front_capture_typing.js

/*jshint esversion: 6 */

var depth_x = 640;
var depth_y = 480;
var plane = 0.042; // On SR300 around 35 cm

// Creates WebGL/WebGL2 context used to upload depth video to texture.
// Algorithm is split to two steps:
// On GPU (in vertex shader)
//   1. Detect “fingertip points.”
//   2. How thick the finger is around the fingertip points.
//
// On CPU:
//   1. Retrieve the data from GPU using transform feedback.
//   2. Select the closest "fingertip point" to camera.
//   3. Calculate the “center of fingertip”, as a center of mass of all
//      connected points to the fingertip.
//   4. Detect down+up movement on the keyboard.
//
function GL(canvasId) {
  var canvas = document.getElementById(canvasId);
  canvas.addEventListener("click", onVideoTouchStart, false);
  var gl = canvas.getContext("webgl2", { antialias: true });
  if (gl) {
    // EXT_color_buffer_float to use single component R32F texture format.
    gl.color_buffer_float_ext = gl.getExtension('EXT_color_buffer_float');
    gl.WEBGL_get_buffer_sub_data_async =
        gl.getExtension("WEBGL_get_buffer_sub_data_async");
    gl.texture_float_linear = gl.getExtension("OES_texture_float_linear");
  }
  if (!gl || !gl.color_buffer_float_ext) {
    alert("The demo doesn't run because it requires WebGL2 support.");
    return;
  }

  gl.enable(gl.BLEND);
  gl.blendFunc(gl.SRC_ALPHA, gl.ONE_MINUS_SRC_ALPHA);

  // Transform feedback vertex shader is used for detecting "finger tip"
  // candidate points. Passes the result as "depth": if it is > 1.0 then the
  // point is potential "center of area" to analyse further on CPU side of
  // algorithm.  
  var tf_vertex_shader = gl.createShader(gl.VERTEX_SHADER);
  gl.shaderSource(tf_vertex_shader, `#version 300 es
    uniform sampler2D s_depth;
    uniform vec2 u_depth_size;
    uniform float u_plane;
    out float depth;

    void main() {
      vec2 depth_pixel;
      depth_pixel.x = mod(float(gl_VertexID) + 0.5, u_depth_size.x);
      depth_pixel.y = clamp(floor(float(gl_VertexID) / u_depth_size.x) + 0.5,
                            0.0, u_depth_size.y);
      vec2 tex_pos = depth_pixel / u_depth_size;

      // As camera face towards user, mirror the display.
      tex_pos.x = 1.0 - tex_pos.x;

      depth = texture(s_depth, tex_pos).r;
      if (depth <= u_plane * 0.1 || depth >= u_plane)
      	return;

      vec2 step = vec2(1.0, 1.0) / u_depth_size;

      float d_0   = texture(s_depth, tex_pos + vec2( 2.0, 0.0) * step).r;
      float d_90  = texture(s_depth, tex_pos + vec2( 0.0, 2.0) * step).r;
      float d_180 = texture(s_depth, tex_pos - vec2( 2.0, 0.0) * step).r;
      float d_270 = texture(s_depth, tex_pos - vec2( 0.0, 2.0) * step).r;
      float d_45_1  = texture(s_depth, tex_pos + vec2( 1.0, 1.0) * step).r;
      float d_135_1 = texture(s_depth, tex_pos + vec2( -1.0, 1.0) * step).r;
      float d_225_1 = texture(s_depth, tex_pos + vec2( -1.0, -1.0) * step).r;
      float d_315_1 = texture(s_depth, tex_pos + vec2( 1.0, -1.0) * step).r;

      // if one these is 0, it means that the point is around the border. Skip
      // as we want to get points in the center of the area.
      if (d_0 * d_90 * d_180 * d_270 * d_45_1 * d_135_1 * d_225_1 * d_315_1 == 0.0) {
        depth = 0.0;
        return;
      }

      // Sample around and increase the distance of samples to the point.
      // The idea is that on distance D all the samples are inside the area
      // but on the distance D + 3, 3 or 4 out of 4 are outside the area. This
      // would make the point "fingertip point" (e.g part of the skeleton) for
      // the area.
      float i = 4.0;
      float inside_count = 4.0;

      for (; i < 30.0; i += 3.0) {
        d_0   =  texture(s_depth, tex_pos + vec2( i, 0.0) * step).r;
        d_90  =  texture(s_depth, tex_pos + vec2( 0.0, i) * step).r;
        d_180 =  texture(s_depth, tex_pos - vec2( i, 0.0) * step).r;
        d_270 =  texture(s_depth, tex_pos - vec2( 0.0, i) * step).r;
        if (d_0 * d_90 * d_180 * d_270 == 0.0) {
          inside_count = sign(d_0) + sign(d_90) + sign(d_180) + sign(d_270);
          break;
        }
      }

      // > 7.0 serves to eliminate "thin" areas. We pass depth > 1.0 through
      // transform feedback, so that CPU side of algorithm would understands
      // that this point is "center of fingertip" point and process it further.
      if (inside_count <= 1.0 && i > 7.0) {
        depth = i + depth;
      }
    }`
  );
  gl.compileShader(tf_vertex_shader);

  var tf_dummy_pixel_shader = gl.createShader(gl.FRAGMENT_SHADER);
  gl.shaderSource(tf_dummy_pixel_shader, `#version 300 es
  	precision mediump float;
    in float depth;
    void main() {
    }`
  );
  gl.compileShader(tf_dummy_pixel_shader);

  var compute_program = gl.createProgram();
  gl.attachShader(compute_program, tf_vertex_shader);
  gl.attachShader(compute_program, tf_dummy_pixel_shader);
  gl.transformFeedbackVaryings(compute_program, ["depth"], gl.INTERLEAVED_ATTRIBS);
  gl.linkProgram(compute_program);
  console.log(gl.getShaderInfoLog(tf_vertex_shader));
  gl.useProgram(compute_program);
  var process_vao = gl.createVertexArray();
  gl.bindVertexArray(process_vao);

  var tf_bo = gl.createBuffer();
  gl.bindBuffer(gl.ARRAY_BUFFER, tf_bo);
  var transform_feedback = gl.createTransformFeedback();
  gl.bindTransformFeedback(gl.TRANSFORM_FEEDBACK, transform_feedback)

  gl.uniform1i(gl.getUniformLocation(compute_program, "s_depth"), 0);
  gl.uniform2f(gl.getUniformLocation(compute_program, "u_depth_size"), depth_x, depth_y);
  gl.uniform1f(gl.getUniformLocation(compute_program, "u_plane"), plane);

  // Rendering vertex and fragment shaders are simple. Fragment shader only
  // needs to display position of calculated "closest fingertip to the camera".
  var render_vao = gl.createVertexArray();
  gl.bindVertexArray(render_vao);
  var vertex_shader = gl.createShader(gl.VERTEX_SHADER);
  gl.shaderSource(vertex_shader, `#version 300 es
    in vec2 v;
    uniform vec2 u_depth_size;
    out vec2 t;
    void main() {
      gl_Position = vec4(1.0 - v.x * 2.0, 1.0 - v.y * 2.0, 0, 1);
      t = v;
    }`
  );
  gl.compileShader(vertex_shader);

  var pixel_shader = gl.createShader(gl.FRAGMENT_SHADER);
  gl.shaderSource(pixel_shader, `#version 300 es
  	precision mediump float;
    uniform sampler2D s_depth;
    uniform vec2 u_pointer;
    uniform float u_plane;
    in vec2 t;
    out vec4 fragColor;
    void main() {
      vec4 tex = texture(s_depth, t);

      float a = sign(tex.r) * ((tex.r < u_plane) ? 0.5 :
          clamp((1.0 / (tex.r - u_plane) * 0.003), 0.0, 0.25));
      // TODO: render  "closest fingertip to the camera" using texture.
      float d = distance(t, u_pointer);
      if (u_pointer.x > -1.0 && d < 0.01) {
        a = 1.0 - 50.0 * d;
      }
      fragColor = vec4(tex.r, tex.r, tex.r, a);
    }`
  );
  gl.compileShader(pixel_shader);

  var program  = gl.createProgram();
  gl.attachShader(program, vertex_shader);
  gl.attachShader(program, pixel_shader);
  gl.linkProgram(program);
  gl.useProgram(program);

  var vertex_location = gl.getAttribLocation(program, "v");
  gl.enableVertexAttribArray(vertex_location);
  gl.uniform1i(gl.getUniformLocation(program, "s_depth"), 0);
  gl.uniform2f(gl.getUniformLocation(program, "u_depth_size"), depth_x, depth_y);
  gl.uniform1f(gl.getUniformLocation(program, "u_plane"), plane);
  gl.uniform2f(gl.getUniformLocation(program, "u_pointer"), -1.0, -1.0);
  
  var vertex_buffer = gl.createBuffer();
  gl.bindBuffer(gl.ARRAY_BUFFER, vertex_buffer);
  gl.bufferData(gl.ARRAY_BUFFER, new Float32Array([0,0,1,0,1,1,0,1]), gl.STATIC_DRAW);

  var index_buffer= gl.createBuffer();
  gl.bindBuffer(gl.ELEMENT_ARRAY_BUFFER, index_buffer);
  gl.bufferData(gl.ELEMENT_ARRAY_BUFFER, new Uint16Array([0,1,2,0,2,3]), gl.STATIC_DRAW);
  gl.bindVertexArray(null);

  // Upload the latest depth frame to this texture.
  var depth_texture = gl.createTexture();
  gl.bindTexture(gl.TEXTURE_2D, depth_texture);
  gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_WRAP_T, gl.CLAMP_TO_EDGE);
  gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_WRAP_S, gl.CLAMP_TO_EDGE);
  const filtering = gl.texture_float_linear ? gl.LINEAR : gl.NEAREST;
  gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_MAG_FILTER, filtering);
  gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_MIN_FILTER, filtering);

  // Framebuffer for reading back the texture.
  var framebuffer = gl.createFramebuffer();
  gl.bindFramebuffer(gl.FRAMEBUFFER, framebuffer);
  gl.framebufferTexture2D(gl.FRAMEBUFFER, gl.COLOR_ATTACHMENT0, gl.TEXTURE_2D,
                          depth_texture, 0);
  gl.bindFramebuffer(gl.FRAMEBUFFER, null);

  gl.vertex_buffer = vertex_buffer;
  gl.vertex_location = vertex_location;
  gl.index_buffer = index_buffer;
  gl.depth_texture = depth_texture;
  gl.framebuffer = framebuffer;
  gl.render_program = program;
  gl.compute_program = compute_program;
  gl.process_vao = process_vao;
  gl.render_vao = render_vao;
  gl.transform_feedback = transform_feedback;
  gl.tf_bo = tf_bo;
  gl.videoLoaded = videoLoaded;
  return gl;
}


var gl;
var u_plane;
var tf_output;

function videoLoaded(video) {
  gl.bindBuffer(gl.ARRAY_BUFFER, gl.tf_bo);
  tf_output = new Float32Array(video.videoWidth * video.videoHeight);
  gl.bufferData(gl.ARRAY_BUFFER, tf_output.length * 4, gl.DYNAMIC_READ);
  gl.bindBuffer(gl.ARRAY_BUFFER, null);
}

var minimum;
var minimum_previous;
var distance_to_previous_minimum;
var current_pos;

// For each element we keep the index of element in direction towards central
// point. When computing if the element is connected to central point, we just
// check the connectivity of element with towards_center.

function extractMinumums() {
  minimum_previous = minimum ? minimum : {"x": -65535, "y": -65535, "depth": 1.0};
  minimum = {"x": -65535, "y": -65535, "depth": 1.0};
  distance_to_previous_minimum = Number.MAX_VALUE;
  // If with the same value and no break, we replace all mins in kernel x kernel
  // square, that have the same value, with one. This is useful for the use case
  // here (typing) - in some other cases (e.g. sculpting) we might want all of
  // the values.
  for(var i = 0; i < tf_output.length; ++i) {
    if (tf_output[i] > 1.0)
      addMinimum(i);
  }


  // Average minimum to compensate for the noise: go through all connected
  // points and calculate the "center of mass" for the shape. In this
  // calculation we disregard the depth values of the points but calculate 
  // the shape center only.
  if (minimum.x >= 0) {
    connected.fill(false);

    var cx = minimum.x;
    var cy = minimum.y;
    var count = 1;
    var xsum = cx;
    var ysum = cy;
    var dsum = minimum.depth;

    connected[0] = true;
    // Filtered width is the width of the area we get from GPU. If the change is
    // < 9 we keep the original so that the results look smooth.
    // TODO: calculate multiple minimum averages for different radius and
    // incorporate constant radius in key press analysis.
    const filtered_width = (current_pos && Math.abs(current_pos.filtered_width -
                                                    minimum.width) < 9)
                           ? Math.max(current_pos.filtered_width, minimum.width)
                           : minimum.width;
    const radius = Math.min(radius_offset.length, filtered_width * 1.3);

    for (var j = 1; j < radius; j++) {
      const r_start = radius_offset[j];
      const r_end = r_start + count_per_radius[j];
      for (var i = r_start; i < r_end; i++) {
        const element_towards_center = towards_center[i];
        // We get the index of element towards center. If the point is not
        // connected to the center, don't bother analyzing it.
        if (!connected[element_towards_center])
          continue;
        var x = cx + xs[i];
        var y = cy + ys[i];
        if (x < 0 || y < 0 || x >= depth_x || y >= depth_y)
          continue;
        const l = tf_output[x + y * depth_x];
        if (l > 0.0) {
          connected[i] = true;
          xsum += x;
          ysum += y;
          dsum += l % 1.0;
          count++;
        }
      }
    }

    current_pos = { "x": Math.round(xsum / count),
                         "y": Math.round(ysum / count),
                         "depth" : minimum.depth,
                         "width": minimum.width,
                         "filtered_width": filtered_width };
    // Render the position.
    gl.uniform2f(gl.getUniformLocation(gl.render_program, "u_pointer"),
                 1.0 - current_pos.x / depth_x, current_pos.y / depth_y);
  } else {
    current_pos = undefined;
    gl.uniform2f(gl.getUniformLocation(gl.render_program, "u_pointer"), -1.0, -1.0);
  }
}

function addMinimum(index) {
  var width_depth = tf_output[index];
  var depth = width_depth % 1.0;
  if (depth < minimum.depth) {
    var x = index % depth_x;
    var y = Math.floor(index / depth_x);
    minimum = {"x": x, "y": y, "depth": depth, "width": Math.floor(width_depth)};
  }
}

// Generated using generate_concentric_circles_indices.js for kernel 60.
// This is used to enumerate through points on the same distance from the center,
// similar to spreading of vawes of concentrical circles and for each point of
// the circle, use towards_center to calculate if the point is connected to the
// center.
var xs = 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var count_per_radius = [1,8,16,20,24,40,36,48,56,56,68,64,80,92,88,96,96,116,120,120,124,144,136,140,152,168,176,164,168,192,188,208,200,208,228,208,232,228,256,248,236,272,264,288,276,272,296,292,312,304,336,324,312,344,324,376,344,360,364,368];
var radius_offset = [0,1,9,25,45,69,109,145,193,249,305,373,437,517,609,697,793,889,1005,1125,1245,1369,1513,1649,1789,1941,2109,2285,2449,2617,2809,2997,3205,3405,3613,3841,4049,4281,4509,4765,5013,5249,5521,5785,6073,6349,6621,6917,7209,7521,7825,8161,8485,8797,9141,9465,9841,10185,10545,10909];
// End of generated.

var connected = new Array(towards_center.length).fill(true);