sustaining_gazes/lib/local/CppInerop/CameraInterop.h
2016-10-04 21:14:41 -04:00

464 lines
15 KiB
C++
Raw Blame History

This file contains ambiguous Unicode characters

This file contains Unicode characters that might be confused with other characters. If you think that this is intentional, you can safely ignore this warning. Use the Escape button to reveal them.

///////////////////////////////////////////////////////////////////////////////
// Copyright (C) 2016, Carnegie Mellon University and University of Cambridge,
// all rights reserved.
//
// THIS SOFTWARE IS PROVIDED “AS IS” FOR ACADEMIC USE ONLY AND ANY EXPRESS
// OR IMPLIED WARRANTIES WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
// THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS
// BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY.
// OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
// HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
// STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
// Notwithstanding the license granted herein, Licensee acknowledges that certain components
// of the Software may be covered by so-called “open source” software licenses (“Open Source
// Components”), which means any software licenses approved as open source licenses by the
// Open Source Initiative or any substantially similar licenses, including without limitation any
// license that, as a condition of distribution of the software licensed under such license,
// requires that the distributor make the software available in source code format. Licensor shall
// provide a list of Open Source Components for a particular version of the Software upon
// Licensees request. Licensee will comply with the applicable terms of such licenses and to
// the extent required by the licenses covering Open Source Components, the terms of such
// licenses will apply in lieu of the terms of this Agreement. To the extent the terms of the
// licenses applicable to Open Source Components prohibit any of the restrictions in this
// License Agreement with respect to such Open Source Component, such restrictions will not
// apply to such Open Source Component. To the extent the terms of the licenses applicable to
// Open Source Components require Licensor to make an offer to provide source code or
// related information in connection with the Software, such offer is hereby made. Any request
// for source code or related information should be directed to cl-face-tracker-distribution@lists.cam.ac.uk
// Licensee acknowledges receipt of notices for the Open Source Components for the initial
// delivery of the Software.
// * Any publications arising from the use of this software, including but
// not limited to academic journal and conference publications, technical
// reports and manuals, must cite at least one of the following works:
//
// OpenFace: an open source facial behavior analysis toolkit
// Tadas Baltrušaitis, Peter Robinson, and Louis-Philippe Morency
// in IEEE Winter Conference on Applications of Computer Vision, 2016
//
// Rendering of Eyes for Eye-Shape Registration and Gaze Estimation
// Erroll Wood, Tadas Baltrušaitis, Xucong Zhang, Yusuke Sugano, Peter Robinson, and Andreas Bulling
// in IEEE International. Conference on Computer Vision (ICCV), 2015
//
// Cross-dataset learning and person-speci?c normalisation for automatic Action Unit detection
// Tadas Baltrušaitis, Marwa Mahmoud, and Peter Robinson
// in Facial Expression Recognition and Analysis Challenge,
// IEEE International Conference on Automatic Face and Gesture Recognition, 2015
//
// Constrained Local Neural Fields for robust facial landmark detection in the wild.
// Tadas Baltrušaitis, Peter Robinson, and Louis-Philippe Morency.
// in IEEE Int. Conference on Computer Vision Workshops, 300 Faces in-the-Wild Challenge, 2013.
//
///////////////////////////////////////////////////////////////////////////////
// Camera_Interop.h
#pragma once
#pragma unmanaged
// Include all the unmanaged things we need.
#include <opencv2/core/core.hpp>
#include "opencv2/objdetect.hpp"
#include "opencv2/calib3d.hpp"
#include <opencv2/imgcodecs.hpp>
#include <opencv2/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <vector>
#include <set>
#include <OpenCVWrappers.h>
// For camera listings
#include "comet_auto_mf.h"
#include "camera_helper.h"
#pragma managed
#include <msclr\marshal.h>
#include <msclr\marshal_cppstd.h>
namespace CameraInterop {
public ref class CaptureFailedException : System::Exception
{
public:
CaptureFailedException(System::String^ message): Exception(message){}
};
public ref class Capture
{
private:
// OpenCV based video capture for reading from files
cv::VideoCapture* vc;
OpenCVWrappers::RawImage^ latestFrame;
OpenCVWrappers::RawImage^ grayFrame;
double fps;
bool is_webcam;
bool is_image_seq;
int frame_num;
std::vector<std::string>* image_files;
int vid_length;
public:
int width, height;
Capture(int device, int width, int height)
{
assert(device >= 0);
latestFrame = gcnew OpenCVWrappers::RawImage();
vc = new cv::VideoCapture(device);
vc->set(CV_CAP_PROP_FRAME_WIDTH, width);
vc->set(CV_CAP_PROP_FRAME_HEIGHT, height);
is_webcam = true;
is_image_seq = false;
this->width = width;
this->height = height;
vid_length = 0;
frame_num = 0;
int set_width = vc->get(CV_CAP_PROP_FRAME_WIDTH);
int set_height = vc->get(CV_CAP_PROP_FRAME_HEIGHT);
if(!vc->isOpened())
{
throw gcnew CaptureFailedException("Failed to open the webcam");
}
if(set_width != width || set_height != height)
{
throw gcnew CaptureFailedException("Failed to open the webcam with desired resolution");
}
}
Capture(System::String^ videoFile)
{
latestFrame = gcnew OpenCVWrappers::RawImage();
vc = new cv::VideoCapture(msclr::interop::marshal_as<std::string>(videoFile));
fps = vc->get(CV_CAP_PROP_FPS);
is_webcam = false;
is_image_seq = false;
this->width = vc->get(CV_CAP_PROP_FRAME_WIDTH);
this->height = vc->get(CV_CAP_PROP_FRAME_HEIGHT);
vid_length = vc->get(CV_CAP_PROP_FRAME_COUNT);
frame_num = 0;
if(!vc->isOpened())
{
throw gcnew CaptureFailedException("Failed to open the video file");
}
}
// An alternative to using video files is using image sequences
Capture(System::Collections::Generic::List<System::String^>^ image_files)
{
latestFrame = gcnew OpenCVWrappers::RawImage();
is_webcam = false;
is_image_seq = true;
this->image_files = new std::vector<std::string>();
for(int i = 0; i < image_files->Count; ++i)
{
this->image_files->push_back(msclr::interop::marshal_as<std::string>(image_files[i]));
}
vid_length = image_files->Count;
}
static System::Collections::Generic::Dictionary<System::String^, System::Collections::Generic::List<System::Tuple<int,int>^>^>^ GetListingFromFile(std::string filename)
{
// Check what cameras have been written (using OpenCVs XML packages)
cv::FileStorage fs_read(filename, cv::FileStorage::READ);
auto managed_camera_list_initial = gcnew System::Collections::Generic::Dictionary<System::String^, System::Collections::Generic::List<System::Tuple<int,int>^>^>();
cv::FileNode camera_node_list = fs_read["cameras"];
// iterate through a sequence using FileNodeIterator
for(size_t idx = 0; idx < camera_node_list.size(); idx++ )
{
std::string camera_name = (std::string)camera_node_list[idx]["name"];
cv::FileNode resolution_list = camera_node_list[idx]["resolutions"];
auto resolutions = gcnew System::Collections::Generic::List<System::Tuple<int, int>^>();
for(size_t r_idx = 0; r_idx < resolution_list.size(); r_idx++ )
{
int x = (int)resolution_list[r_idx]["x"];
int y = (int)resolution_list[r_idx]["y"];
resolutions->Add(gcnew System::Tuple<int,int>(x, y));
}
managed_camera_list_initial[gcnew System::String(camera_name.c_str())] = resolutions;
}
fs_read.release();
return managed_camera_list_initial;
}
static void WriteCameraListingToFile(System::Collections::Generic::Dictionary<System::String^, System::Collections::Generic::List<System::Tuple<int,int>^>^>^ camera_list, std::string filename)
{
cv::FileStorage fs("camera_list.xml", cv::FileStorage::WRITE);
fs << "cameras" << "[";
for each( System::String^ name_m in camera_list->Keys )
{
std::string name = msclr::interop::marshal_as<std::string>(name_m);
fs << "{:" << "name" << name;
fs << "resolutions" << "[";
auto resolutions = camera_list[name_m];
for(int j = 0; j < resolutions->Count; j++)
{
fs << "{:" << "x" << resolutions[j]->Item1 << "y" << resolutions[j]->Item2;
fs<< "}";
}
fs << "]";
fs << "}";
}
fs << "]";
fs.release();
}
static System::Collections::Generic::List<System::Tuple<System::String^, System::Collections::Generic::List<System::Tuple<int,int>^>^, OpenCVWrappers::RawImage^>^>^ GetCameras(System::String^ root_directory_m)
{
std::string root_directory = msclr::interop::marshal_as<std::string>(root_directory_m);
auto managed_camera_list_initial = GetListingFromFile(root_directory + "camera_list.xml");
auto managed_camera_list = gcnew System::Collections::Generic::List<System::Tuple<System::String^, System::Collections::Generic::List<System::Tuple<int,int>^>^, OpenCVWrappers::RawImage^>^>();
// Using DirectShow for capturing from webcams (for MJPG as has issues with other formats)
comet::auto_mf auto_mf;
std::vector<camera> cameras = camera_helper::get_all_cameras();
// A Surface Pro specific hack, it seems to list webcams in a weird way
for (size_t i = 0; i < cameras.size(); ++i)
{
cameras[i].activate();
std::string name = cameras[i].name();
// TODO, something is odd here
//if(name.compare("Microsoft LifeCam Front") == 0)
//{
// cameras.push_back(cameras[i]);
// cameras.erase(cameras.begin() + i);
//}
}
for (size_t i = 0; i < cameras.size(); ++i)
{
cameras[i].activate();
std::string name = cameras[i].name();
System::String^ name_managed = gcnew System::String(name.c_str());
// List camera media types
auto media_types = cameras[i].media_types();
System::Collections::Generic::List<System::Tuple<int,int>^>^ resolutions;
std::set<std::pair<int, int>> res_set;
// If we have them just use pre-loaded resolutions
if(managed_camera_list_initial->ContainsKey(name_managed))
{
resolutions = managed_camera_list_initial[name_managed];
}
else
{
resolutions = gcnew System::Collections::Generic::List<System::Tuple<int,int>^>();
for (size_t m = 0; m < media_types.size(); ++m)
{
auto media_type_curr = media_types[m];
res_set.insert(std::pair<int, int>(std::pair<int,int>(media_type_curr.resolution().width, media_type_curr.resolution().height)));
}
}
// Grab some sample images and confirm the resolutions
cv::VideoCapture cap1(i);
// Go through resolutions if they have not been identified
if(resolutions->Count == 0)
{
for (auto beg = res_set.begin(); beg != res_set.end(); ++beg)
{
auto resolution = gcnew System::Tuple<int, int>(beg->first, beg->first);
cap1.set(CV_CAP_PROP_FRAME_WIDTH, resolution->Item1);
cap1.set(CV_CAP_PROP_FRAME_HEIGHT, resolution->Item2);
// Add only valid resolutions as API sometimes provides wrong ones
int set_width = cap1.get(CV_CAP_PROP_FRAME_WIDTH);
int set_height = cap1.get(CV_CAP_PROP_FRAME_HEIGHT);
resolution = gcnew System::Tuple<int, int>(set_width, set_height);
if(!resolutions->Contains(resolution))
{
resolutions->Add(resolution);
}
}
managed_camera_list_initial[name_managed] = resolutions;
}
cv::Mat sample_img;
OpenCVWrappers::RawImage^ sample_img_managed = gcnew OpenCVWrappers::RawImage();
// Now that the resolutions have been identified, pick a camera and create a thumbnail
if(resolutions->Count > 0)
{
int resolution_ind = resolutions->Count / 2;
if(resolution_ind >= resolutions->Count)
resolution_ind = resolutions->Count - 1;
auto resolution = resolutions[resolution_ind];
cap1.set(CV_CAP_PROP_FRAME_WIDTH, resolution->Item1);
cap1.set(CV_CAP_PROP_FRAME_HEIGHT, resolution->Item2);
for (int k = 0; k < 5; ++k)
cap1.read(sample_img);
// Flip horizontally
cv::flip(sample_img, sample_img, 1);
}
cap1.~VideoCapture();
sample_img.copyTo(sample_img_managed->Mat);
managed_camera_list->Add(gcnew System::Tuple<System::String^, System::Collections::Generic::List<System::Tuple<int,int>^>^, OpenCVWrappers::RawImage^>(gcnew System::String(name.c_str()), resolutions, sample_img_managed));
}
WriteCameraListingToFile(managed_camera_list_initial, root_directory + "camera_list.xml");
return managed_camera_list;
}
OpenCVWrappers::RawImage^ GetNextFrame(bool mirror)
{
frame_num++;
if(vc != nullptr)
{
bool success = vc->read(latestFrame->Mat);
if (!success)
{
// Indicate lack of success by returning an empty image
cv::Mat empty_mat = cv::Mat();
empty_mat.copyTo(latestFrame->Mat);
return latestFrame;
}
}
else if(is_image_seq)
{
if(image_files->empty())
{
// Indicate lack of success by returning an empty image
cv::Mat empty_mat = cv::Mat();
empty_mat.copyTo(latestFrame->Mat);
return latestFrame;
}
cv::Mat img = cv::imread(image_files->at(0), -1);
img.copyTo(latestFrame->Mat);
// Remove the first frame
image_files->erase(image_files->begin(), image_files->begin() + 1);
}
if (grayFrame == nullptr) {
if (latestFrame->Width > 0) {
grayFrame = gcnew OpenCVWrappers::RawImage(latestFrame->Width, latestFrame->Height, CV_8UC1);
}
}
if(mirror)
{
flip(latestFrame->Mat, latestFrame->Mat, 1);
}
if (grayFrame != nullptr) {
cvtColor(latestFrame->Mat, grayFrame->Mat, CV_BGR2GRAY);
}
return latestFrame;
}
double GetProgress()
{
if(vc != nullptr && is_webcam)
{
return - 1.0;
}
else
{
return (double)frame_num / (double)vid_length;
}
}
bool isOpened()
{
if(vc != nullptr)
return vc->isOpened();
else
{
if(is_image_seq && image_files->size() > 0)
return true;
else
return false;
}
}
OpenCVWrappers::RawImage^ GetCurrentFrameGray() {
return grayFrame;
}
double GetFPS() {
return fps;
}
// Finalizer. Definitely called before Garbage Collection,
// but not automatically called on explicit Dispose().
// May be called multiple times.
!Capture()
{
// Automatically closes capture object before freeing memory.
if(vc != nullptr)
{
vc->~VideoCapture();
}
if(image_files != nullptr)
delete image_files;
}
// Destructor. Called on explicit Dispose() only.
~Capture()
{
this->!Capture();
}
};
}