Improved clustering and hand detection, 87%+ on tests (97% on first)

WeiyanZhu · Nov 21, 2017 · 940b170 · 940b170
1 parent 4524d69
commit 940b170
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Showing 23 changed files with 7,455 additions and 2,379 deletions.
diff --git a/Calibration.cpp b/Calibration.cpp
@@ -70,7 +70,7 @@ void Calibration::XYZToUnity(DepthCamera& depth_cam, int num_boards, int board_w
 			{
 				success++;
 				XYZ_points.push_back(cornersXYZ);
-				printf("%d points recorded!\n", cornersXYZ.size());
+				printf("%I64u points recorded!\n", cornersXYZ.size());
 			}
 		}
 

diff --git a/Converter.cpp b/Converter.cpp
@@ -1,64 +1,75 @@
-#include "stdafx.h"
-#include "Converter.h"
-
-/***
-Returns the next frame if next frame is recorded
-Returns the previous frame if next frame is not recorded
-***/
-void Converter::ConvertPXCImageToOpenCVMat(Intel::RealSense::Image *inImg, Intel::RealSense::ImageData data, cv::Mat *outImg) {
-	int cvDataType = 0;
-	int cvDataWidth = 0;
-
-	auto imgInfo = inImg->QueryInfo();
-
-	switch (data.format)
-	{
-		/* STREAM_TYPE_COLOR */
-	case Intel::RealSense::Image::PIXEL_FORMAT_YUY2: /* YUY2 image  */
-	case Intel::RealSense::Image::PIXEL_FORMAT_NV12: /* NV12 image */
-		throw; // Not implemented
-	case Intel::RealSense::Image::PIXEL_FORMAT_RGB32:  /* BGRA layout on a little-endian machine */
-		cvDataType = CV_8UC4;
-		cvDataWidth = 4;
-		break;
-	case Intel::RealSense::Image::PIXEL_FORMAT_RGB24:  /* BGR layout on a little-endian machine */
-		cvDataType = CV_8UC3;
-		cvDataWidth = 3;
-		break;
-	case Intel::RealSense::Image::PIXEL_FORMAT_Y8: /* 8-Bit Gray Image, or IR 8-bit */
-		cvDataType = CV_8U;
-		cvDataWidth = 1;
-		break;
-		/* STREAM_TYPE_DEPTH */
-	case Intel::RealSense::Image::PIXEL_FORMAT_DEPTH:  /* 16-bit unsigned integer with precision mm. */
-	case Intel::RealSense::Image::PIXEL_FORMAT_DEPTH_RAW: /* 16-bit unsigned integer with device specific precision (call device->QueryDepthUnit()) */
-		cvDataType = CV_16U;
-		cvDataWidth = 2;
-		break;
-	case Intel::RealSense::Image::PIXEL_FORMAT_DEPTH_F32: /* 32-bit float-point with precision mm. */
-		cvDataType = CV_32F;
-		cvDataWidth = 4;
-		break;
-		/* STREAM_TYPE_IR */
-	case Intel::RealSense::Image::PIXEL_FORMAT_Y16: /* 16-Bit Gray Image */
-		cvDataType = CV_16U;
-		cvDataWidth = 2;
-		break;
-	case Intel::RealSense::Image::PIXEL_FORMAT_Y8_IR_RELATIVE: /* Relative IR Image */
-		cvDataType = CV_8U;
-		cvDataWidth = 1;
-		break;
-	default:
-		break;
-	}
-
-	// suppose that no other planes
-	if (data.planes[1] != nullptr) throw; // not implemented
-										  // suppose that no sub pixel padding needed
-	if (data.pitches[0] % cvDataWidth != 0) throw; // not implemented
-
-	outImg->create(imgInfo.height, data.pitches[0] / cvDataWidth, cvDataType);
-
-	//memcpy(outImg->data, data.planes[0], imgInfo.height*imgInfo.width*cvDataWidth * sizeof(pxcBYTE));
-	memcpy(outImg->data, data.planes[0], imgInfo.height*imgInfo.width*cvDataWidth * sizeof(uint8_t));
-}
+#include "stdafx.h"
+#include "Converter.h"
+
+/***
+Returns the next frame if next frame is recorded
+Returns the previous frame if next frame is not recorded
+***/
+void Converter::ConvertPXCImageToOpenCVMat(Intel::RealSense::Image *inImg, Intel::RealSense::ImageData data, cv::Mat *outImg) {
+    int cvDataType = 0;
+    int cvDataWidth = 0;
+
+    auto imgInfo = inImg->QueryInfo();
+
+    switch (data.format)
+    {
+        /* STREAM_TYPE_COLOR */
+    case Intel::RealSense::Image::PIXEL_FORMAT_YUY2: /* YUY2 image  */
+        {
+            // special handling for YUY2
+            cv::Mat picYV12 = cv::Mat(imgInfo.height, imgInfo.width, CV_8UC2, data.planes[0], 0);
+            cv::cvtColor(picYV12, *outImg, CV_YUV2BGR_YUY2);
+        }
+        return;
+    case Intel::RealSense::Image::PIXEL_FORMAT_NV12: /* NV12 image */
+        {
+            // special handling for NV12
+            cv::Mat picYV12 = cv::Mat(imgInfo.height, imgInfo.width, CV_8UC3, data.planes[0], 0);
+            cv::cvtColor(picYV12, *outImg, CV_YUV2BGR_NV12);
+        }
+        return;
+    case Intel::RealSense::Image::PIXEL_FORMAT_RGB32:  /* BGRA layout on a little-endian machine */
+        cvDataType = CV_8UC4;
+        cvDataWidth = 4;
+        break;
+    case Intel::RealSense::Image::PIXEL_FORMAT_RGB24:  /* BGR layout on a little-endian machine */
+        cvDataType = CV_8UC3;
+        cvDataWidth = 3;
+        break;
+    case Intel::RealSense::Image::PIXEL_FORMAT_Y8: /* 8-Bit Gray Image, or IR 8-bit */
+        cvDataType = CV_8U;
+        cvDataWidth = 1;
+        break;
+        /* STREAM_TYPE_DEPTH */
+    case Intel::RealSense::Image::PIXEL_FORMAT_DEPTH:  /* 16-bit unsigned integer with precision mm. */
+    case Intel::RealSense::Image::PIXEL_FORMAT_DEPTH_RAW: /* 16-bit unsigned integer with device specific precision (call device->QueryDepthUnit()) */
+        cvDataType = CV_16U;
+        cvDataWidth = 2;
+        break;
+    case Intel::RealSense::Image::PIXEL_FORMAT_DEPTH_F32: /* 32-bit float-point with precision mm. */
+        cvDataType = CV_32F;
+        cvDataWidth = 4;
+        break;
+        /* STREAM_TYPE_IR */
+    case Intel::RealSense::Image::PIXEL_FORMAT_Y16: /* 16-Bit Gray Image */
+        cvDataType = CV_16U;
+        cvDataWidth = 2;
+        break;
+    case Intel::RealSense::Image::PIXEL_FORMAT_Y8_IR_RELATIVE: /* Relative IR Image */
+        cvDataType = CV_8U;
+        cvDataWidth = 1;
+        break;
+    default:
+        break;
+    }
+
+    // suppose that no other planes
+    if (data.planes[1] != nullptr) throw; // not implemented
+                                          // suppose that no sub pixel padding needed
+    if (data.pitches[0] % cvDataWidth != 0) throw; // not implemented
+
+    outImg->create(imgInfo.height, data.pitches[0] / cvDataWidth, cvDataType);
+
+    //memcpy(outImg->data, data.planes[0], imgInfo.height*imgInfo.width*cvDataWidth * sizeof(pxcBYTE));
+    memcpy(outImg->data, data.planes[0], imgInfo.height*imgInfo.width*cvDataWidth);
+}