void FingerTracker::Display(Mat frame, Candidate candidate) const { if (candidate.m_found) { rectangle(frame, candidate.m_windowRect.tl(), candidate.m_windowRect.br(), Scalar(0, 255, 255)); rectangle(frame, candidate.m_fingerPosition - Point(2,2), candidate.m_fingerPosition + Point(2,2), Scalar(255, 0, 0), 2); } #if ENABLE_LINE_DRAWING Point prev(-1,-1); for (auto point : m_points) { if (prev.x != -1) { line(frame, prev, point, Scalar(0, 255, 0)); } prev = point; } #endif imshow("Camera", frame); }
void FingerTracker::Setup() { VideoCapture capture(0); if (!capture.isOpened()) { throw std::runtime_error("Could not start camera capture"); } int windowSize = 25; int Xpos = 200; int Ypos = 50; int update = 0; int buttonClicked = 0; namedWindow("RGB", CV_WINDOW_AUTOSIZE); createTrackbar("X", "RGB", &Xpos, 320, TrackBarCallback, (void*)&update); createTrackbar("Y", "RGB", &Ypos, 240, TrackBarCallback, (void*)&update); createTrackbar("Size", "RGB", &windowSize, 100, TrackBarCallback, (void*)&update); setMouseCallback("RGB", MouseCallback, (void*)&buttonClicked); Mat fingerWindowBackground, fingerWindowBackgroundGray; m_calibrationData.reset(new CalibrationData()); bool ticking = false; std::chrono::system_clock::time_point start = std::chrono::system_clock::now(); while (true) { Mat frame, frameHSV; if (capture.read(frame)) { flip(frame, frame, 1); pyrDown(frame, frame, Size(frame.cols / 2, frame.rows / 2)); Rect fingerWindow(Point(Xpos, Ypos), Size(windowSize, windowSize*3)); if (Xpos + windowSize >= frame.cols || Ypos + windowSize*3 >= frame.rows) { windowSize = 20; Xpos = 200; Ypos = 50; update = 0; } else if (buttonClicked == 1) { frame(fingerWindow).copyTo(fingerWindowBackground); cvtColor(fingerWindowBackground, fingerWindowBackgroundGray, CV_BGR2GRAY); buttonClicked = 0; update = 0; cvDestroyAllWindows(); } if (fingerWindowBackgroundGray.rows && !m_calibrationData->m_ready) { Mat diff, thd; absdiff(frame(fingerWindow), fingerWindowBackground, diff); std::vector<Mat> ch; split(diff, ch); threshold(ch[0], ch[0], m_calibrationDiffThreshold, 255, 0); threshold(ch[1], ch[1], m_calibrationDiffThreshold, 255, 0); threshold(ch[2], ch[2], m_calibrationDiffThreshold, 255, 0); thd = ch[0]; add(thd, ch[1], thd); add(thd, ch[2], thd); medianBlur(thd, thd, 5); Mat top, middle, bottom; Rect r1 = Rect(0, 0, thd.cols, thd.rows/3); Rect r2 = Rect(0, thd.rows / 3 + 1, thd.cols, thd.rows/3); Rect r3 = Rect(0, thd.rows * 2 / 3 + 1, thd.cols, thd.rows - thd.rows * 2 / 3 - 1); top = thd(r1); middle = thd(r2); bottom = thd(r3); auto percentageTop = countNonZero(top) * 100.0 / top.size().area(); auto percentageMiddle = countNonZero(middle) * 100.0 / middle.size().area(); auto percentageBottom = countNonZero(bottom) * 100.0 / bottom.size().area(); bool topReady = false; bool middleReady = false; bool bottomReady = false; Scalar c1, c2, c3; if (percentageTop > m_calibrationTopLowerThd && percentageTop < m_calibrationTopUpperThd) { topReady = true; c1 = Scalar(0, 255, 255); } else { c1 = Scalar(0, 0, 255); } if (percentageMiddle > m_calibrationMiddleLowerThd && percentageMiddle < m_calibrationMiddleUppperThd) { middleReady = true; c2 = Scalar(0, 255, 255); } else { c2 = Scalar(0, 0, 255); } if (percentageBottom > m_calibrationBottomLowerThd && percentageBottom < m_calibrationBottomUpperThd) { bottomReady = true; c3 = Scalar(0, 255, 255); } else { c3 = Scalar(0, 0, 255); } bool readyToGo = false; if (middleReady && topReady && bottomReady) { c1 = Scalar(0, 255, 0); c2 = Scalar(0, 255, 0); c3 = Scalar(0, 255, 0); if (!ticking) { start = std::chrono::system_clock::now(); ticking = true; } if (std::chrono::system_clock::now() - start > std::chrono::seconds(1)) { readyToGo = true; } } else { ticking = false; } #if ENABLE_DEBUG_WINDOWS std::stringstream ss; ss << percentageTop << ", " << percentageMiddle << ", " << percentageBottom; putText(frame, ss.str(), Point(0, getTextSize(ss.str(), 0, 0.5, 1, nullptr).height), 0, 0.5, Scalar::all(255), 1); cv::imshow("Thresholded", thd); #endif if (percentageTop >= m_calibrationTopUpperThd && percentageBottom >= m_calibrationBottomUpperThd && percentageMiddle >= m_calibrationMiddleUppperThd) { putText(frame, "Move finger away from camera", Point(0, getTextSize("Move finger away from camera", 0, 0.5, 1, nullptr).height), 0, 0.5, Scalar::all(255), 1); } else if (percentageTop <= m_calibrationTopLowerThd && percentageBottom <= m_calibrationBottomLowerThd && percentageMiddle <= m_calibrationMiddleLowerThd) { putText(frame, "Move finger closer to camera", Point(0, getTextSize("Move finger closer to camera", 0, 0.5, 1, nullptr).height), 0, 0.5, Scalar::all(255), 1); } if (readyToGo) { Mat framePatchHSV; cvtColor(frame(fingerWindow), framePatchHSV, CV_BGR2HSV); cvtColor(frame, frameHSV, CV_BGR2HSV); MatND hist; calcHist(&framePatchHSV, 1, m_calibrationData->m_channels, thd, hist, 2, m_calibrationData->m_histSize, (const float**)m_calibrationData->m_ranges, true, false); m_calibrationData->m_hist = hist; normalize(m_calibrationData->m_hist, m_calibrationData->m_hist, 0, 255, NORM_MINMAX, -1, Mat()); #if ENABLE_DEBUG_WINDOWS double maxVal=0; minMaxLoc(m_calibrationData->m_hist, 0, &maxVal, 0, 0); int scale = 10; Mat histImg = Mat::zeros(m_calibrationData->m_sbins*scale, m_calibrationData->m_hbins*10, CV_8UC3); for( int h = 0; h < m_calibrationData->m_hbins; h++) { for( int s = 0; s < m_calibrationData->m_sbins; s++ ) { float binVal = m_calibrationData->m_hist.at<float>(h, s); int intensity = cvRound(binVal*255/maxVal); rectangle( histImg, Point(h*scale, s*scale), Point( (h+1)*scale - 1, (s+1)*scale - 1), Scalar::all(intensity), CV_FILLED ); } } imshow("H-S Histogram", histImg); #endif m_calibrationData->m_ready = true; frame(fingerWindow).copyTo(m_calibrationData->m_fingerPatch); m_calibrationData->m_fingerRect = fingerWindow; m_currentCandidate.m_windowRect = fingerWindow; m_currentCandidate.m_fingerPosition = fingerWindow.tl(); return; } rectangle(frame, r1.tl() + fingerWindow.tl(), r1.br() + fingerWindow.tl(), c1); rectangle(frame, r2.tl() + fingerWindow.tl(), r2.br() + fingerWindow.tl(), c2); rectangle(frame, r3.tl() + fingerWindow.tl(), r3.br() + fingerWindow.tl(), c3); imshow("Calibration", frame); } else { int baseline = 0; putText(frame, "Adjust calibration window, click when ready", Point(0, getTextSize("Adjust calibration window", 0, 0.4, 2, &baseline).height), 0, 0.4, Scalar::all(255), 1); rectangle(frame, fingerWindow.tl(), fingerWindow.br(), Scalar(0, 0, 255)); imshow("RGB", frame); } auto key = cvWaitKey(10); if (char(key) == 27) { break; } } } capture.release(); }
void FingerTracker::Process(Mat frame) { #if ENABLE_DEBUG_WINDOWS Mat img_display; frame.copyTo(img_display); #endif // Process only Region of Interest i.e. region around current finger position Rect roi = Rect( Point(std::max(m_currentCandidate.m_windowRect.tl().x - m_roiSpanX, 0), std::max(m_currentCandidate.m_windowRect.tl().y - m_roiSpanY, 0)), Point(std::min(m_currentCandidate.m_windowRect.tl().x + m_roiSpanX + m_calibrationData->m_fingerPatch.cols, frame.cols), std::min(m_currentCandidate.m_windowRect.tl().y + m_roiSpanY + m_calibrationData->m_fingerPatch.rows, frame.rows))); Mat frameRoi; frame(roi).copyTo(frameRoi); //================TEMPLATE MATCHING int result_cols = frameRoi.cols - m_calibrationData->m_fingerPatch.cols + 1; int result_rows = frameRoi.rows - m_calibrationData->m_fingerPatch.rows + 1; assert(result_cols > 0 && result_rows > 0); Mat scoreMap; scoreMap.create(result_cols, result_rows, CV_32FC1); // Compare current frame roi region to known candidate // Using OpenCV matchTemplate function with correlation coefficient matching method matchTemplate(frameRoi, m_calibrationData->m_fingerPatch, scoreMap, 3); //================HISTOGRAM BACK PROJECTION MatND backProjection; Mat frameHSV; cvtColor(frameRoi, frameHSV, CV_BGR2HSV); calcBackProject(&frameHSV, 1, m_calibrationData->m_channels, m_calibrationData->m_hist, backProjection, (const float**)(m_calibrationData->m_ranges), 1, true); Mat backProjectionThresholded; threshold(backProjection, backProjectionThresholded, m_backProjectionThreshold, 255, 0); erode(backProjectionThresholded, backProjectionThresholded, getStructuringElement(MORPH_RECT, Size(2 * m_erosionSize + 1, 2 * m_erosionSize + 1), Point(m_erosionSize, m_erosionSize))); dilate(backProjectionThresholded, backProjectionThresholded, getStructuringElement(MORPH_RECT, Size(2 * m_dilationSize + 1, 2 * m_dilationSize + 1), Point(m_dilationSize, m_dilationSize))); Mat backProjectionThresholdedShifted; Rect shifted(Rect(m_calibrationData->m_fingerPatch.cols - 1, m_calibrationData->m_fingerPatch.rows - 1, scoreMap.cols, scoreMap.rows)); backProjectionThresholded(shifted).copyTo(backProjectionThresholdedShifted); Mat maskedOutScoreMap(scoreMap.size(), CV_8U); scoreMap.copyTo(maskedOutScoreMap, backProjectionThresholdedShifted); //====================Localizing the best match with minMaxLoc double minVal; double maxVal; Point minLoc; Point maxLoc; Point matchLoc; minMaxLoc(maskedOutScoreMap, &minVal, &maxVal, &minLoc, &maxLoc, Mat()); matchLoc = maxLoc + roi.tl(); m_currentCandidate.m_confidence = static_cast<float>(maxVal); if (maxVal > m_candidateDetecionConfidenceThreshold) { m_currentCandidate.m_found = true; m_currentCandidate.m_windowRect = Rect(matchLoc, Point(matchLoc.x + m_calibrationData->m_fingerPatch.cols , matchLoc.y + m_calibrationData->m_fingerPatch.rows)); //================Find finger position Mat fingerWindowThresholded; backProjectionThresholded(Rect(maxLoc, Point(maxLoc.x + m_calibrationData->m_fingerPatch.cols , maxLoc.y + m_calibrationData->m_fingerPatch.rows))).copyTo(fingerWindowThresholded); m_currentCandidate.m_fingerPosition = GetFingerTopPosition(fingerWindowThresholded) + matchLoc; #if ENABLE_DEBUG_WINDOWS rectangle(img_display, m_currentCandidate.m_windowRect.tl(), m_currentCandidate.m_windowRect.br(), Scalar(255,0,0), 2, 8, 0 ); rectangle(scoreMap, m_currentCandidate.m_windowRect.tl(), m_currentCandidate.m_windowRect.br(), Scalar::all(0), 2, 8, 0 ); rectangle(img_display, m_currentCandidate.m_fingerPosition, m_currentCandidate.m_fingerPosition + Point(5,5), Scalar(255,0,0)); #endif } else { m_currentCandidate.m_found = false; } #if ENABLE_DEBUG_WINDOWS std::stringstream ss; ss << maxVal; putText(img_display, ss.str(), Point(50, 50), 0, 0.5, Scalar(255,255,255), 1); imshow("Overlays", img_display); imshow("Results", scoreMap); imshow("ResultMasked", maskedOutScoreMap); #endif }
int main(int argc, char **argv) { if (argc < 2) { cout << "Usage: " << argv[0] << " <raw_file> [frame_id]" << endl; return 1; } ifstream in{argv[1]}; struct stat st; char *buf{nullptr}; size_t file_size; size_t i{0}; array<char, 160 * 120 * 2> raw; vector<Packet> pkts; vector<uint8_t> ids; if (stat(argv[1], &st) != 0) { cout << "Could not stat " << argv[1] << endl; return 1; } file_size = static_cast<size_t>(st.st_size); buf = new char[file_size]; in.read(buf, file_size); if (static_cast<size_t>(in.tellg()) != file_size) { cout << "Did not reach EOF" << endl; cout << "read " << in.tellg() << "/" << file_size << endl; cout << "file is good: " << static_cast<int>(in.good()) << endl; return 1; } uint8_t id = 0; while (i < file_size) { Packet tmp; try { tmp.parse(reinterpret_cast<uint8_t*>(buf + i), file_size - i); } catch (const ParseError &e) { cout << "Caught a parsing error - \"" << e.getMessage() << "\"" << endl; break; } if (id != tmp.getID()) { id = tmp.getID(); cout << "id: " << static_cast<int>(tmp.getID()) << " "; cout << "len: " << static_cast<int>(tmp.getLength()) << endl; } pkts.push_back(tmp); i += tmp.getRawLength(); } cout << "Parsed " << pkts.size() << " packets" << endl; for (int k = 2; k < argc; k++) { ids.push_back(static_cast<uint8_t>(std::stoi(string{argv[k]}))); } if (ids.size() == 0) { return 0; } cout << "examining IDs "; for (const auto &id : ids) { cout << static_cast<int>(id) << " "; } cout << endl; for (const auto &id : ids) { vector<uint8_t> raw; PacketType type; cout << "examining " << static_cast<int>(id) << endl; for (const auto &pkt : pkts) { if (pkt.getID() == id) { size_t new_length = pkt.getOffset() + static_cast<size_t>(pkt.getLength()); type = pkt.getType(); if (new_length > raw.size()) { raw.resize(new_length, 0); } for (size_t k = 0; k < pkt.getLength(); k++) { raw[pkt.getOffset() + k] = pkt.getData()[k]; } } } cout << "type: " << type << endl; cout << hex; for (size_t j = 0; j < 512; j++) { if (j > 0 && (j % 32) == 0) { cout << endl; } cout << (static_cast<unsigned int>(raw[j]) & 0xFF) << " "; } cout << endl; Mat img{Size(160, 120), CV_8UC3, raw.data()}; Mat dst; //cvtColor(img, dst, CV_YUV2GRAY_UYVY); //cvtColor(img, dst, CV_YUV2GRAY_YUY2); //cvtColor(img, dst, CV_YUV2BGR_UYVY); //cvtColor(img, dst, CV_YUV2BGRA_UYVY); //cvtColor(img, dst, CV_YUV2BGR_YUY2); //cvtColor(img, dst, CV_YUV2BGR_YVYU); //cvtColor(img, dst, CV_YUV2BGRA_YUY2); //cvtColor(img, dst, CV_YUV2BGRA_YVYU); //cvtColor(img, dst, CV_YUV2GRAY_NV12); //cvtColor(img, dst, CV_YUV2BGR_NV12); cvtColor(img, dst, CV_YCrCb2BGR); imshow("Police Video", dst); waitKey(0); ofstream out_jpeg{"out.jpg", ofstream::binary}; for (size_t j = 0; j < raw.size(); j++) { if (raw[j] == 0xFF && raw[j + 1] == 0xD8) { cout << "hit the start" << endl; out_jpeg.write(reinterpret_cast<char *>(raw.data() + j), 2); j++; } else if (raw[j] == 0xFF && raw[j + 1] == 0xDB) { cout << "hit the start 2" << endl; out_jpeg.write(reinterpret_cast<char *>(raw.data() + j), 2); j++; } else if (raw[j] == 0xFF && raw[j + 1] == 0xC0) { cout << "hit the start 3" << endl; out_jpeg.write(reinterpret_cast<char *>(raw.data() + j), 2); j++; } else if (raw[j] == 0xFF && raw[j + 1] == 0xD9) { cout << "hit the end" << endl; out_jpeg.write(reinterpret_cast<char *>(raw.data() + j), 2); return 0; } else { out_jpeg.write(reinterpret_cast<char *>(raw.data() + j), 1); } } } return 0; }