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d/ht: split ht_image_math into source and header
This commit is contained in:
Simon Zeni
Moses Turner
parent
44b46a28bf
commit
83630efc3d
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@ -217,7 +217,7 @@ if(XRT_BUILD_DRIVER_HANDTRACKING)
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ht/ht_interface.h
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ht/ht_models.hpp
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ht/ht_hand_math.cpp
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ht/ht_image_math.hpp
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ht/ht_image_math.cpp
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ht/ht_nms.hpp
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ht/templates/NaivePermutationSort.hpp)
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target_link_libraries(drv_ht PRIVATE xrt-interfaces aux_os aux_util aux_math aux_gstreamer ONNXRuntime::ONNXRuntime ${OpenCV_LIBRARIES})
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241
src/xrt/drivers/ht/ht_image_math.cpp
Normal file
241
src/xrt/drivers/ht/ht_image_math.cpp
Normal file
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@ -0,0 +1,241 @@
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// Copyright 2021, Collabora, Ltd.
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// SPDX-License-Identifier: BSL-1.0
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/*!
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* @file
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* @brief Helper math to do things with images for the camera-based hand tracker
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* @author Moses Turner <moses@collabora.com>
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* @ingroup drv_ht
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*/
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#include "math/m_vec2.h"
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#include "math/m_vec3.h"
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#include "ht_image_math.hpp"
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#include <opencv2/imgproc.hpp>
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#include <opencv2/core/mat.hpp>
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#include <opencv2/core/types.hpp>
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cv::Scalar
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hsv2rgb(float fH, float fS, float fV)
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{
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const float fC = fV * fS; // Chroma
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const float fHPrime = fmod(fH / 60.0, 6);
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const float fX = fC * (1 - fabs(fmod(fHPrime, 2) - 1));
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const float fM = fV - fC;
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float fR, fG, fB;
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if (0 <= fHPrime && fHPrime < 1) {
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fR = fC;
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fG = fX;
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fB = 0;
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} else if (1 <= fHPrime && fHPrime < 2) {
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fR = fX;
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fG = fC;
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fB = 0;
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} else if (2 <= fHPrime && fHPrime < 3) {
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fR = 0;
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fG = fC;
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fB = fX;
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} else if (3 <= fHPrime && fHPrime < 4) {
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fR = 0;
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fG = fX;
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fB = fC;
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} else if (4 <= fHPrime && fHPrime < 5) {
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fR = fX;
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fG = 0;
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fB = fC;
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} else if (5 <= fHPrime && fHPrime < 6) {
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fR = fC;
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fG = 0;
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fB = fX;
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} else {
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fR = 0;
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fG = 0;
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fB = 0;
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}
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fR += fM;
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fG += fM;
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fB += fM;
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return {fR * 255.0f, fG * 255.0f, fB * 255.0f};
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}
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struct xrt_vec3
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raycoord(struct ht_view *htv, struct xrt_vec3 model_out)
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{
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cv::Mat in_px_coords(1, 1, CV_32FC2);
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float *write_in;
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write_in = in_px_coords.ptr<float>(0);
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write_in[0] = model_out.x;
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write_in[1] = model_out.y;
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cv::Mat out_ray(1, 1, CV_32FC2);
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cv::fisheye::undistortPoints(in_px_coords, out_ray, htv->cameraMatrix, htv->distortion);
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float n_x = out_ray.at<float>(0, 0);
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float n_y = out_ray.at<float>(0, 1);
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struct xrt_vec3 n = {n_x, n_y, 1.0f};
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cv::Matx33f R = htv->rotate_camera_to_stereo_camera;
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struct xrt_vec3 o = {
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(n.x * R(0, 0)) + (n.y * R(0, 1)) + (n.z * R(0, 2)),
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(n.x * R(1, 0)) + (n.y * R(1, 1)) + (n.z * R(1, 2)),
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(n.x * R(2, 0)) + (n.y * R(2, 1)) + (n.z * R(2, 2)),
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};
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math_vec3_scalar_mul(1.0f / o.z, &o);
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return o;
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}
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cv::Matx23f
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blackbar(cv::Mat &in, cv::Mat &out, xrt_size out_size)
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{
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#if 1
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// Easy to think about, always right, but pretty slow:
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// Get a matrix from the original to the scaled down / blackbar'd image, then get one that goes back.
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// Then just warpAffine() it.
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// Easy in programmer time - never have to worry about off by one, special cases. We can come back and optimize
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// later.
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// Do the black bars need to be on top and bottom, or on left and right?
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float scale_down_w = (float)out_size.w / (float)in.cols; // 128/1280 = 0.1
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float scale_down_h = (float)out_size.h / (float)in.rows; // 128/800 = 0.16
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float scale_down = fmin(scale_down_w, scale_down_h); // 0.1
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float width_inside = (float)in.cols * scale_down;
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float height_inside = (float)in.rows * scale_down;
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float translate_x = (out_size.w - width_inside) / 2; // should be 0 for 1280x800
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float translate_y = (out_size.h - height_inside) / 2; // should be (1280-800)/2 = 240
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cv::Matx23f go;
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// clang-format off
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go(0,0) = scale_down; go(0,1) = 0.0f; go(0,2) = translate_x;
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go(1,0) = 0.0f; go(1,1) = scale_down; go(1,2) = translate_y;
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// clang-format on
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cv::warpAffine(in, out, go, cv::Size(out_size.w, out_size.h));
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cv::Matx23f ret;
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// clang-format off
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ret(0,0) = 1.0f/scale_down; ret(0,1) = 0.0f; ret(0,2) = -translate_x/scale_down;
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ret(1,0) = 0.0f; ret(1,1) = 1.0f/scale_down; ret(1,2) = -translate_y/scale_down;
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// clang-format on
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return ret;
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#else
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// Fast, always wrong if the input isn't square. You'd end up using something like this, plus some
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// copyMakeBorder if you want to optimize.
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if (aspect_ratio_input == aspect_ratio_output) {
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cv::resize(in, out, {out_size.w, out_size.h});
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cv::Matx23f ret;
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float scale_from_out_to_in = (float)in.cols / (float)out_size.w;
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// clang-format off
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ret(0,0) = scale_from_out_to_in; ret(0,1) = 0.0f; ret(0,2) = 0.0f;
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ret(1,0) = 0.0f; ret(1,1) = scale_from_out_to_in; ret(1,2) = 0.0f;
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// clang-format on
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cv::imshow("hi", out);
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cv::waitKey(1);
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return ret;
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}
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assert(!"Uh oh! Unimplemented!");
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return {};
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#endif
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}
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void
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handDot(cv::Mat &mat, xrt_vec2 place, float radius, float hue, float intensity, int type)
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{
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cv::circle(mat, {(int)place.x, (int)place.y}, radius, hsv2rgb(hue * 360.0f, intensity, intensity), type);
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}
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void
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centerAndRotationFromJoints(struct ht_view *htv,
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const xrt_vec2 *wrist,
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const xrt_vec2 *index,
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const xrt_vec2 *middle,
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const xrt_vec2 *little,
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xrt_vec2 *out_center,
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xrt_vec2 *out_wrist_to_middle)
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{
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// Close to what Mediapipe does, but slightly different - just uses the middle proximal instead of "estimating"
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// it from the pinky and index.
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// at the end of the day I should probably do that basis vector filtering thing to get a nicer middle metacarpal
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// from 6 keypoints (not thumb proximal) OR SHOULD I. because distortion. hmm
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// Feel free to look at the way MP does it, you can see it's different.
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// https://github.com/google/mediapipe/blob/master/mediapipe/modules/holistic_landmark/calculators/hand_detections_from_pose_to_rects_calculator.cc
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// struct xrt_vec2 hand_center = m_vec2_mul_scalar(middle, 0.5) + m_vec2_mul_scalar(index, 0.5*(2.0f/3.0f)) +
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// m_vec2_mul_scalar(little, 0.5f*((1.0f/3.0f))); // Middle proximal, straight-up.
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// U_LOG_E("%f %f %f %f %f %f %f %f ", wrist.x, wrist.y, index.x, index.y, middle.x, middle.y, little.x,
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// little.y);
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*out_center = m_vec2_lerp(*middle, m_vec2_lerp(*index, *little, 1.0f / 3.0f), 0.25f);
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*out_wrist_to_middle = *out_center - *wrist;
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}
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struct DetectionModelOutput
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rotatedRectFromJoints(struct ht_view *htv, xrt_vec2 center, xrt_vec2 wrist_to_middle, DetectionModelOutput *out)
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{
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float box_size = m_vec2_len(wrist_to_middle) * 2.0f * 1.73f;
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double rot = atan2(wrist_to_middle.x, wrist_to_middle.y) * (-180.0f / M_PI);
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out->rotation = rot;
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out->size = box_size;
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out->center = center;
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cv::RotatedRect rrect =
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cv::RotatedRect(cv::Point2f(out->center.x, out->center.y), cv::Size2f(out->size, out->size), out->rotation);
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cv::Point2f vertices[4];
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rrect.points(vertices);
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if (htv->htd->debug_scribble && htv->htd->dynamic_config.scribble_bounding_box) {
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for (int i = 0; i < 4; i++) {
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cv::Scalar b = cv::Scalar(10, 30, 30);
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if (i == 3) {
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b = cv::Scalar(255, 255, 0);
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}
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cv::line(htv->debug_out_to_this, vertices[i], vertices[(i + 1) % 4], b, 2);
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}
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}
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// topright is 0. bottomright is 1. bottomleft is 2. topleft is 3.
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cv::Point2f src_tri[3] = {vertices[3], vertices[2], vertices[1]}; // top-left, bottom-left, bottom-right
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cv::Point2f dest_tri[3] = {cv::Point2f(0, 0), cv::Point2f(0, 224), cv::Point2f(224, 224)};
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out->warp_there = getAffineTransform(src_tri, dest_tri);
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out->warp_back = getAffineTransform(dest_tri, src_tri);
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// out->wrist = wrist;
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return *out;
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}
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void
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planarize(cv::Mat &input, uint8_t *output)
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{
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// output better be the right size, because we are not doing any bounds checking!
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assert(input.isContinuous());
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int lix = input.cols;
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int liy = input.rows;
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cv::Mat planes[3];
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cv::split(input, planes);
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cv::Mat red = planes[0];
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cv::Mat green = planes[1];
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cv::Mat blue = planes[2];
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memcpy(output, red.data, lix * liy);
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memcpy(output + (lix * liy), green.data, lix * liy);
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memcpy(output + (lix * liy * 2), blue.data, lix * liy);
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}
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@ -9,164 +9,31 @@
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#pragma once
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#include "xrt/xrt_defines.h"
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#include "math/m_api.h"
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#include "math/m_vec2.h"
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#include "math/m_vec3.h"
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#include "ht_driver.hpp"
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#include <opencv2/calib3d.hpp>
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#include <opencv2/core/matx.hpp>
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#include <opencv2/imgproc.hpp>
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#include <opencv2/core/mat.hpp>
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#include <opencv2/core/types.hpp>
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struct ht_view;
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static cv::Scalar
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hsv2rgb(float fH, float fS, float fV)
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{
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float fC = fV * fS; // Chroma
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float fHPrime = fmod(fH / 60.0, 6);
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float fX = fC * (1 - fabs(fmod(fHPrime, 2) - 1));
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float fM = fV - fC;
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float fR, fG, fB;
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if (0 <= fHPrime && fHPrime < 1) {
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fR = fC;
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fG = fX;
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fB = 0;
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} else if (1 <= fHPrime && fHPrime < 2) {
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fR = fX;
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fG = fC;
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fB = 0;
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} else if (2 <= fHPrime && fHPrime < 3) {
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fR = 0;
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fG = fC;
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fB = fX;
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} else if (3 <= fHPrime && fHPrime < 4) {
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fR = 0;
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fG = fX;
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fB = fC;
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} else if (4 <= fHPrime && fHPrime < 5) {
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fR = fX;
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fG = 0;
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fB = fC;
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} else if (5 <= fHPrime && fHPrime < 6) {
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fR = fC;
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fG = 0;
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fB = fX;
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} else {
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fR = 0;
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fG = 0;
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fB = 0;
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}
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fR += fM;
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fG += fM;
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fB += fM;
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return {fR * 255.0f, fG * 255.0f, fB * 255.0f};
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}
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static xrt_vec3
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raycoord(struct ht_view *htv, struct xrt_vec3 model_out)
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{
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cv::Mat in_px_coords(1, 1, CV_32FC2);
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float *write_in;
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write_in = in_px_coords.ptr<float>(0);
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write_in[0] = model_out.x;
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write_in[1] = model_out.y;
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cv::Mat out_ray(1, 1, CV_32FC2);
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cv::fisheye::undistortPoints(in_px_coords, out_ray, htv->cameraMatrix, htv->distortion);
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float n_x = out_ray.at<float>(0, 0);
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float n_y = out_ray.at<float>(0, 1);
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struct xrt_vec3 n = {n_x, n_y, 1.0f};
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cv::Matx33f R = htv->rotate_camera_to_stereo_camera;
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struct xrt_vec3 o = {
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(n.x * R(0, 0)) + (n.y * R(0, 1)) + (n.z * R(0, 2)),
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(n.x * R(1, 0)) + (n.y * R(1, 1)) + (n.z * R(1, 2)),
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(n.x * R(2, 0)) + (n.y * R(2, 1)) + (n.z * R(2, 2)),
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};
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math_vec3_scalar_mul(1.0f / o.z, &o);
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return o;
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}
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cv::Scalar
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hsv2rgb(float fH, float fS, float fV);
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struct xrt_vec3
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raycoord(struct ht_view *htv, struct xrt_vec3 model_out);
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/*!
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* Returns a 2x3 transform matrix that takes you back from the blackbarred image to the original image.
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*/
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static cv::Matx23f
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blackbar(cv::Mat &in, cv::Mat &out, xrt_size out_size)
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{
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#if 1
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// Easy to think about, always right, but pretty slow:
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// Get a matrix from the original to the scaled down / blackbar'd image, then get one that goes back.
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// Then just warpAffine() it.
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// Easy in programmer time - never have to worry about off by one, special cases. We can come back and optimize
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// later.
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// Do the black bars need to be on top and bottom, or on left and right?
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float scale_down_w = (float)out_size.w / (float)in.cols; // 128/1280 = 0.1
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float scale_down_h = (float)out_size.h / (float)in.rows; // 128/800 = 0.16
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float scale_down = fmin(scale_down_w, scale_down_h); // 0.1
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float width_inside = (float)in.cols * scale_down;
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float height_inside = (float)in.rows * scale_down;
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float translate_x = (out_size.w - width_inside) / 2; // should be 0 for 1280x800
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float translate_y = (out_size.h - height_inside) / 2; // should be (1280-800)/2 = 240
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cv::Matx23f go;
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// clang-format off
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go(0,0) = scale_down; go(0,1) = 0.0f; go(0,2) = translate_x;
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go(1,0) = 0.0f; go(1,1) = scale_down; go(1,2) = translate_y;
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// clang-format on
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cv::warpAffine(in, out, go, cv::Size(out_size.w, out_size.h));
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cv::Matx23f ret;
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// clang-format off
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ret(0,0) = 1.0f/scale_down; ret(0,1) = 0.0f; ret(0,2) = -translate_x/scale_down;
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ret(1,0) = 0.0f; ret(1,1) = 1.0f/scale_down; ret(1,2) = -translate_y/scale_down;
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// clang-format on
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return ret;
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#else
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// Fast, always wrong if the input isn't square. You'd end up using something like this, plus some
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// copyMakeBorder if you want to optimize.
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if (aspect_ratio_input == aspect_ratio_output) {
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cv::resize(in, out, {out_size.w, out_size.h});
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cv::Matx23f ret;
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float scale_from_out_to_in = (float)in.cols / (float)out_size.w;
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// clang-format off
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ret(0,0) = scale_from_out_to_in; ret(0,1) = 0.0f; ret(0,2) = 0.0f;
|
||||
ret(1,0) = 0.0f; ret(1,1) = scale_from_out_to_in; ret(1,2) = 0.0f;
|
||||
// clang-format on
|
||||
cv::imshow("hi", out);
|
||||
cv::waitKey(1);
|
||||
return ret;
|
||||
}
|
||||
assert(!"Uh oh! Unimplemented!");
|
||||
return {};
|
||||
#endif
|
||||
}
|
||||
cv::Matx23f
|
||||
blackbar(cv::Mat &in, cv::Mat &out, xrt_size out_size);
|
||||
|
||||
/*!
|
||||
* This is a template so that we can use xrt_vec3 or xrt_vec2.
|
||||
* Please don't use this for anything other than xrt_vec3 or xrt_vec2!
|
||||
*/
|
||||
|
||||
template <typename T>
|
||||
T
|
||||
transformVecBy2x3(T in, cv::Matx23f warp_back)
|
||||
|
|
@ -178,91 +45,20 @@ transformVecBy2x3(T in, cv::Matx23f warp_back)
|
|||
}
|
||||
|
||||
//! Draw some dots. Factors out some boilerplate.
|
||||
static void
|
||||
handDot(cv::Mat &mat, xrt_vec2 place, float radius, float hue, float intensity, int type)
|
||||
{
|
||||
cv::circle(mat, {(int)place.x, (int)place.y}, radius, hsv2rgb(hue * 360.0f, intensity, intensity), type);
|
||||
}
|
||||
void
|
||||
handDot(cv::Mat &mat, xrt_vec2 place, float radius, float hue, float intensity, int type);
|
||||
|
||||
static void
|
||||
void
|
||||
centerAndRotationFromJoints(struct ht_view *htv,
|
||||
const xrt_vec2 *wrist,
|
||||
const xrt_vec2 *index,
|
||||
const xrt_vec2 *middle,
|
||||
const xrt_vec2 *little,
|
||||
xrt_vec2 *out_center,
|
||||
xrt_vec2 *out_wrist_to_middle)
|
||||
{
|
||||
// Close to what Mediapipe does, but slightly different - just uses the middle proximal instead of "estimating"
|
||||
// it from the pinky and index.
|
||||
// at the end of the day I should probably do that basis vector filtering thing to get a nicer middle metacarpal
|
||||
// from 6 keypoints (not thumb proximal) OR SHOULD I. because distortion. hmm
|
||||
xrt_vec2 *out_wrist_to_middle);
|
||||
|
||||
// Feel free to look at the way MP does it, you can see it's different.
|
||||
// https://github.com/google/mediapipe/blob/master/mediapipe/modules/holistic_landmark/calculators/hand_detections_from_pose_to_rects_calculator.cc
|
||||
struct DetectionModelOutput
|
||||
rotatedRectFromJoints(struct ht_view *htv, xrt_vec2 center, xrt_vec2 wrist_to_middle, DetectionModelOutput *out);
|
||||
|
||||
// struct xrt_vec2 hand_center = m_vec2_mul_scalar(middle, 0.5) + m_vec2_mul_scalar(index, 0.5*(2.0f/3.0f)) +
|
||||
// m_vec2_mul_scalar(little, 0.5f*((1.0f/3.0f))); // Middle proximal, straight-up.
|
||||
// U_LOG_E("%f %f %f %f %f %f %f %f ", wrist.x, wrist.y, index.x, index.y, middle.x, middle.y, little.x,
|
||||
// little.y);
|
||||
*out_center = m_vec2_lerp(*middle, m_vec2_lerp(*index, *little, 1.0f / 3.0f), 0.25f);
|
||||
|
||||
*out_wrist_to_middle = *out_center - *wrist;
|
||||
}
|
||||
|
||||
static DetectionModelOutput
|
||||
rotatedRectFromJoints(struct ht_view *htv, xrt_vec2 center, xrt_vec2 wrist_to_middle, DetectionModelOutput *out)
|
||||
{
|
||||
float box_size = m_vec2_len(wrist_to_middle) * 2.0f * 1.73f;
|
||||
|
||||
double rot = atan2(wrist_to_middle.x, wrist_to_middle.y) * (-180.0f / M_PI);
|
||||
|
||||
out->rotation = rot;
|
||||
out->size = box_size;
|
||||
out->center = center;
|
||||
|
||||
cv::RotatedRect rrect =
|
||||
cv::RotatedRect(cv::Point2f(out->center.x, out->center.y), cv::Size2f(out->size, out->size), out->rotation);
|
||||
|
||||
|
||||
cv::Point2f vertices[4];
|
||||
rrect.points(vertices);
|
||||
if (htv->htd->debug_scribble && htv->htd->dynamic_config.scribble_bounding_box) {
|
||||
for (int i = 0; i < 4; i++) {
|
||||
cv::Scalar b = cv::Scalar(10, 30, 30);
|
||||
if (i == 3) {
|
||||
b = cv::Scalar(255, 255, 0);
|
||||
}
|
||||
cv::line(htv->debug_out_to_this, vertices[i], vertices[(i + 1) % 4], b, 2);
|
||||
}
|
||||
}
|
||||
// topright is 0. bottomright is 1. bottomleft is 2. topleft is 3.
|
||||
|
||||
cv::Point2f src_tri[3] = {vertices[3], vertices[2], vertices[1]}; // top-left, bottom-left, bottom-right
|
||||
|
||||
cv::Point2f dest_tri[3] = {cv::Point2f(0, 0), cv::Point2f(0, 224), cv::Point2f(224, 224)};
|
||||
|
||||
out->warp_there = getAffineTransform(src_tri, dest_tri);
|
||||
out->warp_back = getAffineTransform(dest_tri, src_tri);
|
||||
|
||||
// out->wrist = wrist;
|
||||
|
||||
return *out;
|
||||
}
|
||||
|
||||
static void
|
||||
planarize(cv::Mat &input, uint8_t *output)
|
||||
{
|
||||
// output better be the right size, because we are not doing any bounds checking!
|
||||
assert(input.isContinuous());
|
||||
int lix = input.cols;
|
||||
int liy = input.rows;
|
||||
cv::Mat planes[3];
|
||||
cv::split(input, planes);
|
||||
cv::Mat red = planes[0];
|
||||
cv::Mat green = planes[1];
|
||||
cv::Mat blue = planes[2];
|
||||
memcpy(output, red.data, lix * liy);
|
||||
memcpy(output + (lix * liy), green.data, lix * liy);
|
||||
memcpy(output + (lix * liy * 2), blue.data, lix * liy);
|
||||
}
|
||||
void
|
||||
planarize(cv::Mat &input, uint8_t *output);
|
||||
|
|
|
|||
|
|
@ -92,7 +92,7 @@ lib_drv_ht = static_library(
|
|||
'ht/ht_interface.h',
|
||||
'ht/ht_models.hpp',
|
||||
'ht/ht_hand_math.cpp',
|
||||
'ht/ht_image_math.hpp',
|
||||
'ht/ht_image_math.cpp',
|
||||
'ht/ht_nms.hpp',
|
||||
'ht/templates/NaivePermutationSort.hpp',
|
||||
),
|
||||
|
|
|
|||
Loading…
Reference in a new issue