void imProcessThreshold(const imImage* src_image, imImage* dst_image, float level, int value)
{
switch(src_image->data_type)
{
case IM_BYTE:
doThreshold((imbyte*)src_image->data[0], (imbyte*)dst_image->data[0],
src_image->count, (imbyte)level, value);
break;
case IM_SHORT:
doThreshold((short*)src_image->data[0], (imbyte*)dst_image->data[0],
src_image->count, (short)level, value);
break;
case IM_USHORT:
doThreshold((imushort*)src_image->data[0], (imbyte*)dst_image->data[0],
src_image->count, (imushort)level, value);
break;
case IM_INT:
doThreshold((int*)src_image->data[0], (imbyte*)dst_image->data[0],
src_image->count, (int)level, value);
break;
case IM_FLOAT:
doThreshold((float*)src_image->data[0], (imbyte*)dst_image->data[0],
src_image->count, (float)level, value);
break;
}
}
void Kinect::doVision() {
// get depth pixels
int numPx = kinect.getWidth()*kinect.getHeight();
memcpy(depths, kinect.getDepthPixels(), numPx);
doThreshold();
// load into a cvImage
thresholded.setFromPixels(thresholdedPixels, kinect.getWidth(), kinect.getHeight());
// flip as required
if(flipX || flipY) thresholded.mirror(flipY, flipX);
// find contours
contourFinder.findContours( thresholded,
100, getWidth()*getHeight()/4,
5, false);
vector<ofVec3f> blobs;
for(int i = 0; i < contourFinder.nBlobs; i++) {
blobs.push_back(
ofVec3f(find3DBlobCentre(contourFinder.blobs[i]))
);
}
// this is when the notifictations will fire.
blobTracker.track(blobs);
}
int ARTracker::processFrame(cv::Mat& frame){
std::vector<std::vector<cv::Point> > contours;
std::vector<ARMarker> potentialMarkers;
// flush out previously detected markers
_detectedMarkers.clear();
doGreyScale(_greyMat, frame);
if( isBlurring() ){
doBlur(_greyMat, _greyMat);
}
doThreshold(_binaryMat, _greyMat);
doFindContours(contours, _binaryMat);
doFindPotentialMarkers(potentialMarkers, contours, _binaryMat);
doFindMarkers(_detectedMarkers, potentialMarkers, _binaryMat);
doSubpixelAccuracy(_detectedMarkers, _greyMat);
doEstimatePose(_detectedMarkers);
processDebugRequest(frame, _greyMat, _binaryMat, contours, potentialMarkers, _detectedMarkers);
return _detectedMarkers.size();
}
Detector::Status Detector::loadSpectacles(const string path)
{
spectaclesSrc = path;
Status status = doLoadImage(spectaclesSrc, spectacles);
if (status!=StatusOK) return status;
//crop the specs
doThreshold(spectacles, specMask, 150, 255, CV_THRESH_BINARY_INV );
if (debug) {
namedWindow("Threshold");
imshow("Threshold",specMask);
}
int lowRow = -1, highRow = specMask.rows;
while(sum(specMask.row(++lowRow))==Scalar::all(0));
while(sum(specMask.row(--highRow))==Scalar::all(0));
spectacles = spectacles.rowRange(lowRow, highRow);
specMask = specMask.rowRange(lowRow, highRow);
int lowCol = -1, highCol = specMask.cols;
while(sum(specMask.col(++lowCol))==Scalar::all(0));
while(sum(specMask.col(--highCol))==Scalar::all(0));
spectacles = spectacles.colRange(lowCol, highCol);
if (debug) {
namedWindow("Spectacles");
imshow("Spectacles", spectacles);
}
return StatusOK;
}
Detector::Status Detector::detectAndDraw()
{
const Scalar eye_color({0,255,255});
const Scalar face_color({255,128,0});
vector<Rect> objects;
vector<Rect> faces;
//check the data
if( eyesCascade.empty() || faceCascade.empty() )
{
return StatusNoModel;
}
image = imread(imageSrc.c_str() );
if (!image.data) {
return StatusNoImage;
}
if (!spectacles.data) {
return StatusNoSpectacles;
}
doThreshold(spectacles, specMask, 150, 255, CV_THRESH_BINARY_INV );
if (debug) {
namedWindow("Threshold");
imshow("Threshold",specMask);
}
//convert the image to grayscale
Mat gray(image.rows, image.cols, CV_8UC1);
cvtColor(image, gray, CV_BGR2GRAY);
equalizeHist(gray, gray);
// detect faces and eyes
faceCascade.detectMultiScale(gray, faces, 1.1, 2|CV_HAAR_SCALE_IMAGE);
if (debug) doMarkObjects(faces, face_color);
eyesCascade.detectMultiScale( gray, objects, 1.1, 2, 0|CV_HAAR_SCALE_IMAGE );
if (debug) doMarkObjects(objects, eye_color);
//sort the results from left-to-right
std::sort(faces.begin(), faces.end(), by_x());
std::sort(objects.begin(), objects.end(), by_x());
//iterate over all found faces
pred_within_rect pwr;
for ( vector<Rect>::iterator face = faces.begin();face<faces.end();face++)
{
//process the detected face: if there are eyes found within it, then put spectacles on it
pwr.r = (*face);
vector<Rect>::iterator eye =std::find_if(objects.begin(), objects.end(),pwr);
if (eye!=objects.end())
{
doPutSpectaclesOnFace(*face, eye);
}
}
imshow(title, image);
return StatusOK;
}
void Detector::doPutSpectaclesOnFace(const Rect face, vector<Rect>::const_iterator eye )
{
//assumption: spectacles should be larger than detected eyes, and approximately as wide as a face
int left = face.x;
int right = left+face.width;
int scaledHeight = spectacles.rows*(right-left)*1./spectacles.cols;
int top = (*eye).y +((*eye).height/2) - scaledHeight/2;
if (top<0) top=1;
int bottom = top+scaledHeight;
//resize spectacles and the copy mask
Mat scaledSpecs(bottom-top, right-left, CV_8UC1);
Mat scaledSpecsMask(scaledSpecs.size(), CV_8UC1);
resize(spectacles, scaledSpecs,scaledSpecs.size() );
doThreshold(scaledSpecs, scaledSpecsMask, 160, 255, CV_THRESH_BINARY_INV);
//resize(specMask,scaledSpecsMask, scaledSpecs.size());
//put on target
const Rect dstRect(left, top, right-left, bottom-top);
Mat target(image,dstRect );
bitwise_and(image(dstRect), scaledSpecs, target, scaledSpecsMask);
bitwise_or(image(dstRect), scaledSpecs, target, scaledSpecsMask);
}