void Camera::captureFrame() {
cv::Mat distortedFrame(camFrameHeight, camFrameWidth, CV_8UC1);
imgIdx = (imgIdx+1) % 8;
if (testMode) {
distortedFrame = testImages[imgIdx].clone();
/* faking camera image acquisition time */
eventLoopTimer->setInterval(1000/FRAME_RATE);
} else {
dc1394video_frame_t *frame = NULL;
error = dc1394_capture_dequeue(camera, DC1394_CAPTURE_POLICY_WAIT, &frame);
distortedFrame.data = frame->image;
dc1394_capture_enqueue(camera, frame);
}
/* undistort camera image */
cv::Mat camFrame(camFrameHeight, camFrameWidth, CV_8UC1);
undistortLUT(distortedFrame, camFrame);
/* display original frame with ambient light in camera widget */
cv::Rect cropped((camFrame.cols-width)/2, (camFrame.rows-height)/2, width, height);
emit newCamFrame(camFrame(cropped).clone());
/* remove ambient light */
camFrame -= ambientImage;
/* cropping image in center to power-of-2 size */
cv::Mat croppedFrame = camFrame(cropped).clone();
/* assigning image id (current active LED) to pixel in 0,0 */
croppedFrame.at<uchar>(0, 0) = imgIdx;
emit newCroppedFrame(croppedFrame);
}
/// \brief A utility routine to obtain a quaternion from a rotation matrix.
vtkQuaternionf vesKiwiCameraTransition::currentOrientation() const
{
vesMatrix3x3f camFrame =
makeNormalMatrix3x3f(this->mCamera->computeViewTransform());
float tmp[3][3];
for (int i = 0; i < 3; ++i)
for (int j = 0; j < 3; ++j)
tmp[i][j] = camFrame(j,i);
vtkQuaternionf orientation;
orientation.FromMatrix3x3(tmp);
return orientation;
}
void FrameRenderSystem::update(ent_ptr<EntityManager> em, ent_ptr<EventManager> events, double dt)
{
for (auto camEntity : em->entities_with_components<CameraComponent, FrameComponent>()) {
auto camc = camEntity.component<CameraComponent>();
auto cfc = camEntity.component<FrameComponent>();
auto cpoc = camEntity.component<PosOrientComponent>();
SDL_assert(cpoc);
//make a temporary camera frame
std::unique_ptr<Frame> camFrame(new Frame(cfc->frame, "camera", Frame::FLAG_ROTATING));
camFrame->SetOrient(cpoc->orient, p3::game->GetSim()->GetGameTime());
camFrame->SetPosition(cpoc->pos);
//update root relative pos & interpolate
camFrame->ClearMovement();
camFrame->UpdateInterpTransform(1.0);
//set up star light source(s)
for (auto lightEntity : em->entities_with_components<LightComponent, FrameComponent>()) {
auto lc = lightEntity.component<LightComponent>();
auto lfc = lightEntity.component<FrameComponent>();
vector3d lpos = lfc->frame->GetPositionRelTo(camFrame.get());
const double dist = lpos.Length() / AU;
lpos *= 1.0/dist; // normalize
lc->light.SetPosition(vector3f(lpos.x, lpos.y, lpos.z));
scene->AddLight(&lc->light);
}
//copy view transform to each graphic
//they will be sorted later
for (auto drawEntity : em->entities_with_components<GraphicComponent, FrameComponent>()) {
auto efc = drawEntity.component<FrameComponent>();
auto egc = drawEntity.component<GraphicComponent>();
auto epoc = drawEntity.component<PosOrientComponent>();
SDL_assert(epoc);
matrix4x4d viewTransform;
Frame::GetFrameTransform(efc->frame, camFrame.get(), egc->graphic->viewTransform);
//vector3d viewCoords = viewTransform * epoc->pos; //should be interp pos
}
scene->Render(camc->camera.get());
cfc->frame->RemoveChild(camFrame.get());
}
}
MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainWindow)
{
ui->setupUi(this);
this->setStyleSheet("background:lightGray;");
QApplication::setApplicationName("Face Recognizer");
ui->centralLayout->setContentsMargins(0, 0, 0, 0);
ui->addPageLayout->setContentsMargins(0, 0, 0, 0);
ui->searchLayout->setContentsMargins(0, 0, 0, 0);
ui->mainPageLayout->setContentsMargins(0, 0, 0, 0);
ui->verticalLayout->setContentsMargins(0, 0, 0, 0);
ui->imagesLayout->setContentsMargins(0, 0, 0, 0);
/**
* Action bar
*/
ui->actionBarLayout->setMargin(0);
ui->actionBarLayout->setSizeConstraint(QLayout::SetNoConstraint);
actionBar = new AndroidActionBar(this);
ui->actionBarLayout->addWidget(actionBar);
searchLine = new SearchLineEdit(this);
QMenu *menu = new QMenu(this);
QWidgetAction *searchBoxAction = new QWidgetAction(this);
searchBoxAction->setDefaultWidget(searchLine);
menu->addAction(searchBoxAction);
QAction *searchAction = new QAction(QIcon(":icons/search"), "Search", this);
actionBar->addButton(searchAction, menu);
QAction *settingsAction = new QAction(QIcon(":icons/settings"), "Settings", this);
actionBar->addButton(settingsAction);
QAction *addAction = new QAction(QIcon(":icons/add"), "Add Person", this);
actionBar->addNavigation(addAction);
QAction *deleteAction = new QAction(QIcon(":icons/discard"), "Delete Person", this);
actionBar->addNavigation(deleteAction);
QAction *menuSearchAction = new QAction(QIcon(":icons/search"), "Find Person", this);
actionBar->addNavigation(menuSearchAction);
QAction *helpAction = new QAction(QIcon(":icons/help"), "Help", this);
actionBar->addNavigation(helpAction);
actionBar->addSeparator(helpAction);
actionBar->setTitle("Face Recognizer", false);
//Connect signals for the navigation bar
connect(actionBar, &AndroidActionBar::up, this, &MainWindow::actionMain);
connect(menuSearchAction, &QAction::triggered, this, &MainWindow::actionSearch);
connect(addAction, &QAction::triggered, this, &MainWindow::actionAddPerson);
connect(deleteAction, &QAction::triggered, this, &MainWindow::actionDeletePerson);
connect(helpAction, &QAction::triggered, this, &MainWindow::actionHelp);
connect(settingsAction, &QAction::triggered, this, &MainWindow::actionSettings);
// Set page as MainPage
actionMain();
// Allow QScreen::orientation to trigger orientation changed signal
screen = QApplication::primaryScreen();
screen->setOrientationUpdateMask(Qt::PortraitOrientation | Qt::LandscapeOrientation |
Qt::InvertedPortraitOrientation | Qt::InvertedLandscapeOrientation);
/**
* Settings page
*/
ui->verticalLayout->addStretch();
ui->cameraLayout->addStretch();
ui->faceDetectionLayout->addStretch();
ui->faceRecognitionLayout->addStretch();
/**
* Add person page
*/
addFrameLabel = new SelectionWidget(this);
addFrameLabel->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
ui->frameLayout->addWidget(addFrameLabel);
/**
* Load data set from Sqlite database
*/
// QFile dfile("assets:/faces_training_set.sqlite"); - for android
// if (dfile.exists())
// {
// dfile.copy("./faces_training_set.sqlite");
// QFile::setPermissions("./faces_training_set.sqlite", QFile::WriteOwner | QFile::ReadOwner);
// }
// facedb = QSqlDatabase::addDatabase("QSQLITE");
// facedb.setDatabaseName("./faces_training_set.sqlite");
facedb = QSqlDatabase::addDatabase("QSQLITE");
facedb.setDatabaseName("../facerecognition/android/assets/faces_training_set.sqlite");
future = QtConcurrent::run(this, &MainWindow::loadData);
/**
* Camera thread
*/
cam = new Camera(0, 0, 720, 480);
cameraThread = new QThread;
cam->moveToThread(cameraThread);
//Connect camera with attached thread
connect(cameraThread, SIGNAL(started()), cam, SLOT(start()));
connect(cam, SIGNAL(stopped()), cameraThread, SLOT(quit()));
connect(cam, SIGNAL(stopped()), cam, SLOT(deleteLater()));
connect(cameraThread, SIGNAL(finished()), cameraThread, SLOT(deleteLater()));
//Connect camera with main thread
qRegisterMetaType<cv::Mat>("cv::Mat");
connect(cam, SIGNAL(camFrame(cv::Mat)), this, SLOT(updateFrame(cv::Mat)));
cameraThread->start();
cameraThread->setPriority(QThread::TimeCriticalPriority);
/**
* Face recognition thread
*/
faceRecThread = NULL;
numberImages = 0;
// Provide search suggestions
CustomCompleter *completer = new CustomCompleter(names, this);
completer->setCaseSensitivity(Qt::CaseInsensitive);
completer->setMaxVisibleItems(5);
searchLine->setCompleter(completer);
connect(searchLine, &QLineEdit::returnPressed, this, &MainWindow::openPage);
}
