public void hpFind(Mat mRgba, Mat mGray, WorkingHeadPose hp, Rect[] facesArray)
// public void hpFind(Mat mRgba,Mat mGray,HeadPose hp)
{
int i;
Log.i("HeadPose", "hpFind:Total Faces Found" + facesArray.length);
if (hp.hpstatus == HeadPoseStatus.NONE) {
if (facesArray.length < 1) return;
TempFace = facesArray.clone();
hp.cornerCount = hp.maxCorners;
Rect roi =
new Rect(
(int) facesArray[0].tl().x,
(int) (facesArray[0].tl().y),
facesArray[0].width,
(int) (facesArray[0].height)); // imran
Mat cropped = new Mat();
Mat GrayClone = new Mat();
GrayClone = mGray.clone();
cropped = GrayClone.submat(roi);
hpFindCorners(cropped, hp);
// mGray is untouched
// ******** working fine upto here
// Map face points to model
if (hp.cornerCount < 4) return;
Vector<Point3> points = new Vector<Point3>();
if (hp.corners.total()
> 0) // adding to make sure, copying is done perfectly.imran,was getting exception
{
Log.i("hpFind+", "hp.corners.total()" + hp.corners.total());
Log.i("hpFind+", "hp.cornerCount" + hp.cornerCount);
// Point3 temp1;//=new Point3();
for (i = 0; i < hp.cornerCount; i++) {
if (i == hp.corners.total()) break;
// Log.i("hpFind+","Itertion"+i);
points.add(
new Point3(
(hp.corners.toList().get(i).x / facesArray[0].width) - 0.5,
-(hp.corners.toList().get(i).y / facesArray[0].height) + 0.5,
0.5 * Math.sin(PI * (hp.corners.toList().get(i).x / facesArray[0].width))));
// modelPoints.toList().set(i,
// hpmodel(hp.corners.toList().get(i).x/facesArray[0].width,hp.corners.toList().get(i).x/facesArray[0].height));
// temp1=new Point3((hp.corners.toList().get(i).x/facesArray[0].width) -
// 0.5,-(hp.corners.toList().get(i).y/facesArray[0].height) + 0.5, 0.5 * Math.sin(PI
// *(hp.corners.toList().get(i).x/facesArray[0].width)));
// modelPoints. .p .toList().set .set(i,temp1);
}
modelPoints.fromList(points);
}
// imran example from marker.java , search for Point3f
// Traslate corners from face coordinated to image coordinates
for (i = 0; i < hp.cornerCount; i++) {
if (i == hp.corners.total()) break;
hp.corners.toList().get(i).x += facesArray[0].tl().x;
hp.corners.toList().get(i).y += facesArray[0].br().y;
// hp.corners.toList().set(i, hp.corners.toList().get(i)+facesArray[0].tl().x);
}
hp.corners.copyTo(hp.tempcorners); // .clone();
// Change status
hp.hpstatus = HeadPoseStatus.KEYFRAME;
} else {
if (facesArray.length > 1)
TempFace = facesArray.clone(); // imran assigning here also,to better measure
MatOfPoint2f corners2f = new MatOfPoint2f();
hp.corners.convertTo(corners2f, CvType.CV_32FC2);
hp.previousCorners = corners2f;
corners2f.convertTo(hp.corners, CvType.CV_32S);
hpTrack(mRgba, hp, facesArray);
Point center = new Point();
if (hp.cornerCount < 4) {
hp.hpstatus = HeadPoseStatus.NONE;
return;
}
hp.hpstatus = HeadPoseStatus.TRACKING;
}
if (hp.previousFrame == null) // imran
{
// hp.previousFrame =new Mat(mRgba.width(),mRgba.height(),CvType);
hp.previousFrame = new Mat(mRgba.size(), CvType.CV_8UC4);
}
mRgba.copyTo(hp.previousFrame);
// cvCopy(frame, headPose->previousFrame, NULL);
}
void hpTrack(Mat mRgba, WorkingHeadPose hp, Rect[] facesArray) {
MatOfByte status = new MatOfByte();
// Mat prev=new Mat(mRgba.width(),mRgba.height(),CvType.CV_8UC1);
// Mat curr=new Mat(mRgba.width(),mRgba.height(),CvType.CV_8UC1);
Mat prev = new Mat(mRgba.size(), CvType.CV_8UC1);
Mat curr = new Mat(mRgba.size(), CvType.CV_8UC1);
MatOfPoint2f tmpCorners = new MatOfPoint2f();
MatOfFloat err = new MatOfFloat();
int i, j, count;
TermCriteria optical_flow_termination_criteria =
new TermCriteria(); // =(TermCriteria.MAX_ITER|TermCriteria.EPS,20,.3);// (
// CV_TERMCRIT_ITER | CV_TERMCRIT_EPS, 20, .3 );
optical_flow_termination_criteria.epsilon = .3;
optical_flow_termination_criteria.maxCount = 20;
// Good features to track
Imgproc.cvtColor(hp.previousFrame, prev, Imgproc.COLOR_RGBA2GRAY, 0);
Imgproc.cvtColor(mRgba, curr, Imgproc.COLOR_RGBA2GRAY, 0);
// Video.calcOpticalFlowPyrLK(prev, curr,hp.previousCorners,tmpCorners,status,new MatOfFloat(),
// new Size(10,10), 3,optical_flow_termination_criteria, 0, 1);
// http://stackoverflow.com/questions/12561292/android-using-calcopticalflowpyrlk-with-matofpoint2f
if (hp.previousCorners.total() > 0)
// Video.calcOpticalFlowPyrLK(prev, curr,hp.previousCorners,tmpCorners,status,new
// MatOfFloat(), new Size(11,11),5,optical_flow_termination_criteria, 0, 1);
Video.calcOpticalFlowPyrLK(prev, curr, hp.previousCorners, tmpCorners, status, err);
/*Point[] pointp = hp.previousCorners.toArray();
Point[] pointn = tmpCorners.toArray();
for (Point px : pointp)
{ Core.circle(mRgba, px, 15, new Scalar(255,0,0)); }
for (Point py : pointn)
{ Core.circle(mRgba, py, 5, new Scalar(0,0,255)); }
*/
// Point a,b;
// a=new Point();
// b=new Point();
/*if(TempFace.length>0)
{
for( i = 0; i < hp.tempcorners.total(); i++ )
{
//center.x=facearray1[0].x + hp.corners.toList().get(i).x;
//center.y=facearray1[0].y + hp.corners.toList().get(i).y;
Point a = new Point(TempFace[0].tl().x+hp.tempcorners.toList().get(i).x,TempFace[0].tl().x+hp.tempcorners.toList().get(i).y);
Point b= new Point(TempFace[0].tl().y+tmpCorners.toList().get(i).x,TempFace[0].tl().y+tmpCorners.toList().get(i).y);
Core.line(mRgba, a,b, new Scalar(255,0,0),2);
}
}
*/
count = 0;
for (i = 0; i < hp.cornerCount; i += 1) {
if (i == hp.corners.total()) break;
if (status.toList().get(i) == 1) {
count += 1;
}
}
// Replace headPose->corners and headPose->modelPoints
// imran
// http://stackoverflow.com/questions/11273588/how-to-convert-matofpoint-to-matofpoint2f-in-opencv-java-api
MatOfPoint2f corners2f = new MatOfPoint2f();
hp.corners.convertTo(corners2f, CvType.CV_32FC2);
List<Point> plist = new ArrayList<Point>();
for (i = 0, j = 0; i < hp.cornerCount; i += 1) {
if (i == hp.corners.total()) break;
if (status.toList().get(i) == 1) {
// plist.add(tmpCorners.toList().get(i));
corners2f
.toList()
.set(j, tmpCorners.toList().get(i)); // .get(i)=tmpCorners.toList().get(i);
hp.modelPoints.toList().set(j, hp.modelPoints.toList().get(i));
// =hp.modelPoints.toList().get(i);
// hp.corners[j] = tmpCorners[i];
// headPose->modelPoints[j] = headPose->modelPoints[i];
j += 1;
}
}
// corners2f.fromList(plist);
corners2f.convertTo(hp.corners, CvType.CV_32S);
Log.i("CournerCount", "Reassigning" + count);
hp.cornerCount = count;
}
