salmon-engine-projects/double-hit-balls
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alexander.biryukov committed 2018-06-01 22:31:55 +05:00
1 parent 601730e0ce
commit 15febc4651
5 files changed
+39 -114
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game/main_code.cpp
+23 -66
View File
@@ -9,8 +9,6 @@
#include "main_code.h"
//#define USE_PREDICTION
cv::Point flipVertical(cv::Point point) {
@@ -50,10 +48,10 @@ FaceStruct::FaceStruct()
FaceStruct::FaceStruct(const std::array<cv::Point2f, LANDMARK_POINT_COUNT>& fromPreds, cv::Mat& cameraMatrix, cv::Mat& distortionCoefficients)
{
FaceStruct();
ApplyPreds(fromPreds, cameraMatrix, distortionCoefficients);
ApplyPreds(fromPreds, 0.0, cameraMatrix, distortionCoefficients);
}
void FaceStruct::CalcFromPreds(cv::Mat& cameraMatrix, cv::Mat& distortionCoefficients)
void FaceStruct::CalcFromPreds(double similarity, cv::Mat& cameraMatrix, cv::Mat& distortionCoefficients)
{
float minX = preds[0](0);
float maxX = preds[0](0);
@@ -109,13 +107,17 @@ void FaceStruct::CalcFromPreds(cv::Mat& cameraMatrix, cv::Mat& distortionCoeffic
cv::solvePnP(modelPoints, imagePoints, cameraMatrix, distortionCoefficients, rotationVector, translationVector);
rotationVector.at<double>(0) = rotationVectorSmoothers[0].responsiveAnalogReadSimple(rotationVector.at<double>(0));
rotationVector.at<double>(1) = rotationVectorSmoothers[1].responsiveAnalogReadSimple(rotationVector.at<double>(1));
rotationVector.at<double>(2) = rotationVectorSmoothers[2].responsiveAnalogReadSimple(rotationVector.at<double>(2));
if(similarity > 0.01) {
for (size_t i = 0; i < 3; i++) {
rotationVectorSmoothers[i].reset();
translationVectorSmoothers[i].reset();
}
}
translationVector.at<double>(0) = translationVectorSmoothers[0].responsiveAnalogReadSimple(translationVector.at<double>(0));
translationVector.at<double>(1) = translationVectorSmoothers[1].responsiveAnalogReadSimple(translationVector.at<double>(1));
translationVector.at<double>(2) = translationVectorSmoothers[2].responsiveAnalogReadSimple(translationVector.at<double>(2));
for(size_t i = 0; i < 3; i++) {
rotationVector.at<double>(i) = rotationVectorSmoothers[i].responsiveAnalogReadSimple(rotationVector.at<double>(i));
// translationVector.at<double>(i) = translationVectorSmoothers[i].responsiveAnalogReadSimple(translationVector.at<double>(i));
}
cv::projectPoints(boxModelSrc, rotationVector, translationVector, cameraMatrix, distortionCoefficients, boxModelDst);
@@ -128,50 +130,14 @@ void FaceStruct::CalcFromPreds(cv::Mat& cameraMatrix, cv::Mat& distortionCoeffic
cv::Mat outTranslation = cv::Mat(3, 1, CV_64FC1);
cv::decomposeProjectionMatrix(poseMatrix, outIntrinsics, outRotation, outTranslation, cv::noArray(), cv::noArray(), cv::noArray(), eulerAngles);
// std::cout << "(" << std::setprecision(3) << eulerAngles.at<double>(0) << ", " << std::setprecision(3) << eulerAngles.at<double>(1) << std::setprecision(3) << eulerAngles.at<double>(2) << ")" << std::endl;
center = { avgX, avgY };
size = { maxX- minX,maxY - minY };
//center = { centerXSmoother.responsiveAnalogReadSimple(avgX), centerYSmoother.responsiveAnalogReadSimple(avgY) };
//size = { sizeWidthSmoother.responsiveAnalogReadSimple(maxX- minX), sizeHeightSmoother.responsiveAnalogReadSimple(maxY - minY) };
center = {avgX, avgY};
size = {maxX- minX, maxY - minY};
}
void FaceStruct::ApplyPreds(const std::array<cv::Point2f, LANDMARK_POINT_COUNT>& fromPreds, cv::Mat& cameraMatrix, cv::Mat& distortionCoefficients)
void FaceStruct::ApplyPreds(const std::array<cv::Point2f, LANDMARK_POINT_COUNT>& fromPreds, double similarity, cv::Mat& cameraMatrix, cv::Mat& distortionCoefficients)
{
InnerApplyPreds(fromPreds);
CalcFromPreds(cameraMatrix, distortionCoefficients);
/*
for (size_t i = 0; i < LANDMARK_POINT_COUNT; i++)
{
preds[i] = preds[i] - center;
}
historicalPreds.push_back(preds);
if (historicalPreds.size() > 4)
{
historicalPreds.erase(historicalPreds.begin());
}
for (size_t i = 0; i < LANDMARK_POINT_COUNT; i++)
{
preds[i] = { 0.f, 0.f };
for (size_t x = 0; x < historicalPreds.size(); x++)
{
preds[i] += historicalPreds[x][i];
}
preds[i] = preds[i] / static_cast<float>(historicalPreds.size());
}
for (size_t i = 0; i < LANDMARK_POINT_COUNT; i++)
{
preds[i] = preds[i] + center;
}*/
CalcFromPreds(similarity, cameraMatrix, distortionCoefficients);
}
void FaceStruct::InnerApplyPreds(const std::array<cv::Point2f, LANDMARK_POINT_COUNT>& fromPreds)
@@ -183,16 +149,12 @@ void FaceStruct::InnerApplyPreds(const std::array<cv::Point2f, LANDMARK_POINT_CO
}
}
cv::VideoCapture cap;
FaceLandmarkDetector faceLandmarkDetector;
GLuint lastFrameTexture;
std::array<FaceLandmarkStruct, MAX_FACE_COUNT> faceLandmarkArr;
cv::Mat frame;
@@ -399,9 +361,6 @@ void TMyApplication::InnerDraw()
void TMyApplication::InnerUpdate(size_t dt)
{
cap >> frame; // get a new frame from camera/video or read image
if (frame.empty())
@@ -490,15 +449,11 @@ void TMyApplication::InnerUpdate(size_t dt)
renderImage = renderImage.clone();
#else
cv::Mat renderImage = image;
cv::Mat renderImage = image;
#endif
//cv::Rect frameRect(cv::Point(), renderImage.size());
float focalLength = renderImage.cols;
cv::Point2f center = cv::Point2f(renderImage.cols / 2, renderImage.rows / 2);
cv::Mat cameraMatrix = (cv::Mat_<float>(3, 3) << focalLength, 0, center.x, 0, focalLength, center.y, 0, 0, 1);
cv::Mat distortionCoefficients = cv::Mat::zeros(4, 1, cv::DataType<float>::type);
cv::Mat cameraMatrix = (cv::Mat_<float>(3, 3) << 9.5434798118121421e+02, 0.0, 640.0, 0.0, 9.5434798118121421e+02, 360.0, 0.0, 0.0, 1.0);
cv::Mat distortionCoefficients = (cv::Mat_<float>(5, 1) << 3.5475494652047600e-02, - 5.9818881494543774e-01, 0.0, 0.0, 1.4642154802454528e+00);
for (size_t i = 0; i < faceLandmarkArr.size(); i++)
{
@@ -520,9 +475,11 @@ void TMyApplication::InnerUpdate(size_t dt)
{
if (faceLandmarkArr[index].valid)
{
faceStruct[index].ApplyPreds(faceLandmarkArr[index].landmarkArr, cameraMatrix, distortionCoefficients);
faceStruct[index].ApplyPreds(faceLandmarkArr[index].landmarkArr, faceLandmarkArr[index].similarity, cameraMatrix, distortionCoefficients);
std::ostringstream similarityText;
similarityText << std::setprecision(3) << faceLandmarkArr[index].similarity;
cv::putText(renderImage, similarityText.str(), cv::Point(50, index * 60 + 60), cv::FONT_HERSHEY_SIMPLEX, 0.75, cv::Scalar(0, 0, 0));
for (size_t i = 0; i < LANDMARK_POINT_COUNT; i++)
{
cv::ellipse(renderImage, cv::Point2f(faceStruct[index].preds[i](0), 720 - faceStruct[index].preds[i](1)), cv::Size(2, 2), 0, 0, 360, cv::Scalar(255, 128, 128), 4, 8, 0);
game/main_code.h
+2 -9
View File
@@ -33,15 +33,8 @@ struct FaceStruct
SE::Vector2f center;
SE::Vector2f size;
ValueSmoother centerXSmoother;
ValueSmoother centerYSmoother;
ValueSmoother sizeWidthSmoother;
ValueSmoother sizeHeightSmoother;
std::array<SE::Vector2f, LANDMARK_POINT_COUNT> preds;
//std::vector<std::array<SE::Vector2f, LANDMARK_POINT_COUNT>> historicalPreds;
std::vector<cv::Point3f> modelPoints;
cv::Mat rotationVector;
cv::Mat translationVector;
@@ -62,9 +55,9 @@ struct FaceStruct
FaceStruct(const std::array<cv::Point2f, LANDMARK_POINT_COUNT>& fromPreds, cv::Mat& cameraMatrix, cv::Mat& distortionCoefficients);
void CalcFromPreds(cv::Mat& cameraMatrix, cv::Mat& distortionCoefficients);
void CalcFromPreds(double similarity, cv::Mat& cameraMatrix, cv::Mat& distortionCoefficients);
void ApplyPreds(const std::array<cv::Point2f, LANDMARK_POINT_COUNT>& fromPred, cv::Mat& cameraMatrix, cv::Mat& distortionCoefficientss);
void ApplyPreds(const std::array<cv::Point2f, LANDMARK_POINT_COUNT>& fromPred, double similarity, cv::Mat& cameraMatrix, cv::Mat& distortionCoefficientss);
void InnerApplyPreds(const std::array<cv::Point2f, LANDMARK_POINT_COUNT>& fromPreds);
};