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Merge pull request #6 from ipa-rmb/fuerte_dev
same updates as for electric_dev: merge with new code from goa-tz, tested for electric and fuerte
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cob_people_detection/common/include/cob_people_detection/face_normalizer.h
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| #include <opencv/cv.h> | ||
| #include <opencv/cvaux.h> | ||
| #include <opencv/highgui.h> | ||
| #include <opencv/ml.h> | ||
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| #include <iostream> | ||
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| #include <cob_people_detection/virtual_camera.h> | ||
| #include <boost/lexical_cast.hpp> | ||
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| using namespace cv; | ||
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| namespace FACE{ | ||
| enum TYPE | ||
| { | ||
| LEFTEYE, | ||
| RIGHTEYE, | ||
| NOSE, | ||
| MOUTH, | ||
| }; | ||
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| template <class T> | ||
| class FaceFeatures{ | ||
| public: | ||
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| T lefteye; | ||
| T righteye; | ||
| T nose; | ||
| T mouth; | ||
| FaceFeatures<T>(){}; | ||
| ~FaceFeatures<T>(){}; | ||
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| void sub_offset(int& ox,int& oy) | ||
| { | ||
| this->lefteye.x-=ox; | ||
| this->lefteye.y-=oy; | ||
| this->righteye.x-=ox; | ||
| this->righteye.y-=oy; | ||
| this->mouth.x-=ox; | ||
| this->mouth.y-=oy; | ||
| this->nose.x-=ox; | ||
| this->nose.y-=oy; | ||
| } | ||
| void add_offset(int& ox,int& oy) | ||
| { | ||
| this->lefteye.x+=ox; | ||
| this->lefteye.y+=oy; | ||
| this->righteye.x+=ox; | ||
| this->righteye.y+=oy; | ||
| this->mouth.x+=ox; | ||
| this->mouth.y+=oy; | ||
| this->nose.x+=ox; | ||
| this->nose.y+=oy; | ||
| } | ||
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| void scale(double scale) | ||
| { | ||
| lefteye*=scale; | ||
| righteye*=scale; | ||
| nose*=scale; | ||
| mouth*=scale; | ||
| } | ||
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| std::vector<T> as_vector() | ||
| { | ||
| std::vector<T> vec; | ||
| vec.push_back(lefteye); | ||
| vec.push_back(righteye); | ||
| vec.push_back(nose); | ||
| vec.push_back(mouth); | ||
| return vec; | ||
| }; | ||
| bool valid() | ||
| { | ||
| if(std::isnan(lefteye.x)|| std::isnan(lefteye.y)) return false; | ||
| if(std::isnan(righteye.x)|| std::isnan(righteye.y)) return false; | ||
| if(std::isnan(nose.x)|| std::isnan(nose.y)) return false; | ||
| //if(std::isnan(mouth.x)|| std::isnan(mouth.y)) return false; | ||
| else return true; | ||
| } | ||
| void print() | ||
| { | ||
| std::cout<<"--------------------"<<std::endl; | ||
| std::cout<<"lefteye:\n"; | ||
| std::cout<<lefteye.x<<" , "<<lefteye.y<<" , "<<lefteye.z<<std::endl; | ||
| std::cout<<"righteye:\n"; | ||
| std::cout<<righteye.x<<" , "<<righteye.y<<" , "<<righteye.z<<std::endl; | ||
| std::cout<<"nose:\n"; | ||
| std::cout<<nose.x<<" , "<<nose.y<<" , "<<nose.z<<std::endl; | ||
| std::cout<<"mouth:\n"; | ||
| std::cout<<mouth.x<<" , "<<mouth.y<<" , "<<mouth.y<<std::endl; | ||
| std::cout<<"--------------------"<<std::endl; | ||
| } | ||
| }; | ||
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| }; | ||
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| class FaceNormalizer{ | ||
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| public: | ||
| struct FNConfig | ||
| { | ||
| bool eq_ill; | ||
| bool align; | ||
| bool resize; | ||
| bool cvt2gray; | ||
| }; | ||
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| FaceNormalizer(); | ||
| FaceNormalizer(FNConfig& config); | ||
| FaceNormalizer(int i_epoch_ctr,bool i_debug,bool i_record_scene,std::string i_dbg_path); | ||
| ~FaceNormalizer(); | ||
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| enum TRAFO | ||
| { | ||
| AFFINE, | ||
| PERSPECTIVE, | ||
| }; | ||
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| bool normalizeFace( cv::Mat & img,cv::Size& norm_size); | ||
| bool normalizeFace( cv::Mat & img,cv::Mat& depth,cv::Size& norm_size); | ||
| bool normalizeFace( cv::Mat& RGB, cv::Mat& XYZ, cv::Size& norm_size, cv::Mat& DM); | ||
| void set_norm_face(cv::Size& input_size); | ||
| bool normalize_geometry(cv::Mat& img,TRAFO model); | ||
| void get_transform_affine(cv::Mat& trafo); | ||
| void get_transform_perspective(cv::Mat& trafo); | ||
| bool features_from_color(cv::Mat& img); | ||
| bool detect_feature(cv::Mat& img,cv::Point2f& coords,FACE::TYPE type); | ||
| void dyn_norm_face(); | ||
| void ident_face(); | ||
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| bool normalize_geometry_depth(cv::Mat& img,cv::Mat& depth); | ||
| bool features_from_depth(cv::Mat& depth); | ||
| //void despeckle(cv::Mat& src,cv::Mat& dst); | ||
| void processDM(cv::Mat& dm,cv::Mat& dm_res); | ||
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| // Methods for radiometric normalization | ||
| bool normalize_radiometry(cv::Mat& img); | ||
| void extractVChannel(cv::Mat& img,cv::Mat& V); | ||
| void subVChannel(cv::Mat& img,cv::Mat& V); | ||
| void eqHist(cv::Mat& img); | ||
| void dct(cv::Mat& img); | ||
| void tan(cv::Mat& img); | ||
| void logAbout(cv::Mat& img); | ||
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| // Debug/Output methods | ||
| void dump_features(cv::Mat& img); | ||
| void dump_img(cv::Mat& data,std::string name); | ||
| void showImg(cv::Mat& img,std::string window_name); | ||
| bool save_scene(cv::Mat& depth,cv::Mat& color,std::string path); | ||
| bool read_scene(cv::Mat& depth,cv::Mat& color,std::string path); | ||
| bool captureScene( cv::Mat& img,cv::Mat& depth); | ||
| bool get_feature_correspondences( cv::Mat& img, cv::Mat& depth, std::vector<cv::Point2f>& img_pts,std::vector<cv::Point3f>& obj_pts); | ||
| bool face_coordinate_system(FACE::FaceFeatures<cv::Point3f>& feat_world,FACE::FaceFeatures<cv::Point3f>& feat_local); | ||
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| template <class T> | ||
| void despeckle(cv::Mat& src,cv::Mat& dst) | ||
| { | ||
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| if(src.channels()==1) | ||
| { | ||
| T* lptr=src.ptr<T>(1,0); | ||
| T* rptr=src.ptr<T>(1,2); | ||
| T* mptr=src.ptr<T>(1,1); | ||
| T* uptr=src.ptr<T>(0,1); | ||
| T* dptr=src.ptr<T>(2,1); | ||
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| int normalizer=4; | ||
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| for(int px=2*src.cols+2;px<(dst.rows*src.cols);++px) | ||
| { | ||
| if(*mptr==0) | ||
| { | ||
| normalizer=4; | ||
| if(*lptr==0) normalizer-=1; | ||
| if(*rptr==0) normalizer-=1; | ||
| if(*uptr==0) normalizer-=1; | ||
| if(*dptr==0) normalizer-=1; | ||
| if(normalizer>1)*mptr=(*lptr + *rptr + *uptr +*dptr)/normalizer; | ||
| else *mptr =75; | ||
| } | ||
| ++lptr; | ||
| ++rptr; | ||
| ++mptr; | ||
| ++uptr; | ||
| ++dptr; | ||
| } | ||
| } | ||
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| if(src.channels()==3) | ||
| { | ||
| cv::Vec<T,3>* lptr=src.ptr<cv::Vec<T,3> >(1,0); | ||
| cv::Vec<T,3>* rptr=src.ptr<cv::Vec<T,3> >(1,2); | ||
| cv::Vec<T,3>* mptr=src.ptr<cv::Vec<T,3> >(1,1); | ||
| cv::Vec<T,3>* uptr=src.ptr<cv::Vec<T,3> >(0,1); | ||
| cv::Vec<T,3>* dptr=src.ptr<cv::Vec<T,3> >(2,1); | ||
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| int normalizer=4; | ||
| for(int px=2*src.cols+2;px<(dst.rows*src.cols);++px) | ||
| { | ||
| if((*mptr)[0]==0) | ||
| { | ||
| normalizer=4; | ||
| if((*lptr)[0]==0) normalizer-=1; | ||
| if((*rptr)[0]==0) normalizer-=1; | ||
| if((*uptr)[0]==0) normalizer-=1; | ||
| if((*dptr)[0]==0) normalizer-=1; | ||
| if(normalizer>1)cv::divide((*lptr + *rptr + *uptr +*dptr),normalizer,*mptr); | ||
| else *mptr =75; | ||
| } | ||
| ++lptr; | ||
| ++rptr; | ||
| ++mptr; | ||
| ++uptr; | ||
| ++dptr; | ||
| } | ||
| } | ||
| //cv::medianBlur(dst,dst,3); | ||
| } | ||
| //--------------------------------------------------------- | ||
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| protected: | ||
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| void init(); | ||
| int fail_ctr; | ||
| int epoch_ctr; | ||
| bool debug_; | ||
| bool vis_debug_; | ||
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| bool record_scene; | ||
| std::string debug_path_; | ||
| FNConfig config_; | ||
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| CvHaarClassifierCascade* nose_cascade_; | ||
| CvMemStorage* nose_storage_; | ||
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| CvHaarClassifierCascade* eye_cascade_; | ||
| CvMemStorage* eye_storage_; | ||
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| CvHaarClassifierCascade* eye_l_cascade_; | ||
| CvMemStorage* eye_l_storage_; | ||
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| CvHaarClassifierCascade* eye_r_cascade_; | ||
| CvMemStorage* eye_r_storage_; | ||
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| CvHaarClassifierCascade* mouth_cascade_; | ||
| CvMemStorage* mouth_storage_; | ||
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| FACE::FaceFeatures<cv::Point2f> f_det_img_, f_norm_img_; | ||
| FACE::FaceFeatures<cv::Point3f> f_det_xyz_; | ||
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| cv::Size norm_size_; | ||
| cv::Size input_size_; | ||
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| VirtualCamera kinect; | ||
| }; |
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