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bvhGUI2.cpp
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#include "opencv2/opencv.hpp"
/** @file bvhgui.cpp
* @brief This is a simple test file to play with the BVH armature
* #Hands up
* // ./BVHGUI --set 241 290.0 --set 242 80 --set 284 117 --set 283 113
* #Close up hands / face
* // ./BVHGUI --set 1 -70 --set 2 -60 --set 241 290.0 --set 242 80 --set 282 187 --set 283 252 --set 284 112
* @author Ammar Qammaz (AmmarkoV)
*/
#include <stdio.h>
#include "../MocapNETLib2/mocapnet2.hpp"
#include "../MocapNETLib2/IO/bvh.hpp"
#include "../MocapNETLib2/visualization/visualization.hpp"
#include "../MocapNETLib2/visualization/opengl.hpp"
#include <vector>
#include "../../../dependencies/RGBDAcquisition/opengl_acquisition_shared_library/opengl_depth_and_color_renderer/src/Library/MotionCaptureLoader/bvh_loader.h"
#include "../../../dependencies/RGBDAcquisition/opengl_acquisition_shared_library/opengl_depth_and_color_renderer/src/Library/MotionCaptureLoader/edit/bvh_rename.h"
#define NORMAL "\033[0m"
#define BLACK "\033[30m" /* Black */
#define RED "\033[31m" /* Red */
#define GREEN "\033[32m" /* Green */
#define YELLOW "\033[33m" /* Yellow */
using namespace cv;
int visualizeOpenGLEnabled=0;
struct applicationState
{
std::vector<float>bvhConfiguration;
std::vector<std::vector<float> > bvh2DPoints;
unsigned int numberOfBVHMotionValuesPerFrame;
int previousDistance;
int distance;
int positiveRotation;
int negativeRotation;
int previousPositiveRotation;
int previousNegativeRotation;
int rotation;
int selectedMotionChannel,previousSelection;
int visualizationType,previousVisualizationType;
int play;
int stop;
int save;
int copyClipboard;
int frameID;
int numberOfFrames;
int redraw;
};
int controls(cv::Mat & controlMat,struct applicationState * state)
{
cv::imshow("3D Control",controlMat);
cv::createTrackbar("Stop Demo", "3D Control", &state->stop, 1);
cv::createTrackbar("Play", "3D Control", &state->play,1);
cv::createTrackbar("Frame", "3D Control", &state->frameID,state->numberOfFrames);
cv::createTrackbar("Clipboard Pose", "3D Control", &state->copyClipboard, 1);
if (visualizeOpenGLEnabled)
{
cv::createTrackbar("Visualization Type", "3D Control", &state->visualizationType, 1);
}
cv::createTrackbar("Save", "3D Control", &state->save, 1);
cv::createTrackbar("Distance ", "3D Control", &state->distance, 1360);
cv::createTrackbar("Selected Motion Channel", "3D Control", &state->selectedMotionChannel, state->numberOfBVHMotionValuesPerFrame-1);
cv::createTrackbar("Positive Value ", "3D Control", &state->positiveRotation, 360);
cv::createTrackbar("Negative Value ", "3D Control", &state->negativeRotation, 360);
return 1;
}
static void onMouse( int event, int x, int y, int, void* stateUncast)
{
struct applicationState * state = (struct applicationState *) stateUncast;
if( event != EVENT_LBUTTONDOWN )
return;
if (visualizeOpenGLEnabled)
{
clickOpenGLView(x,y,event);
}
else
{
fprintf(stderr,"Unhandled click @ %u,%u \n",x,y);
}
}
int main(int argc, char *argv[])
{
unsigned int visWidth=1920;
unsigned int visHeight=1080;
struct applicationState state;
state.numberOfBVHMotionValuesPerFrame=MOCAPNET_OUTPUT_NUMBER;
state.rotation=0;
state.previousDistance=0;
state.distance=150;
state.numberOfFrames=1;
state.previousSelection=0;
state.selectedMotionChannel=0;
state.visualizationType=0;
state.stop=0;
state.save=0;
state.copyClipboard=0;
state.previousVisualizationType=2;// <- force redraw on first loop
state.redraw=1;
int useBVH=0;
int forcePosition=1; //By default we want the output to be centered..
int forceRotation=0;
float forcedRotation=0;
const char * bvhFilename=0;
struct BVH_MotionCapture bvhMotion= {0};
for (int i=0; i<argc; i++)
{
if (strcmp(argv[i],"--distance")==0)
{
if(argc>i+1)
{
state.distance=atoi(argv[i+1]);
}
}
else if (strcmp(argv[i],"--size")==0)
{
if(argc>i+2)
{
visWidth=atoi(argv[i+1]);
visHeight=atoi(argv[i+2]);
}
}
else if (strcmp(argv[i],"--unconstrained")==0)
{
forcePosition=0;
forceRotation=0;
}
else if (strcmp(argv[i],"--rotation")==0)
{
if(argc>i+1)
{
forceRotation=1;
forcedRotation=atof(argv[i+1]);
state.selectedMotionChannel=4;
state.rotation=atoi(argv[i+1]);
}
}
else if (strcmp(argv[i],"--from")==0)
{
if(argc>i+1)
{
if ( bvh_loadBVH(argv[i+1], &bvhMotion, 1.0) )
{
bvhFilename=argv[i+1];
bvh_renameJointsForCompatibility(&bvhMotion);
state.frameID=0;
state.numberOfFrames=bvhMotion.numberOfFrames;
state.play=1;
state.numberOfBVHMotionValuesPerFrame=bvhMotion.numberOfValuesPerFrame;
useBVH=1;
}
else
{
fprintf(stderr,"File `%s` does not exist\n",argv[i+1]);
return 1;
}
}
}
else
if (strcmp(argv[i],"--opengl")==0)
{
visualizeOpenGLEnabled=1;
state.visualizationType=1;
state.previousVisualizationType=state.visualizationType;
state.redraw=3; //Draw 3 consequtive frames to take care of OGL initialization
state.previousSelection=6;
state.selectedMotionChannel=6;
}
}
if ( !initializeBVHConverter(bvhFilename,visWidth,visHeight,1) )
{
fprintf(stderr,"Failed to initialize BVH code from %s ..\n",bvhFilename);
return 0;
}
if (getBVHNumberOfValuesPerFrame() != state.numberOfBVHMotionValuesPerFrame)
{
fprintf(stderr,"Inconsistency, internal BVH state reports different number of frames compared to external BVH state..\n");
fprintf(stderr,"Internal(%u) External(%u) ..\n",getBVHNumberOfValuesPerFrame(),state.numberOfBVHMotionValuesPerFrame);
fprintf(stderr,"Cannot continue ..\n");
return 0;
}
state.bvhConfiguration.clear();
for (int i=0; i<state.numberOfBVHMotionValuesPerFrame; i++)
{
state.bvhConfiguration.push_back(0.0);
}
state.bvhConfiguration[2]=(float) -1 * state.distance;
fprintf(stderr,"Our bvh configuration will be held in vectors of %lu elements\n",state.bvhConfiguration.size());
fprintf(stderr,"Initializing OpenCV Visualization code ... ");
cv::Mat viewMat = Mat(Size(visWidth,visHeight),CV_8UC3, Scalar(0,0,0));
cv::imshow("BVH", viewMat);
cv::moveWindow("BVH",300,0);
setMouseCallback("BVH", onMouse, (void*) &state );
cv::Mat controlMat = Mat(Size(300,1),CV_8UC3, Scalar(0,0,0));
controls(controlMat,&state);
cv::moveWindow("3D Control",0,0); //y=inputHeight2DJointDetector
fprintf(stderr,"ok!\n");
for (int i=0; i<argc; i++)
{
if (strcmp(argv[i],"--changeJointDimensions")==0)
{
if(argc>i+7)
{
changeJointDimensions(
atof(argv[i+1]),
atof(argv[i+2]),
atof(argv[i+3]),
atof(argv[i+4]),
atof(argv[i+5]),
atof(argv[i+6]),
atof(argv[i+7]),
atof(argv[i+8]),
atof(argv[i+9])
);
}
else
{
fprintf(stderr,"Incorrect number of parameters given..\n");
return 0;
}
}
else if (strcmp(argv[i],"--set")==0)
{
// To focus only on head..
//./BVHGUI2 --set 1 -65 --set 2 -25
// In OpenGL mode
//./BVHGUI2 --set 1 -14.8 --set 2 2 --opengl
// To focus on RHand
// ./BVHGUI2 --from dataset/rhand.bvh --set 2 -45 --set 3 -90 --set 5 -90
if(argc>i+2)
{
unsigned int bvhMotionID = atoi(argv[i+1]);
float bvhMotionValue = atof(argv[i+2]);
unsigned int maximumValidMotionID = getBVHNumberOfValuesPerFrame();
if (useBVH)
{
maximumValidMotionID = bvhMotion.jointHierarchySize;
}
if (bvhMotionID<maximumValidMotionID)
{
char name[512]= {0};
if (useBVH)
{
bvh_getMotionChannelName(&bvhMotion,bvhMotionID,name,512);
bvhMotion.motionValues[bvhMotionID]=bvhMotionValue;
}
else
{
getBVHMotionValueName(bvhMotionID,name,512);
}
fprintf(stderr,YELLOW "joint[%s]=%0.2f\n" NORMAL,name,bvhMotionValue);
state.bvhConfiguration[bvhMotionID]=bvhMotionValue;
if (bvhMotionID==2)
{
state.distance=-1*bvhMotionValue;
}
}
else
{
fprintf(stderr,RED "Set command jID out of bounds ( requested %u , limit is %u )\n" NORMAL,bvhMotionID,maximumValidMotionID);
}
}
else
{
fprintf(stderr,RED "Not enough arguments for set command\n" NORMAL);
}
}
}
while(!state.stop)
{
if (useBVH)
{
unsigned int mIDStart=state.frameID * bvhMotion.numberOfValuesPerFrame;
if (state.bvhConfiguration.size() != state.numberOfBVHMotionValuesPerFrame)
{
fprintf(stderr,"Inconsistency in number of vector allocated and motion values loaded..\n");
}
else if (bvhMotion.numberOfFrames * bvhMotion.numberOfValuesPerFrame != bvhMotion.motionValuesSize)
{
fprintf(stderr,"Inconsistency in number of frames and motion values..\n");
}
else if (mIDStart<bvhMotion.motionValuesSize)
{
for (unsigned int i=0; i<state.numberOfBVHMotionValuesPerFrame; i++)
{
state.bvhConfiguration[i]=bvhMotion.motionValues[(mIDStart+i)%bvhMotion.motionValuesSize];
}
//----------------------------------------------------------------------------------------
if (forcePosition)
{
state.bvhConfiguration[0]=0;
state.bvhConfiguration[1]=0;
state.bvhConfiguration[2]=(float) -1 * state.distance;
}
//----------------------------------------------------------------------------------------
if (forceRotation)
{
state.bvhConfiguration[3]=0;
state.bvhConfiguration[4]=forcedRotation;
state.bvhConfiguration[5]=0;
}
//----------------------------------------------------------------------------------------
if (!state.redraw)
{
state.redraw=1;
}
}
else
{
fprintf(stderr,"Frame %u exceeds allocated number of motion values\n",state.frameID);
}
}
if (state.copyClipboard)
{
char valueStr[10];
char motionVectorStringUnsafe[10000]={0};
snprintf(motionVectorStringUnsafe,10000,"echo \"%0.2f",state.bvhConfiguration[0]);
for (unsigned int i=1; i<state.numberOfBVHMotionValuesPerFrame; i++)
{
snprintf(valueStr,10,",%0.2f",state.bvhConfiguration[i]);
strcat(motionVectorStringUnsafe,valueStr);
}
strcat(motionVectorStringUnsafe,"\" | xclip -selection clipboard");
int i=system(motionVectorStringUnsafe);
if (i!=0)
{
fprintf(stderr,"Failed copying to clipboard.. :( \n");
}
state.copyClipboard=0;
}
if (state.save)
{
std::vector<std::vector<float> > bvhFrames;
bvhFrames.push_back(state.bvhConfiguration);
state.save=0;
controls(controlMat,&state);
writeBVHFile(
"out.bvh",
bvhHeader,
0,// int prependTPose,
bvhFrames
);
fprintf(stderr,GREEN "Saved..\n" NORMAL);
}
if (state.previousDistance!=state.distance)
{
if (!state.redraw)
{
state.redraw=1;
}
state.previousDistance=state.distance;
state.bvhConfiguration[2]=(float) -1 * state.distance;
}
//if (!state.play)
//{
if (state.visualizationType!=state.previousVisualizationType)
{
if (!state.redraw)
{
state.redraw=1;
}
state.previousVisualizationType=state.visualizationType;
}
if (state.selectedMotionChannel!=state.previousSelection)
{
if (!state.redraw)
{
state.redraw=1;
}
state.previousSelection=state.selectedMotionChannel;
state.rotation=state.bvhConfiguration[state.selectedMotionChannel];
if (state.rotation<0)
{
state.negativeRotation=-1*state.rotation;
}
else
{
state.positiveRotation=state.rotation;
}
controls(controlMat,&state);
}
if (state.previousPositiveRotation!=state.positiveRotation)
{
state.previousPositiveRotation=state.positiveRotation;
state.rotation=state.positiveRotation;
}
else if (state.previousNegativeRotation!=state.negativeRotation)
{
state.previousNegativeRotation=state.negativeRotation;
state.rotation=-1* state.negativeRotation;
}
if ( state.bvhConfiguration[state.selectedMotionChannel]!=state.rotation )
{
if (!state.redraw)
{
state.redraw=1;
}
state.bvhConfiguration[state.selectedMotionChannel]=state.rotation;
if (state.rotation<0)
{
state.negativeRotation=-1*state.rotation;
}
else
{
state.positiveRotation=state.rotation;
}
}
// }
if (state.redraw)
{
//fprintf(stderr,"redraw..\n");
memset(viewMat.data,0,visWidth*visHeight*3*sizeof(char));
//cv::Mat * openGLMatForVisualization = 0;
if ( (visualizeOpenGLEnabled) && (state.visualizationType) )
{
//fprintf(stderr,"updateOpenGLView\n");
updateOpenGLView(state.bvhConfiguration);
//fprintf(stderr,"visualizeOpenGL\n");
unsigned int openGLFrameWidth=visWidth,openGLFrameHeight=visHeight;
char * openGLFrame = visualizeOpenGL(&openGLFrameWidth,&openGLFrameHeight);
//=====================================================================
if (openGLFrame!=0)
{
fprintf(stderr,"Got Back an OpenGL frame..!\n");
cv::Mat openGLMat(openGLFrameHeight, openGLFrameWidth, CV_8UC3);
unsigned char * initialPointer = openGLMat.data;
openGLMat.data=(unsigned char * ) openGLFrame;
cv::cvtColor(openGLMat,viewMat,COLOR_RGB2BGR);
openGLMat.data=initialPointer;
}//=====================================================================
else
{
fprintf(stderr,"Failed getting an OpenGL frame..!\n");
}
}
else
{
if (state.bvhConfiguration.size()>0)
{
//fprintf(stderr,"Converting %lu bvh vector\n",state.bvhConfiguration.size());
state.bvh2DPoints = convertBVHFrameTo2DPoints(state.bvhConfiguration);//visWidth,visHeight);
drawSkeleton(viewMat,state.bvh2DPoints,0,0,1);
}
}
char message[1024];
snprintf(message,1024,"Frame : %u / %u",state.frameID,state.numberOfFrames);
cv::putText(viewMat,message, cv::Point(10,30), cv::FONT_HERSHEY_DUPLEX, 0.5, cv::Scalar::all(255), 0.2, 8 );
if (useBVH)
{
char motionChannelName[512];
getBVHMotionValueName(state.selectedMotionChannel,motionChannelName,512);
snprintf(message,1024,"Selected motion channel #%u : %s ( value %0.2f )",state.selectedMotionChannel,motionChannelName,state.bvhConfiguration[state.selectedMotionChannel]);
}
else
{
snprintf(message,1024,"Selected motion channel #%u : %s ( value %0.2f )",state.selectedMotionChannel,MocapNETOutputArrayNames[state.previousSelection],state.bvhConfiguration[state.selectedMotionChannel]);
}
cv::putText(viewMat,message, cv::Point(10,50), cv::FONT_HERSHEY_DUPLEX, 0.5, cv::Scalar::all(255), 0.2, 8 );
if (visualizeOpenGLEnabled)
{
snprintf(message,1024,"OpenGL Model motion channel name : %s",OpenCOLLADANames[state.previousSelection/3]);
cv::putText(viewMat,message, cv::Point(10,70), cv::FONT_HERSHEY_DUPLEX, 0.5, cv::Scalar::all(255), 0.2, 8 );
}
if (state.redraw>=1)
{
--state.redraw;
}
//state.redraw=0;
}
imshow("BVH", viewMat);
waitKey(15);
if (useBVH)
{
if (state.play)
{
++state.frameID;
state.frameID = state.frameID % state.numberOfFrames;
}
}
}
// the camera will be deinitialized automatically in VideoCapture destructor
return 0;
}