void paintEvent( QPaintEvent * ) {
QPainter p(this);
drawRegions( &p );
}
static Rect set_annotations(Metadata_Simple*metadata,const vector<double>&labels,shared_ptr<ImRGBZ>&im)
{
// Label description:
// Each line is corresponding to one image.
// Each line has 16x3 numbers, which indicates (x, y, z) of 16 joint locations. Note that these are joint CENTRE locations.
// Note that (x, y) are in pixels and z is in mm.
// The order of 16 joints is 0:Palm, 1Thumb root, 2Thumb mid, 3Thumb tip, 4Index root, 5Index mid, 6Index tip,
// 7Middle root, 8Middle mid, 9Middle tip, 10:Ring root, 11:Ring mid, 12:Ring tip, 13:Pinky root, 14:Pinky mid, 15:Pinky tip.
// We used Intel Creative depth sensor. Calibration parameters can be obtained as in Page 119 of SDK Manual:
Rect handBB;
auto getKeypoint = [&](int index)
{
Point2d pt(labels[0 + index*3],labels[1 + index*3]);
// compute the handBB from the keypoints.
if(handBB == Rect())
handBB = Rect(pt,Size(1,1));
else
handBB |= Rect(pt,Size(1,1));
return pt;
};
metadata->keypoint("carpals",getKeypoint(0),true);
metadata->keypoint("Z_P0",getKeypoint(0),true);
metadata->keypoint("Z_P1",getKeypoint(0),true);
// thumb
metadata->keypoint("Z_J53",getKeypoint(1),true);
metadata->keypoint("Z_J52",getKeypoint(2),true);
metadata->keypoint("Z_J51",getKeypoint(3),true);
// index
metadata->keypoint("Z_J43",getKeypoint(4),true);
metadata->keypoint("Z_J42",getKeypoint(5),true);
metadata->keypoint("Z_J41",getKeypoint(6),true);
// mid
metadata->keypoint("Z_J33",getKeypoint(7),true);
metadata->keypoint("Z_J32",getKeypoint(8),true);
metadata->keypoint("Z_J31",getKeypoint(9),true);
// ring
metadata->keypoint("Z_J23",getKeypoint(10),true);
metadata->keypoint("Z_J22",getKeypoint(11),true);
metadata->keypoint("Z_J21",getKeypoint(12),true);
// pinky
metadata->keypoint("Z_J13",getKeypoint(13),true);
metadata->keypoint("Z_J12",getKeypoint(14),true);
metadata->keypoint("Z_J11",getKeypoint(15),true);
// set the hand bb
Mat Zeroded = imopen(im->Z,5); //cv::erode(im,result,Mat());
handBB = bbWhere(Zeroded,[](Mat&Z,int y,int x)
{
return goodNumber(Z.at<float>(y,x)) and Z.at<float>(y,x) < params::MAX_Z();
});
handBB = rectResize(handBB,2,2);
metadata->set_HandBB(handBB);
metadata->set_is_left_hand(true);
// generate the segmentation
if(g_params.get_value("SEGMENTATION") == "TRUE")
{
Mat seg = drawRegions(*metadata);
metadata->setSegmentation(seg);
}
return handBB;
}