class SaltwashAR:
# constants
INVERSE_MATRIX = np.array([[ 1.0, 1.0, 1.0, 1.0],
[-1.0,-1.0,-1.0,-1.0],
[-1.0,-1.0,-1.0,-1.0],
[ 1.0, 1.0, 1.0, 1.0]])
def __init__(self):
# initialise config
self.config_provider = ConfigProvider()
# initialise robots
self.rocky_robot = RockyRobot()
self.sporty_robot = SportyRobot()
# initialise webcam
self.webcam = Webcam()
# initialise markers
self.markers = Markers()
self.markers_cache = None
# initialise features
self.features = Features(self.config_provider)
# initialise texture
self.texture_background = None
def _init_gl(self):
glClearColor(0.0, 0.0, 0.0, 0.0)
glClearDepth(1.0)
glDepthFunc(GL_LESS)
glEnable(GL_DEPTH_TEST)
glShadeModel(GL_SMOOTH)
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
gluPerspective(33.7, 1.3, 0.1, 100.0)
glMatrixMode(GL_MODELVIEW)
# load robots frames
self.rocky_robot.load_frames(self.config_provider.animation)
self.sporty_robot.load_frames(self.config_provider.animation)
# start webcam thread
self.webcam.start()
# assign texture
glEnable(GL_TEXTURE_2D)
self.texture_background = glGenTextures(1)
def _draw_scene(self):
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glLoadIdentity()
# reset robots
self.rocky_robot.reset()
self.sporty_robot.reset()
# get image from webcam
image = self.webcam.get_current_frame()
# handle background
self._handle_background(image.copy())
# handle markers
self._handle_markers(image.copy())
# handle features
self.features.handle(self.rocky_robot, self.sporty_robot, image.copy())
glutSwapBuffers()
def _handle_background(self, image):
# let features update background image
image = self.features.update_background_image(image)
# convert image to OpenGL texture format
bg_image = cv2.flip(image, 0)
bg_image = Image.fromarray(bg_image)
ix = bg_image.size[0]
iy = bg_image.size[1]
bg_image = bg_image.tobytes('raw', 'BGRX', 0, -1)
# create background texture
glBindTexture(GL_TEXTURE_2D, self.texture_background)
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST)
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST)
glTexImage2D(GL_TEXTURE_2D, 0, 3, ix, iy, 0, GL_RGBA, GL_UNSIGNED_BYTE, bg_image)
# draw background
glBindTexture(GL_TEXTURE_2D, self.texture_background)
glPushMatrix()
glTranslatef(0.0,0.0,-10.0)
glBegin(GL_QUADS)
glTexCoord2f(0.0, 1.0); glVertex3f(-4.0, -3.0, 0.0)
glTexCoord2f(1.0, 1.0); glVertex3f( 4.0, -3.0, 0.0)
glTexCoord2f(1.0, 0.0); glVertex3f( 4.0, 3.0, 0.0)
glTexCoord2f(0.0, 0.0); glVertex3f(-4.0, 3.0, 0.0)
glEnd( )
glPopMatrix()
def _handle_markers(self, image):
# attempt to detect markers
markers = []
try:
markers = self.markers.detect(image)
except Exception as ex:
print(ex)
# manage markers cache
if markers:
self.markers_cache = markers
elif self.markers_cache:
markers = self.markers_cache
self.markers_cache = None
else:
return
for marker in markers:
rvecs, tvecs, marker_rotation, marker_name = marker
# build view matrix
rmtx = cv2.Rodrigues(rvecs)[0]
view_matrix = np.array([[rmtx[0][0],rmtx[0][1],rmtx[0][2],tvecs[0]],
[rmtx[1][0],rmtx[1][1],rmtx[1][2],tvecs[1]],
[rmtx[2][0],rmtx[2][1],rmtx[2][2],tvecs[2]],
[0.0 ,0.0 ,0.0 ,1.0 ]])
view_matrix = view_matrix * self.INVERSE_MATRIX
view_matrix = np.transpose(view_matrix)
# load view matrix and draw cube
glPushMatrix()
glLoadMatrixd(view_matrix)
if marker_name == ROCKY_ROBOT:
self.rocky_robot.next_frame(marker_rotation, self.features.is_speaking(), self.features.get_emotion())
elif marker_name == SPORTY_ROBOT:
self.sporty_robot.next_frame(marker_rotation, self.features.is_speaking(), self.features.get_emotion())
glColor3f(1.0, 1.0, 1.0)
glPopMatrix()
def main(self):
# setup and run OpenGL
glutInit()
glutInitDisplayMode(GLUT_RGBA | GLUT_DOUBLE | GLUT_DEPTH)
glutInitWindowSize(640, 480)
glutInitWindowPosition(100, 100)
self.window_id = glutCreateWindow('SaltwashAR')
glutDisplayFunc(self._draw_scene)
glutIdleFunc(self._draw_scene)
self._init_gl()
glutMainLoop()
class SaltwashAR:
# constants
INVERSE_MATRIX = np.array([[ 1.0, 1.0, 1.0, 1.0],
[-1.0,-1.0,-1.0,-1.0],
[-1.0,-1.0,-1.0,-1.0],
[ 1.0, 1.0, 1.0, 1.0]])
def __init__(self):
# initialise config
self.config_provider = ConfigProvider()
# initialise robots
self.rocky_robot = RockyRobot()
self.sporty_robot = SportyRobot()
# initialise webcam
self.webcam = Webcam()
# initialise markers
self.markers = Markers()
self.markers_cache = None
# initialise features
self.features = Features(self.config_provider)
# initialise texture
self.texture_background = None
def _init_gl(self):
glClearColor(0.0, 0.0, 0.0, 0.0)
glClearDepth(1.0)
glDepthFunc(GL_LESS)
glEnable(GL_DEPTH_TEST)
glShadeModel(GL_SMOOTH)
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
gluPerspective(33.7, 1.3, 0.1, 100.0)
glMatrixMode(GL_MODELVIEW)
# load robots frames
self.rocky_robot.load_frames(self.config_provider.animation)
self.sporty_robot.load_frames(self.config_provider.animation)
# start webcam thread
self.webcam.start()
# assign texture
glEnable(GL_TEXTURE_2D)
self.texture_background = glGenTextures(1)
def _draw_scene(self):
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glLoadIdentity()
# reset robots
self.rocky_robot.reset()
self.sporty_robot.reset()
# get image from webcam
image = self.webcam.get_current_frame()
# handle background
self._handle_background(image.copy())
# handle markers
self._handle_markers(image.copy())
# handle features
self.features.handle(self.rocky_robot, self.sporty_robot, image.copy())
glutSwapBuffers()
def _handle_background(self, image):
# let features update background image
image = self.features.update_background_image(image)
# convert image to OpenGL texture format
bg_image = cv2.flip(image, 0)
bg_image = Image.fromarray(bg_image)
ix = bg_image.size[0]
iy = bg_image.size[1]
bg_image = bg_image.tobytes('raw', 'BGRX', 0, -1)
# create background texture
glBindTexture(GL_TEXTURE_2D, self.texture_background)
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST)
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST)
glTexImage2D(GL_TEXTURE_2D, 0, 3, ix, iy, 0, GL_RGBA, GL_UNSIGNED_BYTE, bg_image)
# draw background
glBindTexture(GL_TEXTURE_2D, self.texture_background)
glPushMatrix()
glTranslatef(0.0,0.0,-10.0)
glBegin(GL_QUADS)
glTexCoord2f(0.0, 1.0); glVertex3f(-4.0, -3.0, 0.0)
glTexCoord2f(1.0, 1.0); glVertex3f( 4.0, -3.0, 0.0)
glTexCoord2f(1.0, 0.0); glVertex3f( 4.0, 3.0, 0.0)
glTexCoord2f(0.0, 0.0); glVertex3f(-4.0, 3.0, 0.0)
glEnd( )
glPopMatrix()
def _handle_markers(self, image):
# attempt to detect markers
markers = []
try:
markers = self.markers.detect(image)
except Exception as ex:
print(ex)
# manage markers cache
if markers:
self.markers_cache = markers
elif self.markers_cache:
markers = self.markers_cache
self.markers_cache = None
else:
return
for marker in markers:
rvecs, tvecs, marker_rotation, marker_name = marker
# build view matrix
rmtx = cv2.Rodrigues(rvecs)[0]
view_matrix = np.array([[rmtx[0][0],rmtx[0][1],rmtx[0][2],tvecs[0]],
[rmtx[1][0],rmtx[1][1],rmtx[1][2],tvecs[1]],
[rmtx[2][0],rmtx[2][1],rmtx[2][2],tvecs[2]],
[0.0 ,0.0 ,0.0 ,1.0 ]])
view_matrix = view_matrix * self.INVERSE_MATRIX
view_matrix = np.transpose(view_matrix)
# load view matrix and draw cube
glPushMatrix()
glLoadMatrixd(view_matrix)
if marker_name == ROCKY_ROBOT:
self.rocky_robot.next_frame(marker_rotation, self.features.is_speaking(), self.features.get_emotion())
elif marker_name == SPORTY_ROBOT:
self.sporty_robot.next_frame(marker_rotation, self.features.is_speaking(), self.features.get_emotion())
glColor3f(1.0, 1.0, 1.0)
glPopMatrix()
def main(self):
# setup and run OpenGL
glutInit()
glutInitDisplayMode(GLUT_RGBA | GLUT_DOUBLE | GLUT_DEPTH)
glutInitWindowSize(640, 480)
glutInitWindowPosition(100, 100)
glutCreateWindow('SaltwashAR')
glutDisplayFunc(self._draw_scene)
glutIdleFunc(self._draw_scene)
self._init_gl()
glutMainLoop()
