// private mode (--private):
// mount tmpfs over /home/user,
// tmpfs on top of /root in nonroot mode,
// set skel files,
// restore .Xauthority
void fs_private(void) {
char *homedir = cfg.homedir;
assert(homedir);
uid_t u = getuid();
gid_t g = getgid();
int xflag = store_xauthority();
// mask /home
if (arg_debug)
printf("Mounting a new /home directory\n");
if (mount("tmpfs", "/home", "tmpfs", MS_NOSUID | MS_NODEV | MS_STRICTATIME | MS_REC, "mode=755,gid=0") < 0)
errExit("mounting home directory");
// mask /root
if (arg_debug)
printf("Mounting a new /root directory\n");
if (mount("tmpfs", "/root", "tmpfs", MS_NOSUID | MS_NODEV | MS_STRICTATIME | MS_REC, "mode=700,gid=0") < 0)
errExit("mounting home directory");
if (u != 0) {
// create /home/user
if (arg_debug)
printf("Create a new user directory\n");
int rv = mkdir(homedir, S_IRWXU);
if (rv == -1)
errExit("mkdir");
if (chown(homedir, u, g) < 0)
errExit("chown");
}
skel(homedir, u, g);
if (xflag)
copy_xauthority();
}
int main(int argc, char** argv) {
if (argc != 2) {
return -1;
}
cv::Mat img = cv::imread(argv[1], 0);
cv::imshow("original", img);
cv::waitKey();
cv::threshold(img, img, 127, 255, cv::THRESH_BINARY);
cv::Mat skel(img.size(), CV_8UC1, cv::Scalar(0));
cv::Mat temp;
cv::Mat eroded;
cv::Mat element = cv::getStructuringElement(cv::MORPH_CROSS, cv::Size(3, 3));
while (true) {
cv::erode(img, eroded, element);
cv::dilate(eroded, temp, element); // temp = open(img)
cv::subtract(img, temp, temp);
cv::bitwise_or(skel, temp, skel);
eroded.copyTo(img);
if (cv::countNonZero(img) == 0) {
break;
}
}
cv::imshow("Skeleton", skel);
cv::waitKey();
}
bool
UsdMayaPrimReaderSkeleton::Read(UsdMayaPrimReaderContext* context)
{
UsdSkelSkeleton skel(_GetArgs().GetUsdPrim());
if (!TF_VERIFY(skel))
return false;
if (UsdSkelSkeletonQuery skelQuery = _cache.GetSkelQuery(skel)) {
MObject parentNode = context->GetMayaNode(
skel.GetPrim().GetPath().GetParentPath(), true);
// Build out a joint hierarchy.
VtArray<MObject> joints;
if (UsdMayaTranslatorSkel::CreateJointHierarchy(
skelQuery, parentNode, _GetArgs(), context, &joints)) {
// Add a dagPose node to hold the rest pose.
// This is not necessary for skinning to function i Maya, but is not
// necessary in order to properly round-trip the Skeleton's
// restTransforms, and is a requirement of some exporters.
// The dagPose command also will not work without this.
MObject bindPose;
if (UsdMayaTranslatorSkel::CreateBindPose(
skelQuery, joints, context, &bindPose)) {
return true;
}
}
}
return false;
}
Mat visionUtils::skeletonDetect(Mat threshImage, int imgBlurPixels, bool displayFaces)
{
// Finds skeleton of white objects in black image, using erode / dilate morph operations
cv::threshold(threshImage, threshImage, 127, 255, THRESH_BINARY);
if (displayFaces) imshow("Skel in",threshImage);
Mat skel(threshImage.size(), CV_8UC1, Scalar(0));
Mat temp;
Mat eroded;
Mat element = getStructuringElement(MORPH_CROSS, Size(3, 3));
bool done;
do
{
cv::erode(threshImage, eroded, element);
cv::dilate(eroded, temp, element);
cv::subtract(threshImage, temp, temp);
cv::bitwise_or(skel, temp, skel);
eroded.copyTo(threshImage);
done = (cv::countNonZero(threshImage) == 0);
} while (!done);
if (displayFaces) imshow("Skel raw",skel);
// Blur to reduce noise
GaussianBlur(skel, skel, Size(imgBlurPixels,imgBlurPixels), 1, 1);
return skel;
}
// private mode (--private-home=list):
// mount homedir on top of /home/user,
// tmpfs on top of /root in nonroot mode,
// tmpfs on top of /tmp in root mode,
// set skel files,
// restore .Xauthority
void fs_private_home_list(void) {
char *homedir = cfg.homedir;
char *private_list = cfg.home_private_keep;
assert(homedir);
assert(private_list);
int xflag = store_xauthority();
int aflag = store_asoundrc();
uid_t uid = getuid();
gid_t gid = getgid();
// create /run/firejail/mnt/home directory
mkdir_attr(RUN_HOME_DIR, 0755, uid, gid);
fs_logger_print(); // save the current log
if (arg_debug)
printf("Copying files in the new home:\n");
// copy the list of files in the new home directory
char *dlist = strdup(cfg.home_private_keep);
if (!dlist)
errExit("strdup");
char *ptr = strtok(dlist, ",");
duplicate(ptr);
while ((ptr = strtok(NULL, ",")) != NULL)
duplicate(ptr);
fs_logger_print(); // save the current log
free(dlist);
if (arg_debug)
printf("Mount-bind %s on top of %s\n", RUN_HOME_DIR, homedir);
if (mount(RUN_HOME_DIR, homedir, NULL, MS_BIND|MS_REC, NULL) < 0)
errExit("mount bind");
if (uid != 0) {
// mask /root
if (arg_debug)
printf("Mounting a new /root directory\n");
if (mount("tmpfs", "/root", "tmpfs", MS_NOSUID | MS_NODEV | MS_STRICTATIME | MS_REC, "mode=700,gid=0") < 0)
errExit("mounting home directory");
}
else {
// mask /home
if (arg_debug)
printf("Mounting a new /home directory\n");
if (mount("tmpfs", "/home", "tmpfs", MS_NOSUID | MS_NODEV | MS_STRICTATIME | MS_REC, "mode=755,gid=0") < 0)
errExit("mounting home directory");
}
skel(homedir, uid, gid);
if (xflag)
copy_xauthority();
if (aflag)
copy_asoundrc();
}
// private mode (--private=homedir):
// mount homedir on top of /home/user,
// tmpfs on top of /root in nonroot mode,
// set skel files,
// restore .Xauthority
void fs_private_homedir(void) {
char *homedir = cfg.homedir;
char *private_homedir = cfg.home_private;
assert(homedir);
assert(private_homedir);
int xflag = store_xauthority();
int aflag = store_asoundrc();
uid_t u = getuid();
gid_t g = getgid();
struct stat s;
if (stat(homedir, &s) == -1) {
fprintf(stderr, "Error: cannot find user home directory\n");
exit(1);
}
// mount bind private_homedir on top of homedir
if (arg_debug)
printf("Mount-bind %s on top of %s\n", private_homedir, homedir);
if (mount(private_homedir, homedir, NULL, MS_NOSUID | MS_NODEV | MS_BIND | MS_REC, NULL) < 0)
errExit("mount bind");
fs_logger3("mount-bind", private_homedir, cfg.homedir);
fs_logger2("whitelist", cfg.homedir);
// preserve mode and ownership
// if (chown(homedir, s.st_uid, s.st_gid) == -1)
// errExit("mount-bind chown");
// if (chmod(homedir, s.st_mode) == -1)
// errExit("mount-bind chmod");
if (u != 0) {
// mask /root
if (arg_debug)
printf("Mounting a new /root directory\n");
if (mount("tmpfs", "/root", "tmpfs", MS_NOSUID | MS_NODEV | MS_NOEXEC | MS_STRICTATIME | MS_REC, "mode=700,gid=0") < 0)
errExit("mounting home directory");
fs_logger("tmpfs /root");
}
else {
// mask /home
if (arg_debug)
printf("Mounting a new /home directory\n");
if (mount("tmpfs", "/home", "tmpfs", MS_NOSUID | MS_NODEV | MS_NOEXEC | MS_STRICTATIME | MS_REC, "mode=755,gid=0") < 0)
errExit("mounting home directory");
fs_logger("tmpfs /home");
}
skel(homedir, u, g);
if (xflag)
copy_xauthority();
if (aflag)
copy_asoundrc();
}
// private mode (--private=homedir):
// mount homedir on top of /home/user,
// tmpfs on top of /root in nonroot mode,
// tmpfs on top of /tmp in root mode,
// set skel files,
// restore .Xauthority
void fs_private_homedir(void) {
char *homedir = cfg.homedir;
char *private_homedir = cfg.home_private;
assert(homedir);
assert(private_homedir);
int xflag = store_xauthority();
uid_t u = getuid();
gid_t g = getgid();
struct stat s;
if (stat(homedir, &s) == -1) {
exechelp_logerrv("firejail", FIREJAIL_ERROR, "Error: cannot find user home directory\n");
exit(1);
}
// mount bind private_homedir on top of homedir
if (arg_debug)
printf("Mount-bind %s on top of %s\n", private_homedir, homedir);
if (mount(private_homedir, homedir, NULL, MS_BIND|MS_REC, NULL) < 0)
errExit("mount bind");
// preserve mode and ownership
// if (chown(homedir, s.st_uid, s.st_gid) == -1)
// errExit("mount-bind chown");
// if (chmod(homedir, s.st_mode) == -1)
// errExit("mount-bind chmod");
if (u != 0) {
// mask /root
if (arg_debug)
printf("Mounting a new /root directory\n");
if (mount("tmpfs", "/root", "tmpfs", MS_NOSUID | MS_NODEV | MS_STRICTATIME | MS_REC, "mode=700,gid=0") < 0)
errExit("mounting home directory");
}
else {
// mask /home
if (arg_debug)
printf("Mounting a new /home directory\n");
if (mount("tmpfs", "/home", "tmpfs", MS_NOSUID | MS_NODEV | MS_STRICTATIME | MS_REC, "mode=755,gid=0") < 0)
errExit("mounting home directory");
// mask /tmp only in root mode; KDE keeps all kind of sockets in /tmp!
if (arg_debug)
printf("Mounting a new /tmp directory\n");
if (mount("tmpfs", "/tmp", "tmpfs", MS_NOSUID | MS_NODEV | MS_STRICTATIME | MS_REC, "mode=777,gid=0") < 0)
errExit("mounting tmp directory");
}
skel(homedir, u, g);
if (xflag)
copy_xauthority();
}
void Skeletonize(const DataTypes::BinaryImage& inputImage, DataTypes::BinaryImage& outputImage, int iterations)
{
static DataTypes::BinaryImage tempImage;
tempImage.rows = tempImage.maxRows;
tempImage.cols = tempImage.maxCols;
static DataTypes::BinaryImage erodedImage;
erodedImage.rows = erodedImage.maxRows;
erodedImage.cols = erodedImage.maxCols;
static DataTypes::BinaryImage skelImage;
skelImage.rows = skelImage.maxRows;
skelImage.cols = skelImage.maxCols;
inputImage.CopyTo(outputImage);
for(int y=0; y<skelImage.rows; y++)
{
for(int x=0; x<skelImage.cols; x++)
{
skelImage.data[y][x] = false;
}
}
//cv::Mat skel(img.size(), CV_8UC1, cv::Scalar(0));
cv::Mat img(DEPTH_RES_Y, DEPTH_RES_X, CV_8U, (void*)outputImage.data);
cv::Mat skel(DEPTH_RES_Y, DEPTH_RES_X, CV_8U, (void*)skelImage.data);
cv::Mat temp(DEPTH_RES_Y, DEPTH_RES_X, CV_8U, (void*)tempImage.data);
cv::Mat eroded(DEPTH_RES_Y, DEPTH_RES_X, CV_8U, (void*)erodedImage.data);
cv::Mat element = cv::getStructuringElement(cv::MORPH_CROSS, cv::Size(3, 3));
bool done;
do
{
cv::erode(img, eroded, element);
cv::dilate(eroded, temp, element); // temp = open(img)
cv::subtract(img, temp, temp);
cv::bitwise_or(skel, temp, skel);
eroded.copyTo(img);
done = (cv::norm(img) == 0);
} while (!done);
skelImage.CopyTo(outputImage);
return;
}
Mat Normalized::Skeleton(Mat img)
{
Mat skel(img.size(), CV_8UC1, cv::Scalar(0));
int morph_element = MORPH_CLOSE;
int operation = MORPH_RECT;
int morph_size = 1;
Mat element = getStructuringElement(operation, cv::Size(2 * morph_size + 1, 2 * morph_size + 1), cv::Point(morph_size, morph_size));
// Apply the specified morphology operation
morphologyEx(img, skel, morph_element, element);
return skel;
}
void Skeletonization3D::generate_skeletonization() {
skel_arr.clear();
//Save number of cameras and total number of frames
n_cameras = camera_arr.size();
n_frames = camera_arr[0]->get_total_frame_num();
//Create a Skeleton2D for each camera
for (constCamVecIte i = camera_arr.begin(); i != camera_arr.end(); ++i) {
Skeletonization2DPtr skel(new Skeletonization2D(*i));
skel->generate_skeletonization();
skel_arr.push_back(skel);
}
skel3d_merged_array.resize(n_frames);
skel2d_cam_array.resize(n_frames * n_cameras);
}
void imageProcess::skelMaker() {
cv::Mat skel(frame->size(), CV_8U, cv::Scalar(0));
cv::Mat temp(frame->size(), CV_8U);
cv::Mat eroded(frame->size(), CV_8U);
cv::Mat original(frame->size(), CV_8U);
frame->copyTo(original);
cv::Mat element = cv::getStructuringElement(cv::MORPH_CROSS, cv::Size(3, 3));
bool done;
do
{
cv::erode(original, eroded, element);
cv::dilate(eroded, temp, element); // temp = open(img)
cv::subtract(original, temp, temp);
cv::bitwise_or(skel, temp, skel);
eroded.copyTo(original);
done = (cv::countNonZero(original) == 0);
} while (!done);
//Copy the skeleton to the output variable
skel.copyTo(*frame);
}
/*
* !not in use!
* creates the skeleton of a given bw-matrix
* this function has side-effects and manipulates the paramter
*/
void make_skelekton(Mat img) {
Mat skel(img.size(), CV_8UC1, cv::Scalar(0));
Mat temp;
Mat eroded;
Mat element = cv::getStructuringElement(cv::MORPH_CROSS, cv::Size(3, 3));
bool done;
do {
erode(img, eroded, element);
dilate(eroded, temp, element); // temp = open(img)
subtract(img, temp, temp);
bitwise_or(skel, temp, skel);
eroded.copyTo(img);
done = (countNonZero(img) == 0);
} while (!done);
skel.copyTo(img);
}
// private mode: mount tmpfs over /home
void fs_private(void) {
char *homedir = cfg.homedir;
assert(homedir);
uid_t u = getuid();
gid_t g = getgid();
int xflag = fs_store_xauthority();
// mask /home
if (arg_debug)
printf("Mounting a new /home directory\n");
if (mount("tmpfs", "/home", "tmpfs", MS_NOSUID | MS_NODEV | MS_STRICTATIME | MS_REC, "mode=755,gid=0") < 0)
errExit("mounting home directory");
// mask /root
if (arg_debug)
printf("Mounting a new /root directory\n");
if (mount("tmpfs", "/root", "tmpfs", MS_NOSUID | MS_NODEV | MS_STRICTATIME | MS_REC, "mode=700,gid=0") < 0)
errExit("mounting home directory");
if (u != 0) {
// create /home/user
if (arg_debug)
printf("Create a new user directory\n");
mkdir(homedir, S_IRWXU);
if (chown(homedir, u, g) < 0)
errExit("chown");
}
else {
// mask tmp only in root mode; KDE keeps all kind of sockets in /tmp!
if (arg_debug)
printf("Mounting a new /tmp directory\n");
if (mount("tmpfs", "/tmp", "tmpfs", MS_NOSUID | MS_NODEV | MS_STRICTATIME | MS_REC, "mode=777,gid=0") < 0)
errExit("mounting tmp directory");
}
skel(homedir, u, g);
if (xflag)
fs_copy_xauthority();
}
Skeleton KinectComp::GetSkeleton(unsigned long id)
{
if (mpKinect == NULL)
{
PrintMessage(DEBUG_MESSAGE("Can't get a handle of Kinect API").c_str());
Skeleton skel;
const Position invalidPosition(std::numeric_limits<float>::quiet_NaN()
, std::numeric_limits<float>::quiet_NaN()
, std::numeric_limits<float>::quiet_NaN());
skel.result = Skeleton::NOT_TRACKED;
skel.position = invalidPosition;
for (int i = 0; i < Skeleton::JOINT_COUNT; i++)
{
skel.joints[i] = invalidPosition;
}
return skel;
}
Skeleton skel(id);
if (mpKinect->GetSkeleton(skel, id) != API_SUCCESS)
{
PrintMessage(DEBUG_MESSAGE("Can't get skeleton").c_str());
const Position invalidPosition(std::numeric_limits<float>::quiet_NaN()
, std::numeric_limits<float>::quiet_NaN()
, std::numeric_limits<float>::quiet_NaN());
skel.userID = id;
skel.result = Skeleton::NOT_TRACKED;
skel.position = invalidPosition;
for (int i = 0; i < Skeleton::JOINT_COUNT; i++)
{
skel.joints[i] = invalidPosition;
}
}
return skel;
}
// private mode (--private-home=list):
// mount homedir on top of /home/user,
// tmpfs on top of /root in nonroot mode,
// tmpfs on top of /tmp in root mode,
// set skel files,
// restore .Xauthority
void fs_private_home_list(void) {
char *homedir = cfg.homedir;
char *private_list = cfg.home_private_keep;
assert(homedir);
assert(private_list);
int xflag = store_xauthority();
uid_t u = getuid();
gid_t g = getgid();
struct stat s;
if (stat(homedir, &s) == -1) {
exechelp_logerrv("firejail", FIREJAIL_ERROR, "Error: cannot find user home directory\n");
exit(1);
}
// create /tmp/firejail/mnt/home directory
fs_build_mnt_dir();
int rv = mkdir(HOME_DIR, S_IRWXU | S_IRWXG | S_IRWXO);
if (rv == -1)
errExit("mkdir");
if (chown(HOME_DIR, u, g) < 0)
errExit("chown");
if (chmod(HOME_DIR, 0755) < 0)
errExit("chmod");
// copy the list of files in the new home directory
// using a new child process without root privileges
pid_t child = fork();
if (child < 0)
errExit("fork");
if (child == 0) {
if (arg_debug)
printf("Copying files in the new home:\n");
// drop privileges
if (setgroups(0, NULL) < 0)
errExit("setgroups");
if (setgid(getgid()) < 0)
errExit("setgid/getgid");
if (setuid(getuid()) < 0)
errExit("setuid/getuid");
// copy the list of files in the new home directory
char *dlist = strdup(cfg.home_private_keep);
if (!dlist)
errExit("strdup");
char *ptr = strtok(dlist, ",");
duplicate(ptr);
while ((ptr = strtok(NULL, ",")) != NULL)
duplicate(ptr);
free(dlist);
exit(0);
}
// wait for the child to finish
waitpid(child, NULL, 0);
// mount bind private_homedir on top of homedir
char *newhome;
if (asprintf(&newhome, "%s%s", HOME_DIR, cfg.homedir) == -1)
errExit("asprintf");
if (arg_debug)
printf("Mount-bind %s on top of %s\n", newhome, homedir);
if (mount(newhome, homedir, NULL, MS_BIND|MS_REC, NULL) < 0)
errExit("mount bind");
// preserve mode and ownership
// if (chown(homedir, s.st_uid, s.st_gid) == -1)
// errExit("mount-bind chown");
// if (chmod(homedir, s.st_mode) == -1)
// errExit("mount-bind chmod");
if (u != 0) {
// mask /root
if (arg_debug)
printf("Mounting a new /root directory\n");
if (mount("tmpfs", "/root", "tmpfs", MS_NOSUID | MS_NODEV | MS_STRICTATIME | MS_REC, "mode=700,gid=0") < 0)
errExit("mounting home directory");
}
else {
// mask /home
if (arg_debug)
printf("Mounting a new /home directory\n");
if (mount("tmpfs", "/home", "tmpfs", MS_NOSUID | MS_NODEV | MS_STRICTATIME | MS_REC, "mode=755,gid=0") < 0)
errExit("mounting home directory");
// mask /tmp only in root mode; KDE keeps all kind of sockets in /tmp!
if (arg_debug)
printf("Mounting a new /tmp directory\n");
if (mount("tmpfs", "/tmp", "tmpfs", MS_NOSUID | MS_NODEV | MS_STRICTATIME | MS_REC, "mode=777,gid=0") < 0)
errExit("mounting tmp directory");
}
skel(homedir, u, g);
if (xflag)
copy_xauthority();
}
