJoint jointIds[] = { XN_SKEL_LEFT_HAND, XN_SKEL_RIGHT_HAND };
vector< unsigned > users = mNIUserTracker.getUsers();
for ( vector< unsigned >::const_iterator it = users.begin(); it < users.end(); ++it )
{
unsigned userId = *it;
for ( int i = 0; i < sizeof( jointIds ) / sizeof( jointIds[0] ); ++i )
{
Vec2f jointPos = mNIUserTracker.getJoint2d( userId, jointIds[i] );
float conf = mNIUserTracker.getJointConfidance( userId, jointIds[i] );
if ( conf > .9 )
{
mHandPositions.push_back( mOutputMapping.map( jointPos ) );
}
}
}
#ifdef OUTLINE_SHADER
// update vbo from shape points
// based on the work of Paul Houx
// https://forum.libcinder.org/topic/smooth-thick-lines-using-geometry-shader#23286000001297067
if ( mOutlineEnable )
{
mVboMeshes.clear();
for ( size_t i = 0; i < mShape.getNumContours(); ++i )
{
const Path2d &path = mShape.getContour( i );
const vector< Vec2f > &points = path.getPoints();
if ( points.size() > 1 )
{
// create a new vector that can contain 3D vertices
vector< Vec3f > vertices;
vertices.reserve( points.size() );
// add all 2D points as 3D vertices
vector< Vec2f >::const_iterator it;
for ( it = points.begin() ; it != points.end(); ++it )
vertices.push_back( Vec3f( *it ) );
// now that we have a list of vertices, create the index buffer
size_t n = vertices.size();
vector< uint32_t > indices;
indices.reserve( n * 4 );
indices.push_back( n - 1 );
indices.push_back( 0 );
indices.push_back( 1 );
indices.push_back( 2 );
for ( size_t i = 1; i < vertices.size() - 2; ++i )
{
indices.push_back( i - 1 );
indices.push_back( i );
indices.push_back( i + 1 );
indices.push_back( i + 2 );
}
indices.push_back( n - 3 );
indices.push_back( n - 2 );
indices.push_back( n - 1 );
indices.push_back( 0 );
indices.push_back( n - 2 );
indices.push_back( n - 1 );
indices.push_back( 0 );
indices.push_back( 1 );
// finally, create the mesh
gl::VboMesh::Layout layout;
layout.setStaticPositions();
layout.setStaticIndices();
gl::VboMesh vboMesh = gl::VboMesh( vertices.size(), indices.size(), layout, GL_LINES_ADJACENCY_EXT );
vboMesh.bufferPositions( &(vertices.front()), vertices.size() );
vboMesh.bufferIndices( indices );
vboMesh.unbindBuffers();
mVboMeshes.push_back( vboMesh );
}
}
}
#endif
}
void DebugDrawer::draw( const BlobTrackerRef &blobTracker, const Area &bounds, const Options &options )
{
if ( options.mDebugMode == Options::DebugMode::NONE )
{
return;
}
gl::TextureRef tex;
switch ( options.mDrawMode )
{
case Options::DrawMode::ORIGINAL:
{
cv::Mat img = blobTracker->getImageInput();
if ( img.data )
{
tex = gl::Texture::create( fromOcv( img ) );
}
break;
}
case Options::DrawMode::BLURRED:
{
cv::Mat img = blobTracker->getImageBlurred();
if ( img.data )
{
tex = gl::Texture::create( fromOcv( img ) );
}
break;
}
case Options::DrawMode::THRESHOLDED:
{
cv::Mat img = blobTracker->getImageThresholded();
if ( img.data )
{
tex = gl::Texture::create( fromOcv( img ) );
}
break;
}
default:
break;
}
if ( ! tex )
{
return;
}
ci::gl::disableDepthRead();
ci::gl::disableDepthWrite();
bool blendingEnabled = options.mDebugMode == Options::DebugMode::BLENDED;
auto ctx = gl::context();
ctx->pushBoolState( GL_BLEND, blendingEnabled );
ctx->pushBlendFuncSeparate( GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA, GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA );
gl::ScopedColor color( ColorA::gray( 1.0f, 0.5f ) );
Area outputArea = bounds;
if ( options.mDrawProportionalFit )
{
outputArea = Area::proportionalFit( tex->getBounds(), bounds, true, true );
}
gl::draw( tex, outputArea );
{
const auto &trackerOptions = blobTracker->getOptions();
float s = trackerOptions.mNormalizationScale;
RectMapping blobMapping( Rectf( 0.0f, 0.0f, s, s ), Rectf( outputArea ) );
Rectf roi = trackerOptions.mNormalizedRegionOfInterest * s;
gl::color( ColorA( 0.0f, 1.0f, 0.0f, 0.8f ) );
gl::drawStrokedRect( blobMapping.map( roi ) );
vec2 offset = outputArea.getUL();
vec2 scale = vec2( outputArea.getSize() ) / vec2( s, s );
for ( const auto &blob : blobTracker->getBlobs() )
{
gl::pushModelView();
gl::translate( offset );
gl::scale( scale );
if ( trackerOptions.mBoundsEnabled )
{
gl::color( ColorA( 1.0f, 1.0f, 0.0f, 0.5f ) );
gl::drawStrokedRect( blob->mBounds );
}
if ( trackerOptions.mConvexHullEnabled && blob->mConvexHull )
{
gl::color( ColorA( 1.0f, 0.0f, 1.0f, 0.5f ) );
gl::draw( *blob->mConvexHull.get() );
}
gl::popModelView();
vec2 pos = blobMapping.map( blob->mPos );
gl::drawSolidCircle( pos, 2.0f );
gl::drawString( toString< int32_t >( blob->mId ), pos + vec2( 3.0f, -3.0f ),
ColorA( 1.0f, 0.0f, 0.0f, 0.9f ) );
}
}
ctx->popBoolState( GL_BLEND );
ctx->popBlendFuncSeparate();
}
void ShapeDetection::onDepth( openni::VideoFrameRef frame, const OpenNI::DeviceOptions& deviceOptions )
{
// convert frame from the camera to an OpenCV matrix
mInput = toOcv( OpenNI::toChannel16u(frame) );
cv::Mat thresh;
cv::Mat eightBit;
cv::Mat withoutBlack;
// remove black pixels from frame which get detected as noise
withoutBlack = removeBlack( mInput, mNearLimit, mFarLimit );
// convert matrix from 16 bit to 8 bit with some color compensation
withoutBlack.convertTo( eightBit, CV_8UC3, 0.1/1.0 );
// invert the image
cv::bitwise_not( eightBit, eightBit );
mContours.clear();
mApproxContours.clear();
// using a threshold to reduce noise
cv::threshold( eightBit, thresh, mThresh, mMaxVal, CV_8U );
// draw lines around shapes
cv::findContours( thresh, mContours, mHierarchy, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_SIMPLE );
vector<cv::Point> approx;
// approx number of points per contour
for ( int i = 0; i < mContours.size(); i++ ) {
cv::approxPolyDP(mContours[i], approx, 1, true );
mApproxContours.push_back( approx );
}
mShapes.clear();
// get data that we can later compare
mShapes = getEvaluationSet( mApproxContours, 75, 100000 );
// find the nearest match for each shape
for ( int i = 0; i < mTrackedShapes.size(); i++ ) {
Shape* nearestShape = findNearestMatch( mTrackedShapes[i], mShapes, 5000 );
// a tracked shape was found, update that tracked shape with the new shape
if ( nearestShape != NULL ) {
nearestShape->matchFound = true;
mTrackedShapes[i].centroid = nearestShape->centroid;
// get depth value from center point
float centerDepth = (float)mInput.at<short>( mTrackedShapes[i].centroid.y, mTrackedShapes[i].centroid.x );
// map 10 10000 to 0 1
mTrackedShapes[i].depth = lmap( centerDepth, (float)mNearLimit, (float)mFarLimit, 0.0f, 1.0f );
mTrackedShapes[i].lastFrameSeen = ci::app::getElapsedFrames();
mTrackedShapes[i].hull.clear();
mTrackedShapes[i].hull = nearestShape->hull;
mTrackedShapes[i].motion = nearestShape->motion;
Vec3f centerVec = Vec3f( mTrackedShapes[i].centroid.x, mTrackedShapes[i].centroid.y, 0.0f );
mTrackedShapes[i].mTrailPoint.arrive(centerVec);
mTrackedShapes[i].mTrailPoint.updateTrail();
}
}
// if shape->matchFound is false, add it as a new shape
for ( int i = 0; i < mShapes.size(); i++ ) {
if( mShapes[i].matchFound == false ){
// assign an unique ID
mShapes[i].ID = shapeUID;
mShapes[i].lastFrameSeen = ci::app::getElapsedFrames();
// starting point of the trail
mShapes[i].mTrailPoint.mLocation = Vec3f( mShapes[i].centroid.x, mShapes[i].centroid.y, 0.0f );
// add this new shape to tracked shapes
mTrackedShapes.push_back( mShapes[i] );
shapeUID++;
}
}
// if we didn't find a match for x frames, delete the tracked shape
for ( vector<Shape>::iterator it = mTrackedShapes.begin(); it != mTrackedShapes.end(); ) {
if ( ci::app::getElapsedFrames() - it->lastFrameSeen > 20 ) {
// remove the tracked shape
it = mTrackedShapes.erase(it);
} else {
++it;
}
}
mSurfaceDepth = Surface8u( fromOcv( mInput ) );
mSurfaceSubtract = Surface8u( fromOcv(eightBit) );
}
