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https://github.com/storytold/storyteller-ml.git
synced 2026-10-15 00:03:06 +00:00
Add MocapNET
This commit is contained in:
Justin John
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#include "map.hpp"
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#include "visualization.hpp"
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#include "../applicationLogic/artifactRecognition.hpp"
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#include "../IO/jsonRead.hpp"
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#include "../IO/bvh.hpp"
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#include "../IO/skeletonAbstraction.hpp"
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#include "../tools.hpp"
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#include "../mocapnet2.hpp"
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std::vector<cv::Point> locationHistory;
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int drawPerson(cv::Mat & img,float x,float y,float r)
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{
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int maxLocationHistory=15;
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cv::Scalar color= cv::Scalar(0,0,255);
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cv::Scalar colorLook= cv::Scalar(100,0,90);
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unsigned int width = img.size().width;
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unsigned int height = img.size().height;
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cv::Point startPoint(0,0);
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cv::Point endPoint(0,0);
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unsigned int x2D = x*2 + width/2;
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unsigned int y2D = -1*y*2 + height/2;
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//Draw Cross
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//-----------------------------------------------
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startPoint.x = x2D - 10;
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startPoint.y = y2D;
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endPoint.x = x2D + 10;
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endPoint.y = y2D;
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cv::line(img,startPoint,endPoint,color,2.0);
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//-----------------------------------------------
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startPoint.x = x2D;
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startPoint.y = y2D - 10;
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endPoint.x = x2D;
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endPoint.y = y2D + 10;
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cv::line(img,startPoint,endPoint,color,2.0);
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//-----------------------------------------------
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float rad=((float) -1.0 * 3.1415/180*r);
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startPoint.x=x2D;
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startPoint.y=y2D;
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endPoint.x=x2D+cos(rad)* (width/5);
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endPoint.y=y2D+sin(rad)* (height/5);
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cv::line(img,startPoint,endPoint,colorLook,2.0);
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//---------------------------------------------------------------------------------------------------------------------------------------------
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cv::Point p(x2D,y2D);
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locationHistory.push_back(p);
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if (locationHistory.size()>maxLocationHistory)
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{
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locationHistory.erase(locationHistory.begin());
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}
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float stepColorD=(float) 255/maxLocationHistory;
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for (int step=0; step<locationHistory.size(); step++)
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{
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float stepColor = 255 - step*stepColorD;
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if (step>1)
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{
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cv::line(img,locationHistory[step],locationHistory[step-1], cv::Scalar(0,0,stepColor), 1.0);
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}
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}
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//---------------------------------------------------------------------------------------------------------------------------------------------
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return 1;
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}
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int visualizeMap(
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const char* windowName,
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unsigned int frameNumber,
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unsigned int width,
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unsigned int height,
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struct skeletonSerialized * skeleton,
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struct MocapNET2 * mnet,
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std::vector<float> result,
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std::vector<std::vector<float> > points2DOutputGUIRealView,
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unsigned int numberOfMissingJoints,
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unsigned int gestureDetected,
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const char * gestureName,
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unsigned int gestureFrame
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)
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{
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fprintf(stderr,"visualizeMap called with %lu\n",points2DOutputGUIRealView.size());
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if (points2DOutputGUIRealView.size()==0)
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{
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return 0;
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}
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#if USE_OPENCV
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unsigned int gridSpace=30;
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cv::Point startPoint(0,0);
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cv::Point endPoint(0,height);
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cv::Mat img(height,width, CV_8UC3, Scalar(60,30,30));
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cv::Scalar lookingColor= cv::Scalar(255,255,0);
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cv::Scalar activeColor= cv::Scalar(0,123,255);
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cv::Scalar color= cv::Scalar(253,123,30);
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for (unsigned int x=0; x<width; x+=gridSpace)
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{
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startPoint.x=x;
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endPoint.x=x;
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cv::line(img,startPoint,endPoint,color,1.0);
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}
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startPoint.x=0;
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endPoint.x=width;
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for (unsigned int y=0; y<height; y+=gridSpace)
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{
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startPoint.y=y;
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endPoint.y=y;
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cv::line(img,startPoint,endPoint,color,1.0);
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}
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float thickness=1.0;
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int fontUsed=cv::FONT_HERSHEY_SIMPLEX;
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char text[512];
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snprintf(text,512," Position X=%0.2f Y=%0.2f Z=%0.2f %0.2f|%0.2f|%0.2f",result[0],result[1],result[2],result[3],result[4],result[5]);
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startPoint.x=50;
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startPoint.y=50;
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cv::putText(img,text,startPoint,fontUsed,0.4,color,thickness,8);
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std::vector<float> points3DFlatOutput=convertBVHFrameToFlat3DPoints(result); //,width,height
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//writeCSVHeaderFromLabelsAndVectorOfVectors("out3DP.csv",MocapNETOutputArrayNames,MOCAPNET_OUTPUT_NUMBER,output3DPositions) )
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float x = result[2];
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float y = result[0];
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float r = result[4];
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float lElbowX = points3DFlatOutput[MOCAPNET_3DPOINT_LELBOWZ];
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float lElbowY = points3DFlatOutput[MOCAPNET_3DPOINT_LELBOWX];
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float lHandX = points3DFlatOutput[MOCAPNET_3DPOINT_LHANDZ];
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float lHandY = points3DFlatOutput[MOCAPNET_3DPOINT_LHANDX];
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float rElbowX = points3DFlatOutput[MOCAPNET_3DPOINT_RELBOWZ];
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float rElbowY = points3DFlatOutput[MOCAPNET_3DPOINT_RHANDX];
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float rHandX = points3DFlatOutput[MOCAPNET_3DPOINT_RHANDZ];
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float rHandY = points3DFlatOutput[MOCAPNET_3DPOINT_RHANDX];
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float rad=((float) 1.0 * 3.1415/180*r);
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float x2=x+cos(rad)* (width/5);
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float y2=y+sin(rad)* (height/5);
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//-------------------------------------------------------------------------------
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// If gestures are enabled.. Draw them..
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//-------------------------------------------------------------------------------
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if (gestureName!=0)
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{//-------------------------------------------------------------------------------
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if(gestureDetected)
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{
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if (gestureFrame>25)
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{
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snprintf(text,512,"%s (%u)",gestureName,gestureDetected);
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cv::Point txtPosition(600,200);
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cv::putText(img,text,txtPosition,fontUsed,1.5,cv::Scalar(0,255,255),thickness,8);
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cv::circle(img,txtPosition,2*gestureFrame,cv::Scalar(0,255,255),3,8,0);
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}
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}
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}
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//-------------------------------------------------------------------------------
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// If poses are enabled.. Draw them..
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//-------------------------------------------------------------------------------
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if(mnet->activePose>1)
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{
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snprintf(text,512,"%s (%u)",hardcodedPoseName[mnet->activePose],mnet->activePose);
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cv::Point txtPosition(600,200);
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cv::putText(img,text,txtPosition,fontUsed,1.5,cv::Scalar(0,255,255),thickness,8);
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cv::circle(img,txtPosition,2*gestureFrame,cv::Scalar(0,255,255),3,8,0);
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}
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for (unsigned int artifactID=0; artifactID<mnet->artifacts.numberOfArtifacts; artifactID++)
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{
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startPoint.x= mnet->artifacts.artifact[artifactID].x1*2 + width/2;
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startPoint.y= mnet->artifacts.artifact[artifactID].y1*-2 + height/2;
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endPoint.x= mnet->artifacts.artifact[artifactID].x2*2 + width/2;
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endPoint.y= mnet->artifacts.artifact[artifactID].y2*-2 + height/2;
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if (check3DArtifactCollision(
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&mnet->artifacts.artifact[artifactID],
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points3DFlatOutput[MOCAPNET_3DPOINT_LELBOWZ],
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points3DFlatOutput[MOCAPNET_3DPOINT_LELBOWX],
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points3DFlatOutput[MOCAPNET_3DPOINT_LELBOWY],
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points3DFlatOutput[MOCAPNET_3DPOINT_LHANDZ],
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points3DFlatOutput[MOCAPNET_3DPOINT_LHANDX],
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points3DFlatOutput[MOCAPNET_3DPOINT_LHANDY]
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)
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)
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{
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fprintf(stderr,"Left Hand Collision %u\n",artifactID);
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} else
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//---------------------------------------------------------------------------------------------------------------------------------------------
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if (check3DArtifactCollision(
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&mnet->artifacts.artifact[artifactID],
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points3DFlatOutput[MOCAPNET_3DPOINT_RELBOWZ],
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points3DFlatOutput[MOCAPNET_3DPOINT_RELBOWX],
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points3DFlatOutput[MOCAPNET_3DPOINT_RELBOWY],
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points3DFlatOutput[MOCAPNET_3DPOINT_RHANDZ],
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points3DFlatOutput[MOCAPNET_3DPOINT_RHANDX],
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points3DFlatOutput[MOCAPNET_3DPOINT_RHANDY]
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)
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)
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{
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fprintf(stderr,"Right Hand Collision %u\n",artifactID);
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} else
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//---------------------------------------------------------------------------------------------------------------------------------------------
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if (checkArtifactCollision(&mnet->artifacts.artifact[artifactID],x, y, r))
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{
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fprintf(stderr,"ARTIFACT %u (%s) is collided \n",artifactID,mnet->artifacts.artifact[artifactID].label);
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if ((mnet->artifacts.artifact[artifactID].activatesOnPosition) && (!mnet->artifacts.artifact[artifactID].active) )
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{
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mnet->artifacts.artifact[artifactID].active=1;
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int i=system(mnet->artifacts.artifact[artifactID].actionToExecuteOnActivation);
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if (i==0) { fprintf(stderr,"Executed %s \n",mnet->artifacts.artifact[artifactID].actionToExecuteOnActivation); } else
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{ fprintf(stderr,"Failed to execute %s \n",mnet->artifacts.artifact[artifactID].actionToExecuteOnActivation); }
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}
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cv::rectangle(img,startPoint,endPoint,activeColor,-1,8,0);
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snprintf(text,512,"%s (aid=%u)",mnet->artifacts.artifact[artifactID].label,artifactID);
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startPoint.y+=10;
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cv::putText(img,text,startPoint,fontUsed,0.4,cv::Scalar(0,0,255),thickness,8);
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} else
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//---------------------------------------------------------------------------------------------------------------------------------------------
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if (checkArtifactDirection(&mnet->artifacts.artifact[artifactID],x, y,x2,y2))
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{
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fprintf(stderr,"ARTIFACT %u (%s) is looked at \n",artifactID,mnet->artifacts.artifact[artifactID].label);
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if ( (mnet->artifacts.artifact[artifactID].activateOnGesture) && (mnet->activePose>1) )
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{
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int i =system(mnet->artifacts.artifact[artifactID].actionToExecuteOnActivation);
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if (i==0) { fprintf(stderr,"Executed Gesture %s \n",mnet->artifacts.artifact[artifactID].actionToExecuteOnActivation); } else
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{ fprintf(stderr,"Failed to execute gesture %s \n",mnet->artifacts.artifact[artifactID].actionToExecuteOnActivation); }
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} else
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if ((mnet->artifacts.artifact[artifactID].activatesOnLook) && (!mnet->artifacts.artifact[artifactID].active))
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{
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mnet->artifacts.artifact[artifactID].active=1;
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int i = system(mnet->artifacts.artifact[artifactID].actionToExecuteOnActivation);
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if (i==0) { fprintf(stderr,"Executed %s \n",mnet->artifacts.artifact[artifactID].actionToExecuteOnActivation); } else
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{ fprintf(stderr,"Failed to execute gesture %s \n",mnet->artifacts.artifact[artifactID].actionToExecuteOnActivation); }
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}
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cv::rectangle(img,startPoint,endPoint,lookingColor,-1,8,0);
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snprintf(text,512,"%s (aid=%u)",mnet->artifacts.artifact[artifactID].label,artifactID);
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startPoint.y+=10;
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cv::putText(img,text,startPoint,fontUsed,0.4,cv::Scalar(0,255,0),thickness,8);
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}
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//---------------------------------------------------------------------------------------------------------------------------------------------
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else
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{
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fprintf(stderr,"ARTIFACT %u (%s) is inactive \n",artifactID,mnet->artifacts.artifact[artifactID].label);
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if ((mnet->artifacts.artifact[artifactID].activatesOnPosition) && (mnet->artifacts.artifact[artifactID].active) )
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{
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mnet->artifacts.artifact[artifactID].active=0;
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int i = system(mnet->artifacts.artifact[artifactID].actionToExecuteOnDeactivation);
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if (i==0) { fprintf(stderr,"Executed %s \n",mnet->artifacts.artifact[artifactID].actionToExecuteOnDeactivation); } else
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{ fprintf(stderr,"Failed to execute %s \n",mnet->artifacts.artifact[artifactID].actionToExecuteOnActivation); }
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}
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cv::rectangle(img,startPoint,endPoint,color,-1,8,0);
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snprintf(text,512,"%s (aid=%u)",mnet->artifacts.artifact[artifactID].label,artifactID);
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startPoint.y+=10;
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cv::putText(img,text,startPoint,fontUsed,0.4,cv::Scalar(255,0,0),thickness,8);
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}
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//---------------------------------------------------------------------------------------------------------------------------------------------
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}
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cv::Point leftHandStart(lElbowX*2 + width/2,-1* lElbowY*2 + height/2);
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cv::Point leftHandEnd(lHandX*2 + width/2,-1* lHandY*2 + height/2);
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cv::line(img,leftHandStart,leftHandEnd,cv::Scalar(0,0,255),2.0);
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cv::Point rightHandStart(rElbowX*2 + width/2,-1* rElbowY*2 + height/2);
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cv::Point rightHandEnd(rHandX*2 + width/2,-1* rHandY*2 + height/2);
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cv::line(img,rightHandStart,rightHandEnd,cv::Scalar(0,255,0),2.0);
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drawPerson(img,x,y,r);
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drawSkeleton(img,points2DOutputGUIRealView,-730,0,0);
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//Draw Camera -----------------------------------------------------
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startPoint.x = width - 50;
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startPoint.y = (height/2) - 20;
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endPoint.x = width - 100;
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endPoint.y = (height/2) + 20;
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cv::rectangle(img,startPoint,endPoint,color,2,8,0);
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endPoint.y = (height/2) ;
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startPoint.x = endPoint.x-30;
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startPoint.y = endPoint.y+20;
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cv::line(img,startPoint,endPoint,color,2.0);
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startPoint.x = endPoint.x-30;
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startPoint.y = endPoint.y-20;
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cv::line(img,startPoint,endPoint,color,2.0);
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endPoint.x = endPoint.x-30;
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endPoint.y = endPoint.y+20;
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cv::line(img,startPoint,endPoint,color,2.0);
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//----------------------------------------------------------------------------
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cv::imshow(windowName,img);
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return 1;
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#else
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fprintf(stderr,"OpenCV code not present in this build, cannot show visualization..\n");
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#endif
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return 0;
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}
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