void CHydraHmdLatest::DebugRequest( const char * pchRequest, char * pchResponseBuffer, uint32_t unResponseBufferSize )
{
std::istringstream ss( pchRequest );
std::string strCmd;
ss >> strCmd;
if ( strCmd == "hydra:realign_coordinates" )
{
// hydra_monitor is calling us back with HMD tracking information so we can
// finish realigning our coordinate system to the HMD's
float m[3][3], v[3];
for ( int i = 0; i < 3; ++i )
{
for ( int j = 0; j < 3; ++j )
{
// Note the transpose, because sixenseMath::Matrix3 and vr::HmdMatrix34_t disagree on row/col major
ss >> m[j][i];
}
ss >> v[i];
}
sixenseMath::Matrix3 matRot( m );
sixenseMath::Vector3 matPos( v );
FinishRealignCoordinates( matRot, matPos );
}
////////////////// Shadow Suppression ////////////////////////
void ForegroundProcessor::suppressShadows(Frame & frame, double minArea, double minDist)
{
//Create "most probable background"
if (shadowModel.empty())
shadowModel = Mat::zeros(frame.image.size(), CV_8UC3);
frameCounter++;
if (frameCounter < 10)
{
shadowModel += (frame.image / 10);
return;
}
vector<vector<Point>> contours;
findContours( frame.foreground.clone(), contours, CV_RETR_EXTERNAL, CHAIN_APPROX_SIMPLE);
Mat lastImage = frame.image.clone();
cvtColor(lastImage, lastImage, CV_BGR2HSV_FULL);
double objArea;
Rect objRect;
double dist = 0;
for(unsigned int i = 0; i < contours.size(); i++)
{
objArea = contourArea(contours[i]);
objRect = boundingRect(contours[i]);
vector<Point> contour = contours[i];
for( int j = objRect.x; j < objRect.x + objRect.width; j++)
{
for( int k = objRect.y; k < objRect.y + objRect.height; k++)
{
Point matPos(j,k);
//If object is not outside the contour
if (pointPolygonTest(contour, matPos, false) >= 0)
{
// Parameters for shadow detection
if ( ((abs((double)lastImage.at<Vec3b>(matPos)[0] - (double)shadowModel.at<Vec3b>(matPos)[0])/255 < tau_H) ) // HUE
&& ( ((double)lastImage.at<Vec3b>(matPos)[1] - (double)shadowModel.at<Vec3b>(matPos)[1])/255 < tau_S) // SATURATION
&& ( (double)lastImage.at<Vec3b>(matPos)[2] / ((double)shadowModel.at<Vec3b>(matPos)[2] + 0.0001) > alpha) // VALUE (ALPHA)
&& ( (double)lastImage.at<Vec3b>(matPos)[2] / ((double)shadowModel.at<Vec3b>(matPos)[2] + 0.0001) < beta) // VALUE (BETA)
)
{
//Color gray for visualisation
frame.foreground.at<uchar>(matPos) = 128;
}
}
}
}
}
}
void S3D_MASTER::Render( bool aIsRenderingJustNonTransparentObjects,
bool aIsRenderingJustTransparentObjects )
{
if( m_parser == NULL )
return;
double aVrmlunits_to_3Dunits = g_Parm_3D_Visu.m_BiuTo3Dunits * UNITS3D_TO_UNITSPCB;
glScalef( aVrmlunits_to_3Dunits, aVrmlunits_to_3Dunits, aVrmlunits_to_3Dunits );
glm::vec3 matScale( m_MatScale.x,
m_MatScale.y,
m_MatScale.z );
glm::vec3 matRot( m_MatRotation.x,
m_MatRotation.y,
m_MatRotation.z );
glm::vec3 matPos( m_MatPosition.x,
m_MatPosition.y,
m_MatPosition.z );
glTranslatef( matPos.x * SCALE_3D_CONV,
matPos.y * SCALE_3D_CONV,
matPos.z * SCALE_3D_CONV );
glRotatef( -matRot.z, 0.0f, 0.0f, 1.0f );
glRotatef( -matRot.y, 0.0f, 1.0f, 0.0f );
glRotatef( -matRot.x, 1.0f, 0.0f, 0.0f );
glScalef( matScale.x, matScale.y, matScale.z );
for( unsigned int idx = 0; idx < m_parser->childs.size(); idx++ )
{
m_parser->childs[idx]->openGL_RenderAllChilds( aIsRenderingJustNonTransparentObjects,
aIsRenderingJustTransparentObjects );
}
}