void OpenCV::OpenCVCore::createPermanentConnection()
{
// they are still created
// sending result data from face detection
QObject::connect( mThrFaceRec,
SIGNAL( sendEyesCoords( float,float,float ) ),
AppCore::Core::getInstance( mApp )->getCoreWindow()->getCameraManipulator(),
SLOT( setRotationHeadFaceDet( float,float,float ) ) );
QOSG::CoreWindow* coreWindow = AppCore::Core::getInstance( mApp )->getCoreWindow();
QOSG::ProjectiveARCore* projectiveARCore = QOSG::ProjectiveARCore::getInstance( mApp, coreWindow );
//projectiveARCore->init();
QObject::connect( mThrFaceRec,
SIGNAL( sendEyesRealCoords( float,float,float ) ),
projectiveARCore->getViewer(),
SLOT( setViewerPosByFaceDetection( float,float,float ) ) );
// sending result data from aruco - M.Garaj(TP) first ArUco try
/*QObject::connect( mThrAruco,
SIGNAL( sendArucoPosVec( osg::Vec3d ) ),
AppCore::Core::getInstance( mApp )->getCoreWindow()->getCameraManipulator(),
SLOT( updateArucoGraphPosition( osg::Vec3d ) ) );
QObject::connect( mThrAruco,
SIGNAL( sendArucoRorQuat( osg::Quat ) ),
AppCore::Core::getInstance( mApp )->getCoreGraph(),
SLOT( updateGraphRotByAruco( osg::Quat ) ) );
QObject::connect( mThrAruco,
SIGNAL( sendArucoPosAndQuat( osg::Quat,osg::Vec3d ) ),
AppCore::Core::getInstance( mApp )->getCoreGraph(),
SLOT( updateGraphPosAndRotByAruco( osg::Quat, osg::Vec3d ) ) );*/
//jurik
//sending matrices via Qt
QObject::connect( mThrAruco,
SIGNAL( sendProjectionMatrix( QMatrix4x4 ) ),
AppCore::Core::getInstance( mApp )->getCoreGraph(),
SLOT( recievedPMatrix( QMatrix4x4 ) ) );
QObject::connect( mThrAruco,
SIGNAL( sendModelViewMatrix( QMatrix4x4 ) ),
AppCore::Core::getInstance( mApp )->getCoreGraph(),
SLOT( recievedMVMatrix( QMatrix4x4 ) ) );
// updating background image
QObject::connect( mThrFaceRec,
SIGNAL( pushBackgrImage( cv::Mat ) ),
AppCore::Core::getInstance( mApp )->getCoreGraph()->getCameraStream(),
SLOT( updateBackgroundImage( cv::Mat ) ) );
QObject::connect( mThrAruco,
SIGNAL( pushBackgrImage( cv::Mat ) ),
AppCore::Core::getInstance( mApp )->getCoreGraph()->getCameraStream(),
SLOT( updateBackgroundImage( cv::Mat ) ) );
QObject::connect( mThrAruco,
SIGNAL( moveMouseArucoSignal( double,double,bool,Qt::MouseButton ) ),
AppCore::Core::getInstance()->getCoreWindow(),
SLOT( moveMouseAruco( double,double,bool,Qt::MouseButton ) ) );
}
// in a loop, capture frame from camera and detect faces
// send eyes coordinates to change view
void QOpenCV::FaceRecognitionThread::run()
{
mCancel = false;
cv::Mat image;
OpenCV::FaceRecognizer* mFaceRecognizer = new OpenCV::FaceRecognizer();
if ( mCapVideo == NULL ) {
qDebug() << "[FaceRecognitionThread::run()] Camera is not set";
return;
}
while ( !mCancel ) {
// get image from camera
image = mCapVideo->queryFrame();
cv::cvtColor( image, image, CV_BGR2RGB );
// we detect faces on grayscale image
mFaceRecognizer->detectFaces( mCapVideo->getGrayframe() );
mFaceRecognizer->annotateFaces( image );
cv::flip( image, image, 1 );
// show image
if ( mSendImgEnabled && !image.empty() ) {
if ( image.data ) {
emit pushImage( image.clone() ); // ???
}
}
if ( mSendBackgrImgEnabled && !image.empty() ) {
emit pushBackgrImage( image.clone() );
}
// when face was detected along with movement (implemented with threshold)
// send eyes coordinate to change view
if ( mFaceRecognizer->detected ) { //&& mFaceRecognizer->isMovement
emit sendEyesCoords( static_cast<float>( -mFaceRecognizer->getEyesCoords().x ),
static_cast<float>( -mFaceRecognizer->getEyesCoords().y ),
-mFaceRecognizer->getHeadDistance( mCapVideo->getWidth() ) );
// Kostan:
// focalLength - used my webcam focal length
// 0.1481m - face width avg (15yr - 40yr)
float focalLength = 749.3f;
float distance = mFaceRecognizer->getHeadDistanceFocal( 0.1481 );
float x = ( float ) -mFaceRecognizer->getEyesCoords().x * ( mCapVideo->getWidth()/200 ) * ( distance / focalLength );
float y = ( float ) -mFaceRecognizer->getEyesCoords().y * ( mCapVideo->getHeight()/200 ) * ( distance / focalLength );
emit sendEyesRealCoords( x, y, distance );
}
msleep( 80 );
}
mCapVideo->release();
mCapVideo = NULL;
delete mFaceRecognizer;
}
void ArucoThread::imagesSending( ArucoCore& aCore, const cv::Mat frame ) const
{
if ( mSendBackgrImgEnabled && !frame.empty() ) {
if ( ! mMarkerIsBehind ) {
cv::flip( frame, frame, 1 );
}
cv::cvtColor( frame, frame,CV_BGR2RGB );
emit pushBackgrImage( frame.clone() );
}
cv::Mat image;
if ( mMultiMarkerEnabled ) {
image = aCore.getDetectedRectangleImage();
}
else {
image = aCore.getDetImage();
}
if ( mSendImgEnabled ) {
if ( ! mMarkerIsBehind ) {
cv::flip( image, image, 1 );
}
cv::cvtColor( image, image, CV_BGR2RGB );
if ( mSendBackgrImgEnabled ) {
//if you comment this, background image will be without the augmented reality
emit pushBackgrImage( image.clone() );
}
emit pushImagemMat( image.clone() );
}
}
// in a loop, capture frame from camera and detect faces
// send eyes coordinates to change view
void QOpenCV::FaceRecognitionThread::run()
{
mCancel = false;
cv::Mat image;
OpenCV::FaceRecognizer* mFaceRecognizer = new OpenCV::FaceRecognizer();
if ( mCapVideo == NULL ) {
qDebug() << "[FaceRecognitionThread::run()] Camera is not set";
return;
}
while ( !mCancel ) {
// get image from camera
image = mCapVideo->queryFrame();
cv::cvtColor( image, image, CV_BGR2RGB );
// we detect faces on grayscale image
mFaceRecognizer->detectFaces( mCapVideo->getGrayframe() );
mFaceRecognizer->annotateFaces( image );
cv::flip( image, image, 1 );
// show image
if ( mSendImgEnabled && !image.empty() ) {
if ( image.data ) {
emit pushImage( image.clone() ); // ???
}
}
if ( mSendBackgrImgEnabled && !image.empty() ) {
emit pushBackgrImage( image.clone() );
}
// when face was detected along with movement (implemented with threshold)
// send eyes coordinate to change view
if ( mFaceRecognizer->detected ) { //&& mFaceRecognizer->isMovement
emit sendEyesCoords( static_cast<float>( -mFaceRecognizer->getEyesCoords().x ),
static_cast<float>( -mFaceRecognizer->getEyesCoords().y ),
-mFaceRecognizer->getHeadDistance( mCapVideo->getWidth() ) );
}
msleep( 80 );
}
mCapVideo->release();
mCapVideo = NULL;
delete mFaceRecognizer;
}
