void compute()
{
updated = false;
if (image_current_frame.cols == 0)
{
COUT << "bad frame" << endl;
return;
}
Mat image_flipped;
flip(image_current_frame, image_flipped, 0);
Mat image0 = image_flipped(Rect(0, 0, 640, 480));
Mat image1 = image_flipped(Rect(640, 0, 640, 480));
if (first_frame)
{
on_first_frame();
first_frame = false;
}
if (!play || settings.touch_control != "1")
{
hide_cursors();
if (enable_imshow)
waitKey(1);
return;
}
int x_accel;
int y_accel;
int z_accel;
camera->getAccelerometerValues(&x_accel, &y_accel, &z_accel);
imu.compute(x_accel, y_accel, z_accel);
//----------------------------------------core algorithm----------------------------------------
Mat image_small0;
Mat image_small1;
resize(image0, image_small0, Size(160, 120), 0, 0, INTER_LINEAR);
resize(image1, image_small1, Size(160, 120), 0, 0, INTER_LINEAR);
Mat image_preprocessed0;
Mat image_preprocessed1;
bool normalized = compute_channel_diff_image(image_small0, image_preprocessed0, exposure_adjusted, "image_preprocessed0", true);
compute_channel_diff_image(image_small1, image_preprocessed1, exposure_adjusted, "image_preprocessed1", false);
GaussianBlur(image_preprocessed0, image_preprocessed0, Size(3, 9), 0, 0);
GaussianBlur(image_preprocessed1, image_preprocessed1, Size(3, 9), 0, 0);
if (!CameraInitializerNew::adjust_exposure(camera, image_preprocessed0))
{
static int step_count = 0;
if (step_count == 3)
{
surface_computer.init(image0);
}
++step_count;
return;
}
exposure_adjusted = true;
#ifdef false
{
Mat image_remapped0 = reprojector.remap(&image_small0, 0, true);
Mat image_remapped1 = reprojector.remap(&image_small1, 1, true);
reprojector.y_align(image_remapped0, image_remapped1, false);
GaussianBlur(image_remapped0, image_remapped0, Size(9, 9), 0, 0);
GaussianBlur(image_remapped1, image_remapped1, Size(9, 9), 0, 0);
Mat image_disparity;
static StereoSGBM stereo_sgbm(0, 32, 21, 0, 0, 0, 0, 20, 0, 0, false);
stereo_sgbm(image_remapped0, image_remapped1, image_disparity);
Mat image_disparity_8u;
double minVal, maxVal;
minMaxLoc(image_disparity, &minVal, &maxVal);
image_disparity.convertTo(image_disparity_8u, CV_8UC1, 255 / (maxVal - minVal));
imshow("image_remapped0", image_remapped0);
imshow("image_remapped1", image_remapped1);
imshow("image_disparity_8u", image_disparity_8u);
}
#endif
/*static bool show_wiggle_sent = false;
if (!show_wiggle_sent)
{
if (child_module_name != "")
ipc->open_udp_channel(child_module_name);
ipc->send_message("menu_plus", "show window", "");
ipc->send_message("menu_plus", "show wiggle", "");//todo
}
show_wiggle_sent = true;*/
if (enable_imshow)
{
imshow("image_small1", image_small1);
imshow("image_preprocessed1", image_preprocessed1);
// setMouseCallback("image_preprocessed1", left_mouse_cb, NULL);
// waitKey(1);
// return;
}
algo_name_vec_old = algo_name_vec;
algo_name_vec.clear();
static bool motion_processor_proceed = false;
static bool construct_background = false;
static bool first_pass = true;
bool proceed0;
bool proceed1;
if (normalized)
{
proceed0 = motion_processor0.compute(image_preprocessed0, image_small0, surface_computer.y_reflection, imu.pitch,
construct_background, "0", true);
proceed1 = motion_processor1.compute(image_preprocessed1, image_small1, surface_computer.y_reflection, imu.pitch,
construct_background, "1", true);
}
if (first_pass && motion_processor0.both_moving)
{
COUT << "readjusting exposure" << endl;
first_pass = false;
exposure_adjusted = false;
CameraInitializerNew::adjust_exposure(camera, image_preprocessed0, true);
}
else if (!first_pass)
construct_background = true;
if (!construct_background)
{
proceed0 = false;
proceed1 = false;
}
if (proceed0 && proceed1)
motion_processor_proceed = true;
bool proceed = motion_processor_proceed;
if (proceed)
{
proceed0 = foreground_extractor0.compute(image_preprocessed0, motion_processor0, "0", false);
proceed1 = foreground_extractor1.compute(image_preprocessed1, motion_processor1, "1", false);
proceed = proceed0 && proceed1;
}
if (proceed)
{
proceed0 = hand_splitter0.compute(foreground_extractor0, motion_processor0, "0");
proceed1 = hand_splitter1.compute(foreground_extractor1, motion_processor1, "1");
proceed = proceed0 && proceed1;
}
proceed = false;
if (proceed)
{
proceed0 = mono_processor0.compute(hand_splitter0, "0", false);
proceed1 = mono_processor1.compute(hand_splitter1, "1", false);
proceed = proceed0 && proceed1;
}
if (proceed)
{
stereo_processor.compute(mono_processor0, mono_processor1, point_resolver, pointer_mapper, image0, image1);
}
++frame_num;
if (increment_keypress_count)
{
if (keypress_count == calibration_points_count)
{
COUT << "step " << calibration_step << " complete" << endl;
// ipc->send_message("menu_plus", "show calibration next", "");//todo
++calibration_step;
}
else if (keypress_count < calibration_points_count)
{
float percentage = (keypress_count * 100.0 / calibration_points_count);
COUT << percentage << endl;
pointer_mapper.add_calibration_point(calibration_step);
}
if (calibration_step == 4)
{
pointer_mapper.compute_calibration_points();
calibrating = false;
increment_keypress_count = false;
COUT << "calibration finished" << endl;
}
++keypress_count;
}
if (enable_imshow)
waitKey(1);
}
bool compute()
{
bool waiting_for_image_set = false;
updated = false;
++frame_count;
if (image_current_frame.cols == 0)
{
console_log("bad frame");
return false;
}
Mat image_flipped;
flip(image_current_frame, image_flipped, 0);
Mat image0 = image_flipped(Rect(0, 0, 640, 480));
Mat image1 = image_flipped(Rect(640, 0, 640, 480));
if (frame_count == 1)
setup_on_first_frame();
if (!play || settings.touch_control != "1")
{
if (enable_imshow)
waitKey(1);
return false;
}
int x_accel;
int y_accel;
int z_accel;
camera->getAccelerometerValues(&x_accel, &y_accel, &z_accel);
imu.compute(x_accel, y_accel, z_accel);
//----------------------------------------core algorithm----------------------------------------
Mat image_small0;
Mat image_small1;
resize(image0, image_small0, Size(160, 120), 0, 0, INTER_LINEAR);
resize(image1, image_small1, Size(160, 120), 0, 0, INTER_LINEAR);
Mat image_preprocessed0;
Mat image_preprocessed1;
static bool exposure_set = false;
bool normalized = compute_channel_diff_image(image_small0, image_preprocessed0, exposure_set, "image_preprocessed0", true, exposure_set);
compute_channel_diff_image(image_small1, image_preprocessed1, exposure_set, "image_preprocessed1");
GaussianBlur(image_preprocessed0, image_preprocessed0, Size(3, 9), 0, 0);
GaussianBlur(image_preprocessed1, image_preprocessed1, Size(3, 9), 0, 0);
if (!CameraInitializerNew::adjust_exposure(camera, image_preprocessed0))
{
static int step_count = 0;
if (step_count == 3)
surface_computer.init(image0);
++step_count;
return false;
}
exposure_set = true;
#if 0
{
Mat image_remapped0 = reprojector.remap(&image_small0, 0, true);
Mat image_remapped1 = reprojector.remap(&image_small1, 1, true);
reprojector.y_align(image_remapped0, image_remapped1, false);
GaussianBlur(image_remapped0, image_remapped0, Size(9, 9), 0, 0);
GaussianBlur(image_remapped1, image_remapped1, Size(9, 9), 0, 0);
Mat image_disparity;
static StereoSGBM stereo_sgbm(0, 32, 21, 0, 0, 0, 0, 20, 0, 0, false);
stereo_sgbm(image_remapped0, image_remapped1, image_disparity);
Mat image_disparity_8u;
double minVal, maxVal;
minMaxLoc(image_disparity, &minVal, &maxVal);
image_disparity.convertTo(image_disparity_8u, CV_8UC1, 255 / (maxVal - minVal));
imshow("image_remapped0", image_remapped0);
imshow("image_remapped1", image_remapped1);
imshow("image_disparity_8u", image_disparity_8u);
}
#endif
/*static bool show_wiggle_sent = false;
if (!show_wiggle_sent)
{
if (child_module_name != "")
ipc->open_udp_channel(child_module_name);
ipc->send_message("menu_plus", "show window", "");
ipc->send_message("menu_plus", "show wiggle", "");//todo
}
show_wiggle_sent = true;*/
if (enable_imshow)
{
imshow("image_small1", image_small1);
// imshow("image_preprocessed1", image_preprocessed1);
// setMouseCallback("image_preprocessed1", left_mouse_cb, NULL);
// waitKey(1);
// return false;
}
algo_name_vec_old = algo_name_vec;
algo_name_vec.clear();
static bool motion_processor_proceed = false;
static bool construct_background = false;
static bool first_pass = true;
bool proceed0;
bool proceed1;
if (normalized)
{
proceed0 = motion_processor0.compute(image_preprocessed0, image_small0, surface_computer.y_reflection, imu.pitch,
construct_background, "0", true);
proceed1 = motion_processor1.compute(image_preprocessed1, image_small1, surface_computer.y_reflection, imu.pitch,
construct_background, "1", false);
}
if (first_pass && motion_processor0.both_moving && motion_processor1.both_moving)
{
console_log("readjusting exposure");
first_pass = false;
exposure_set = false;
mat_functions_low_pass_filter.reset();
CameraInitializerNew::adjust_exposure(camera, image_preprocessed0, true);
}
else if (!first_pass)
construct_background = true;
if (!construct_background)
{
proceed0 = false;
proceed1 = false;
}
if (proceed0 && proceed1)
motion_processor_proceed = true;
bool proceed = motion_processor_proceed;
static bool menu_plus_signal0 = false;
if (!menu_plus_signal0)
{
menu_plus_signal0 = true;
// ipc->send_message("menu_plus", "hide window", "");
}
if (proceed)
{
proceed0 = foreground_extractor0.compute(image_preprocessed0, motion_processor0, "0", true);
proceed1 = foreground_extractor1.compute(image_preprocessed1, motion_processor1, "1", false);
proceed = proceed0 && proceed1;
}
if (proceed)
{
proceed0 = hand_splitter0.compute(foreground_extractor0, motion_processor0, "0", false);
proceed1 = hand_splitter1.compute(foreground_extractor1, motion_processor1, "1", false);
proceed = proceed0 && proceed1;
}
if (proceed)
{
waiting_for_image = true;
waiting_for_image_set = true;
proceed1 = scopa1.compute_mono0(hand_splitter1, pose_estimator, "1", false);
proceed0 = scopa0.compute_mono0(hand_splitter0, pose_estimator, "0", false);
proceed = proceed0 && proceed1;
}
if (proceed)
{
motion_processor0.target_frame = 10;
motion_processor1.target_frame = 10;
SCOPA::compute_stereo();
scopa1.compute_mono1("1");
scopa0.compute_mono1("0");
}
if (enable_imshow)
waitKey(1);
return waiting_for_image_set;
}
void compute()
{
updated = false;
ipc->update();
if (wait_for_device_bool)
wait_for_device();
if (first_frame)
{
on_first_frame();
first_frame = false;
}
if (!play || settings.touch_control != "1")
{
hide_cursors();
if (enable_imshow)
waitKey(1);
return;
}
int x_accel;
int y_accel;
int z_accel;
camera->getAccelerometerValues(&x_accel, &y_accel, &z_accel);
imu.compute(x_accel, y_accel, z_accel);
if ((mode == "surface" && imu.pitch > 60) || (mode == "tool" && imu.pitch < 60))
{
COUT << "exit 1" << endl;
if (child_module_name != "")
ipc->send_message(child_module_name, "exit", "");
exit(0);
}
//----------------------------------------core algorithm----------------------------------------
Mat image_flipped;
if (mode == "surface")
flip(image_current_frame, image_flipped, 0);
else
flip(image_current_frame, image_flipped, 0);
// image_flipped = image_current_frame.clone();
Mat image0 = image_flipped(Rect(0, 0, 640, 480));
Mat image1 = image_flipped(Rect(640, 0, 640, 480));
Mat image_small0;
Mat image_small1;
resize(image0, image_small0, Size(160, 120), 0, 0, INTER_LINEAR);
resize(image1, image_small1, Size(160, 120), 0, 0, INTER_LINEAR);
Mat image_preprocessed0;
Mat image_preprocessed1;
compute_channel_diff_image(image_small0, image_preprocessed0, exposure_adjusted, "image_preprocessed0");
compute_channel_diff_image(image_small1, image_preprocessed1, exposure_adjusted, "image_preprocessed1");
Mat image_preprocessed_smoothed0;
Mat image_preprocessed_smoothed1;
GaussianBlur(image_preprocessed0, image_preprocessed_smoothed0, Size(1, 19), 0, 0);
GaussianBlur(image_preprocessed1, image_preprocessed_smoothed1, Size(1, 19), 0, 0);
if (!CameraInitializerNew::adjust_exposure(camera, image_preprocessed0))
return;
exposure_adjusted = true;
// imshow("image_small0", image_small0);
// imshow("image_preprocessed0", image_preprocessed0);
bool proceed0 = motion_processor0.compute(image_preprocessed_smoothed0, "0", false);
bool proceed1 = motion_processor1.compute(image_preprocessed_smoothed1, "1", false);
bool proceed = proceed0 && proceed1;
if (proceed)
{
proceed0 = foreground_extractor0.compute(image_preprocessed0, image_preprocessed_smoothed0, motion_processor0, "0", true);
proceed1 = foreground_extractor1.compute(image_preprocessed1, image_preprocessed_smoothed1, motion_processor1, "1", true);
proceed = proceed0 && proceed1;
}
else
hide_cursors();
if (proceed)
{
proceed0 = hand_splitter0.compute(foreground_extractor0, motion_processor0, "0");
proceed1 = hand_splitter1.compute(foreground_extractor1, motion_processor1, "1");
proceed = proceed0 && proceed1;
}
else
hide_cursors();
if (mode == "surface" && proceed)
{
proceed0 = mono_processor0.compute(hand_splitter0, "0", false);
proceed1 = mono_processor1.compute(hand_splitter1, "1", false);
proceed = false;
proceed = proceed0 && proceed1;
if (proceed)
{
// stereo_processor.compute(mono_processor0, mono_processor1, motion_processor0, motion_processor1);
points_pool[points_pool_count] = mono_processor0.points_unwrapped_result;
points_ptr = &(points_pool[points_pool_count]);
++points_pool_count;
if (points_pool_count == points_pool_count_max)
points_pool_count = 0;
initialized = true;
if (!show_point_sent)
{
ipc->send_message("menu_plus", "show point", "");
show_point_sent = true;
}
if (pose_name == "point")
{
if (!show_calibration_sent)
{
ipc->send_message("menu_plus", "show calibration", "");
show_calibration_sent = true;
}
hand_resolver.compute(mono_processor0, mono_processor1, motion_processor0, motion_processor1, image0, image1, reprojector);
pointer_mapper.compute(hand_resolver, reprojector);
if (pointer_mapper.calibrated)
{
if (enable_imshow)
{
enable_imshow = false;
destroyAllWindows();
}
show_cursor_index = true;
}
if (show_cursor_index && pointer_mapper.thumb_down && pointer_mapper.index_down)
show_cursor_thumb = true;
else
show_cursor_thumb = false;
}
else
{
pointer_mapper.reset();
if (pose_name != "point")
{
show_cursor_index = false;
show_cursor_thumb = false;
}
}
}
else
hide_cursors();
if (!pinch_to_zoom)
{
if (show_cursor_index)
{
ipc->send_udp_message("win_cursor_plus", to_string(pointer_mapper.pt_cursor_index.x) + "!" +
to_string(pointer_mapper.pt_cursor_index.y) + "!" +
to_string(pointer_mapper.dist_cursor_index_plane) + "!" +
to_string(pointer_mapper.index_down) + "!index");
}
else
ipc->send_udp_message("win_cursor_plus", "hide_cursor_index");
ipc->send_udp_message("win_cursor_plus", "hide_cursor_thumb");
}
else
{
ipc->send_udp_message("win_cursor_plus", to_string(pointer_mapper.pt_pinch_to_zoom_index.x) + "!" +
to_string(pointer_mapper.pt_pinch_to_zoom_index.y) + "!0!1!index");
ipc->send_udp_message("win_cursor_plus", to_string(pointer_mapper.pt_pinch_to_zoom_thumb.x) + "!" +
to_string(pointer_mapper.pt_pinch_to_zoom_thumb.y) + "!0!1!thumb");
}
ipc->send_udp_message("win_cursor_plus", "update!" + to_string(frame_num));
}
else if (mode == "tool" && proceed)
{
enable_imshow = true;
Mat image_active_light0;
Mat image_active_light1;
compute_active_light_image(image_small0, image_preprocessed0, image_active_light0);
compute_active_light_image(image_small1, image_preprocessed1, image_active_light1);
proceed0 = tool_mono_processor0.compute(image_active_light0, image_preprocessed0, "0");
proceed1 = tool_mono_processor1.compute(image_active_light1, image_preprocessed1, "1");
proceed = proceed0 && proceed1;
if (proceed)
{
proceed0 = tool_stereo_processor.compute(tool_mono_processor0, tool_mono_processor1);
proceed1 = tool_stereo_processor.matches.size() >= 4;
proceed = proceed0 && proceed1;
if (proceed)
{
tool_pointer_mapper.compute(reprojector, tool_stereo_processor, image0, image1);
string data = "";
data += to_string(tool_pointer_mapper.pt0.x) + "!" +
to_string(tool_pointer_mapper.pt0.y) + "!" +
to_string(tool_pointer_mapper.pt0.z) + "!";
data += to_string(tool_pointer_mapper.pt1.x) + "!" +
to_string(tool_pointer_mapper.pt1.y) + "!" +
to_string(tool_pointer_mapper.pt1.z) + "!";
data += to_string(tool_pointer_mapper.pt2.x) + "!" +
to_string(tool_pointer_mapper.pt2.y) + "!" +
to_string(tool_pointer_mapper.pt2.z) + "!";
data += to_string(tool_pointer_mapper.pt3.x) + "!" +
to_string(tool_pointer_mapper.pt3.y) + "!" +
to_string(tool_pointer_mapper.pt3.z) + "!";
data += to_string(tool_pointer_mapper.pt_center.x) + "!" +
to_string(tool_pointer_mapper.pt_center.y) + "!" +
to_string(tool_pointer_mapper.pt_center.z);
ipc->send_udp_message("unity_demo", data);
}
}
}
++frame_num;
if (increment_keypress_count)
{
if (keypress_count == calibration_points_count)
{
ipc->send_message("menu_plus", "show calibration next", "");
COUT << "step " << calibration_step << " complete" << endl;
++calibration_step;
}
else if (keypress_count < calibration_points_count)
{
float percentage = (keypress_count * 100.0 / calibration_points_count);
COUT << percentage << endl;
pointer_mapper.add_calibration_point(calibration_step);
}
if (calibration_step == 4)
{
ipc->send_message("menu_plus", "show stage", "");
pointer_mapper.compute_calibration_points();
calibrating = false;
increment_keypress_count = false;
COUT << "calibration finished" << endl;
}
++keypress_count;
}
if (enable_imshow)
waitKey(1);
}
