// in a loop, capture frame from camera and detect faces
// send eyes coordinates to change view
void QOpenCV::FaceRecognitionThread::run()
{
mCancel = false;
cv::Mat image;
OpenCV::FaceRecognizer* mFaceRecognizer = new OpenCV::FaceRecognizer();
if ( mCapVideo == NULL ) {
qDebug() << "[FaceRecognitionThread::run()] Camera is not set";
return;
}
while ( !mCancel ) {
// get image from camera
image = mCapVideo->queryFrame();
cv::cvtColor( image, image, CV_BGR2RGB );
// we detect faces on grayscale image
mFaceRecognizer->detectFaces( mCapVideo->getGrayframe() );
mFaceRecognizer->annotateFaces( image );
cv::flip( image, image, 1 );
// show image
if ( mSendImgEnabled && !image.empty() ) {
if ( image.data ) {
emit pushImage( image.clone() ); // ???
}
}
if ( mSendBackgrImgEnabled && !image.empty() ) {
emit pushBackgrImage( image.clone() );
}
// when face was detected along with movement (implemented with threshold)
// send eyes coordinate to change view
if ( mFaceRecognizer->detected ) { //&& mFaceRecognizer->isMovement
emit sendEyesCoords( static_cast<float>( -mFaceRecognizer->getEyesCoords().x ),
static_cast<float>( -mFaceRecognizer->getEyesCoords().y ),
-mFaceRecognizer->getHeadDistance( mCapVideo->getWidth() ) );
// Kostan:
// focalLength - used my webcam focal length
// 0.1481m - face width avg (15yr - 40yr)
float focalLength = 749.3f;
float distance = mFaceRecognizer->getHeadDistanceFocal( 0.1481 );
float x = ( float ) -mFaceRecognizer->getEyesCoords().x * ( mCapVideo->getWidth()/200 ) * ( distance / focalLength );
float y = ( float ) -mFaceRecognizer->getEyesCoords().y * ( mCapVideo->getHeight()/200 ) * ( distance / focalLength );
emit sendEyesRealCoords( x, y, distance );
}
msleep( 80 );
}
mCapVideo->release();
mCapVideo = NULL;
delete mFaceRecognizer;
}
// in a loop, capture frame from camera and detect faces
// send eyes coordinates to change view
void QOpenCV::FaceRecognitionThread::run()
{
mCancel = false;
cv::Mat image;
OpenCV::FaceRecognizer* mFaceRecognizer = new OpenCV::FaceRecognizer();
if ( mCapVideo == NULL ) {
qDebug() << "[FaceRecognitionThread::run()] Camera is not set";
return;
}
while ( !mCancel ) {
// get image from camera
image = mCapVideo->queryFrame();
cv::cvtColor( image, image, CV_BGR2RGB );
// we detect faces on grayscale image
mFaceRecognizer->detectFaces( mCapVideo->getGrayframe() );
mFaceRecognizer->annotateFaces( image );
cv::flip( image, image, 1 );
// show image
if ( mSendImgEnabled && !image.empty() ) {
if ( image.data ) {
emit pushImage( image.clone() ); // ???
}
}
if ( mSendBackgrImgEnabled && !image.empty() ) {
emit pushBackgrImage( image.clone() );
}
// when face was detected along with movement (implemented with threshold)
// send eyes coordinate to change view
if ( mFaceRecognizer->detected ) { //&& mFaceRecognizer->isMovement
emit sendEyesCoords( static_cast<float>( -mFaceRecognizer->getEyesCoords().x ),
static_cast<float>( -mFaceRecognizer->getEyesCoords().y ),
-mFaceRecognizer->getHeadDistance( mCapVideo->getWidth() ) );
}
msleep( 80 );
}
mCapVideo->release();
mCapVideo = NULL;
delete mFaceRecognizer;
}
void OpenCV::OpenCVCore::createConnectionFaceRec()
{
// send actual image
QObject::connect( mOpencvWindow,
SIGNAL( sendImgFaceRec( bool ) ),
mThrFaceRec,
SLOT( setSendImgEnabled( bool ) ) );
QObject::connect( mThrFaceRec,
SIGNAL( pushImage( cv::Mat ) ),
mOpencvWindow,
SLOT( setLabel( cv::Mat ) ) );
// send actual image to background
QObject::connect( mOpencvWindow,
SIGNAL( sendBackgrImgFaceRec( bool ) ),
mThrFaceRec,
SLOT( setSendBackgrImgEnabled( bool ) ) );
// start, stop
QObject::connect( mOpencvWindow,
SIGNAL( startFaceRec() ),
mThrFaceRec,
SLOT( start() ) );
QObject::connect( mOpencvWindow,
SIGNAL( stopFaceRec( bool ) ),
mThrFaceRec,
SLOT( setCancel( bool ) ) );
QObject::connect( mThrFaceRec,
SIGNAL( finished() ),
mOpencvWindow,
SLOT( onFaceRecThrFinished() ) );
QObject::connect( mOpencvWindow,
SIGNAL( setCapVideoFaceRec( OpenCV::CapVideo* ) ),
mThrFaceRec,
SLOT( setCapVideo( OpenCV::CapVideo* ) ) );
}
void Kinect::KinectThread::run()
{
// flag for timer
bool wasTimerReset = true;
mCancel=false;
//real word convector
/* openni::CoordinateConverter coordinateConverter;
// convert milimeters to pixels
float pDepth_x;
float pDepth_y;
float pDepth_z;
float pDepth_x2;
float pDepth_y2;
float pDepth_z2;
/////////end////////////*/
Kinect::KinectZoom* zoom = new Kinect::KinectZoom();
cv::Mat frame;
cv::Mat depth;
//if set true, it will capture first frame of kinect stream and save color frame, depth frame and depth matrix in to specific location
bool test = false;
// check if is close
while ( !mCancel ) {
//check if is sending image enabling
if ( mSetImageEnable ) {
// read frame data
color.readFrame( &colorFrame );
//convert for sending
frame=mKinect->colorImageCvMat( colorFrame );
cv::cvtColor( frame, frame, CV_BGR2RGB );
m_depth.readFrame( &depthFrame );
//if set true, it will capture the first frame of kinect stream and save color frame, depth frame and depth matrix in to specific location
if ( captureImage ) {
depth = mKinect->depthImageCvMat( depthFrame );
std::string file = Util::ApplicationConfig::get()->getValue( "Kinect.OutputFolder" ).toStdString();
//save color frame
cv::imwrite( file + "\\" + Util::ApplicationConfig::get()->getValue( "Kinect.ColourImageName" ).toStdString() + ".jpeg", frame );
//save depth matrix
std::ofstream fout( file + "\\" + Util::ApplicationConfig::get()->getValue( "Kinect.DepthInfoName" ).toStdString() + ".txt" );
if ( !fout ) {
qDebug() <<"File Not Opened";
}
for ( int i=0; i<depth.rows; i++ ) {
for ( int j=0; j < depth.cols; j++ ) {
fout << depth.at<uint16_t>( i,j )<<"\t";
}
fout << "\n";
}
cv::normalize( depth, depth, 0,255, CV_MINMAX, CV_8UC1 );
//save depth frame
cv::imwrite( file + "\\" + Util::ApplicationConfig::get()->getValue( "Kinect.DepthImageName" ).toStdString() + ".jpg", depth );
fout.close();
captureImage = false;
}
#ifdef NITE2_FOUND
//set parameters for changes movement and cursor
kht->setCursorMovement( isCursorEnable );
kht->setSpeedMovement( mSpeed );
// cita handframe, najde gesto na snimke a vytvori mu "profil"
kht->getAllGestures();
kht->getAllHands();
#endif
//////////////End/////////////
// cap >> frame; // get a new frame from camera
cv::cvtColor( frame, frame, CV_BGR2RGB );
#ifdef NITE2_FOUND
/* if ( kht->isTwoHands == true ) { //TODO must be two hands for green square mark hand in frame
// convert hand coordinate
coordinateConverter.convertWorldToDepth( m_depth, kht->getArrayHands[0][0], kht->getArrayHands[0][1], kht->handZ[0], &pDepth_x, &pDepth_y, &pDepth_z );
coordinateConverter.convertWorldToDepth( m_depth, kht->getArrayHands[1][0], kht->getArrayHands[1][1], kht->handZ[1], &pDepth_x2, &pDepth_y2, &pDepth_z2 );
pDepth_y = kht->handTrackerFrame.getDepthFrame().getHeight() - pDepth_y;
pDepth_y2 = kht->handTrackerFrame.getDepthFrame().getHeight() - pDepth_y2;
printf( "depth X, Y, Z: %f %f %f\n",pDepth_x,pDepth_y,pDepth_z );
// green square for hand
cv::Rect hand_rect;
if ( pDepth_x < pDepth_x2 ) {
hand_rect.x = pDepth_x;
}
else {
hand_rect.x = pDepth_x2;
}
if ( pDepth_y < pDepth_y2 ) {
hand_rect.y = pDepth_y;
}
else {
hand_rect.y = pDepth_y2;
}
hand_rect.width = abs( pDepth_x - pDepth_x2 );
hand_rect.height = abs( pDepth_y - pDepth_y2 ); //kht->handY[1] - kht->handY[0];
rectangle( frame, hand_rect, CV_RGB( 0, 255,0 ), 3 );
}
else {*/
// hand found
if ( ( kht->numHandsTracking != 0 )&&( kht->numHandsTracking < 3 ) ) {
int numFingers[2];
// calculate num fingers for every tracked hand
for ( int i = 0; i < kht->numHandsTracking; i++ ) {
bool mainHand = false;
if ( i==0 ) {
mainHand = true;
}
// calculate depth frame
zoom->calcHandDepthFrame( frame,&m_depth,kht->getArrayHands[i][0], kht->getArrayHands[i][1], kht->handZ[i], mainHand );
// calculate num of fingers
numFingers[i] = zoom->DetectContour();
}
// cursor disabled => move graph
if ( !isCursorEnable ) {
//sliding - calculate main hand movement
kht->getRotatingMove();
// two hand gestures
if ( kht->numHandsTracking == 2 ) {
// if off hand is open -> move graph by main hand
if ( numFingers[1] != 0 ) {
// open main hand -> move by X/Y axis
if ( numFingers[0] != 0 ) {
kht->moveGraphByHand( );
}
// closed main hand -> move by Z axis
else {
kht->moveGraphByHandToDepth( zoom->previousZ - zoom->currentZ );
}
}
}
// one hand gestures
else {
// if hand not closed - rotate
if ( numFingers[0] != 0 ) {
line( frame, cv::Point2i( 30, 30 ), cv::Point2i( 30, 30 ), cv::Scalar( 0, 0, 0 ), 5 ,8 );
if ( ( int )kht->slidingHand_x != 0 ) {
putText( frame, kht->slidingHand_type, cvPoint( ( int )kht->slidingHand_x,( int )kht->slidingHand_y ), cv::FONT_HERSHEY_COMPLEX_SMALL, 0.8, cvScalar( 0,0,250 ), 1, CV_AA );
emit sendSliderCoords( ( kht->slidingHand_x/kht->handTrackerFrame.getDepthFrame().getWidth()-0.5 )*( -200 ),
( kht->slidingHand_y/kht->handTrackerFrame.getDepthFrame().getHeight()-0.5 )*( 200 ),
( kht->slidingHand_z/kht->handTrackerFrame.getDepthFrame().getHeight()-0.5 )*200 );
}
}
// if hand is closed and zomm enabled - compute zoom
else if ( isZoomEnable ) {
zoom->zoom();
}
}
}
// cursor enabled => move cursor
else {
// start highlighting neighbour nodes
//nav->setSelectionMode( 2 );
nav->navigate();
// detect click gesture
if ( wasTimerReset ) {
// if main hand closed and timer inactive, start timer
if ( numFingers[0] == 0 ) {
emit signalClickTimerStart();
// to prevent restart in cycle
wasTimerReset = false;
}
}
// if timer is not ready
else if ( !wasTimerReset ) {
// if main hand open
if ( numFingers[0] > 3 ) {
// if timer is active, stop timer and do gesture
if ( clickTimer->isActive() ) {
wasTimerReset = true;
emit signalClickTimerStop();
}
// gesture has ended, restart timer to enable next gesture
else {
wasTimerReset = true;
}
}
}
// else do basic mouse gestures
else {
}
}
}
//}
#endif
// resize, send a msleep for next frame
cv::resize( frame, frame,cv::Size( 320,240 ),0,0,cv::INTER_LINEAR );
emit pushImage( frame );
msleep( 20 );
}
}
}
QImage* Morphology::doClosing(const StructElement& se)
{
QImage* image = closingHelper(*bufferImage[bufferCurrentIndex], se);
pushImage(image);
return image;
}
QImage* Morphology::doErosion(const StructElement& se)
{
QImage* image = erosionHelper(*bufferImage[bufferCurrentIndex], se);
pushImage(image);
return image;
}
void OpenCV::OpenCVCore::createConnectionKinect()
{
//for video sending
QObject::connect( mOpencvWindow,
SIGNAL( sendImageKinect( bool ) ),
mThrKinect,
SLOT( setImageSend( bool ) ) );
//send image to label
QObject::connect( mThrKinect,
SIGNAL( pushImage( cv::Mat ) ),
mOpencvWindow,
SLOT( setLabel( cv::Mat ) ) );
//start
QObject::connect( mOpencvWindow,
SIGNAL( startKinect() ),
mThrKinect,
SLOT( start() ) );
//stop
QObject::connect( mOpencvWindow,
SIGNAL( stopKinect( bool ) ),
mThrKinect,
SLOT( setCancel( bool ) ) );
// moving camera with gesture
QObject::connect( mThrKinect,
SIGNAL( sendSliderCoords( float,float,float ) ),
AppCore::Core::getInstance( NULL )->getCoreWindow()->getCameraManipulator(),
SLOT( setRotationHeadKinect( float,float,float ) ) );
//enable/disable cursor movement
QObject::connect( mOpencvWindow,
SIGNAL( setMovementCursor( bool ) ),
mThrKinect,
SLOT( setCursorMovement( bool ) ) );
//enable/disable zoom
QObject::connect( mOpencvWindow,
SIGNAL( setZoom( bool ) ),
mThrKinect,
SLOT( setZoomUpdate( bool ) ) );
//edit for speed movement
QObject::connect( mOpencvWindow,
SIGNAL( sendSpeedKinect( double ) ),
mThrKinect,
SLOT( setSpeedKinect( double ) ) );
//edit for speed movement
QObject::connect( mOpencvWindow,
SIGNAL( inicializeKinect() ),
mThrKinect,
SLOT( inicializeKinect() ) );
//edit for speed movement
QObject::connect( mOpencvWindow,
SIGNAL( closeActionOpenni() ),
mThrKinect,
SLOT( closeActionOpenni() ) );
QObject::connect( mOpencvWindow,
SIGNAL( setKinectMarkerDetection( bool ) ),
mThrKinect,
SLOT( setImageSendToMarkerDetection( bool ) ) );
//enable/disable sending picture to Marker Detection
QObject::connect( mThrKinect,
SIGNAL( pushImageToMarkerDetection( cv::Mat ) ),
mThrAruco,
SLOT( detectMarkerFromImage( cv::Mat ) ) );
//send augmented Image created in Kinect
QObject::connect( mThrAruco,
SIGNAL( pushImageFromKinect( cv::Mat ) ),
mOpencvWindow,
SLOT( setLabel( cv::Mat ) ) );
QObject::connect( mOpencvWindow,
SIGNAL( setKinectCaptureImage( bool ) ),
mThrKinect,
SLOT( setCaptureImage( bool ) ) );
}
