public void SetConfig(ClassifierParameters value)
{
txtMinSize.Text = value.MinSize.Width.ToString();
txtMaxSize.Text = value.MaxSize.Width.ToString();
txtScale.Text = value.ScaleFactor.ToString();
txtMinNeigh.Text = value.MinNeighbors.ToString();
}
public void SetConfig(ClassifierParameters value)
{
txtMinSize.Text = value.MinSize.Width.ToString();
txtMaxSize.Text = value.MaxSize.Width.ToString();
txtScale.Text = value.ScaleFactor.ToString();
txtMinNeigh.Text = value.MinNeighbors.ToString();
}
public FaceTrackingPanTiltController(IPanTiltMechanism panTiltMech, CaptureConfig captureConfig)
: base(panTiltMech, captureConfig)
{
var environmentService = new EnvironmentService();
var haarEyeFile = new FileInfo(environmentService.GetAbsolutePathFromAssemblyRelative("haarcascades/haarcascade_eye.xml"));
var haarFaceFile = new FileInfo(environmentService.GetAbsolutePathFromAssemblyRelative("haarcascades/haarcascade_frontalface_default.xml"));
_faceDetector = new FaceDetector(haarFaceFile.FullName, haarEyeFile.FullName);
_classifierParams = new ClassifierParameters();
_classifierParams.MaxSize = new Size(40, 40);
}
public void ControlLoad(object sender, EventArgs e)
{
var environmentService = new EnvironmentService();
var haarEyeFile = new FileInfo(environmentService.GetAbsolutePathFromAssemblyRelative("haarcascades/haarcascade_eye.xml"));
var haarFaceFile = new FileInfo(environmentService.GetAbsolutePathFromAssemblyRelative("haarcascades/haarcascade_frontalface_default.xml"));
_faceDetector = new FaceDetector(haarFaceFile.FullName, haarEyeFile.FullName);
_sunglassOverlay2 = new AccessoryOverlay(environmentService.GetAbsolutePathFromAssemblyRelative("Resources/Images/sunglasses2.png"));
_hatOverlay1 = new AccessoryOverlay(environmentService.GetAbsolutePathFromAssemblyRelative("Resources/Images/partyhat.png"));
_classiferParams = new ClassifierParameters();
classifierConfigControl.ConfigChanged += classifierConfigControl_ConfigChanged;
}
public void ControlLoad(object sender, EventArgs e)
{
var environmentService = new EnvironmentService();
var haarEyeFile = new FileInfo(environmentService.GetAbsolutePathFromAssemblyRelative("haarcascades/haarcascade_eye.xml"));
var haarFaceFile = new FileInfo(environmentService.GetAbsolutePathFromAssemblyRelative("haarcascades/haarcascade_frontalface_default.xml"));
_faceDetector = new FaceDetector(haarFaceFile.FullName, haarEyeFile.FullName);
_sunglassOverlay2 = new AccessoryOverlay(environmentService.GetAbsolutePathFromAssemblyRelative("Resources/Images/sunglasses2.png"));
_hatOverlay1 = new AccessoryOverlay(environmentService.GetAbsolutePathFromAssemblyRelative("Resources/Images/partyhat.png"));
_classiferParams = new ClassifierParameters();
classifierConfigControl.ConfigChanged += classifierConfigControl_ConfigChanged;
}
public ClassifierParameters GetConfig()
{
var classifierParameters = new ClassifierParameters();
try
{
var minSizeDimension = Int32.Parse(txtMinSize.Text);
var maxSizeDimension = Int32.Parse(txtMaxSize.Text);
classifierParameters.MinSize = new Size(minSizeDimension, minSizeDimension);
classifierParameters.MaxSize = new Size(maxSizeDimension, maxSizeDimension);
classifierParameters.ScaleFactor = Double.Parse(txtScale.Text);
classifierParameters.MinNeighbors = Int32.Parse(txtMinNeigh.Text);
}
catch (Exception e)
{
classifierParameters = _currentParams;
SetConfig(classifierParameters);
Log.Info(e.Message);
}
return classifierParameters;
}
public ClassifierParameters GetConfig()
{
var classifierParameters = new ClassifierParameters();
try
{
var minSizeDimension = Int32.Parse(txtMinSize.Text);
var maxSizeDimension = Int32.Parse(txtMaxSize.Text);
classifierParameters.MinSize = new Size(minSizeDimension, minSizeDimension);
classifierParameters.MaxSize = new Size(maxSizeDimension, maxSizeDimension);
classifierParameters.ScaleFactor = Double.Parse(txtScale.Text);
classifierParameters.MinNeighbors = Int32.Parse(txtMinNeigh.Text);
}
catch (Exception e)
{
classifierParameters = _currentParams;
SetConfig(classifierParameters);
Log.Info(e.Message);
}
return(classifierParameters);
}
//Expensive collider query optimization that somehow got undone before
public static void UpdateAllProbeColliders(Vector3[] aPositions, Vector3[] bPositions, ref Collider[][] collidingCandidates, ref int[] numberOfColliders, ClassifierParameters grabParameters)
{
for (int i = 0; i < 5; i++)
{
numberOfColliders[i] = Physics.OverlapCapsuleNonAlloc(
point0: aPositions[i],
point1: bPositions[i],
radius: i == 0 ? grabParameters.THUMBTIP_RADIUS : grabParameters.FINGERTIP_RADIUS,
results: collidingCandidates[i],
layerMask: grabParameters.LAYER_MASK,
queryTriggerInteraction: grabParameters.GRAB_TRIGGERS);
}
}
public static void UpdateClassifier(GrabClassifier classifier,
ClassifierParameters grabParameters,
ref Collider[][] collidingCandidates,
ref int[] numberOfColliders,
bool ignoreTemporal = false)
{
// Store actual minimum curl in case we override it with the ignoreTemporal flag.
float tempMinCurl = grabParameters.MINIMUM_CURL;
if (ignoreTemporal)
{
grabParameters.MINIMUM_CURL = -1f;
}
//For each probe (fingertip)
for (int j = 0; j < classifier.probes.Length; j++)
{
//Calculate how extended the finger is
float tempCurl = Vector3.Dot(classifier.probes[j].direction, (j != 0) ? classifier.handDirection : (classifier.handChirality ? 1f : -1f) * classifier.handXBasis);
float curlVelocity = tempCurl - classifier.probes[j].prevTempCurl;
classifier.probes[j].prevTempCurl = tempCurl;
//Determine if this probe is intersecting an object
bool collidingWithObject = false;
for (int i = 0; i < numberOfColliders[j]; i++)
{
if (collidingCandidates[j][i].attachedRigidbody != null && collidingCandidates[j][i].attachedRigidbody == classifier.body)
{
collidingWithObject = true;
break;
}
}
//Nullify above findings if fingers are extended
float conditionalMaxCurlVelocity = (classifier.isGrabbed ?
grabParameters.GRABBED_MAXIMUM_CURL_VELOCITY :
grabParameters.MAXIMUM_CURL_VELOCITY);
collidingWithObject = collidingWithObject &&
(tempCurl < grabParameters.MAXIMUM_CURL) &&
(tempCurl > grabParameters.MINIMUM_CURL) &&
(ignoreTemporal ||
curlVelocity < conditionalMaxCurlVelocity);
//Probes go inside when they intersect, probes come out when they uncurl
if (!classifier.probes[j].isInside)
{
classifier.probes[j].isInside = collidingWithObject;
classifier.probes[j].curl = tempCurl + (j == 0 ? grabParameters.THUMB_STICKINESS : grabParameters.FINGER_STICKINESS);
if (ignoreTemporal)
{
classifier.probes[j].curl = 0f + (j == 0 ? grabParameters.THUMB_STICKINESS : grabParameters.FINGER_STICKINESS);
}
}
else
{
if (tempCurl > classifier.probes[j].curl)
{
classifier.probes[j].isInside = collidingWithObject;
}
}
}
//If thumb and one other finger is "inside" the object, it's a grab!
//This is the trick!
classifier.isThisControllerGrabbing = (classifier.probes[0].isInside && (classifier.probes[1].isInside ||
classifier.probes[2].isInside ||
classifier.probes[3].isInside ||
classifier.probes[4].isInside));
//If grabbing within 10 frames of releasing, discard grab.
//Suppresses spurious regrabs and makes throws work better.
if (classifier.coolDownProgress <= grabParameters.GRAB_COOLDOWN && !ignoreTemporal)
{
if (classifier.isThisControllerGrabbing)
{
classifier.isThisControllerGrabbing = false;
}
classifier.coolDownProgress += Time.fixedDeltaTime;
}
//Determine if the object is near the hand or if it's too far away
if (classifier.isThisControllerGrabbing && !classifier.prevThisControllerGrabbing)
{
bool nearObject = false;
numberOfColliders[5] = Physics.OverlapSphereNonAlloc(classifier.handGrabCenter, grabParameters.MAXIMUM_DISTANCE_FROM_HAND, collidingCandidates[5], grabParameters.LAYER_MASK, grabParameters.GRAB_TRIGGERS);
for (int i = 0; i < numberOfColliders[5]; i++)
{
if (collidingCandidates[5][i].attachedRigidbody != null && collidingCandidates[5][i].attachedRigidbody == classifier.body)
{
nearObject = true;
break;
}
}
if (!nearObject)
{
classifier.isThisControllerGrabbing = false;
classifier.probes[0].isInside = false;
}
}
// Reset the minimum curl parameter if we modified it due to the ignoreTemporal
// flag.
if (ignoreTemporal)
{
grabParameters.MINIMUM_CURL = tempMinCurl;
}
}
void classifierConfigControl_ConfigChanged(object sender, EventArgs e)
{
_classiferParams = classifierConfigControl.GetConfig();
}
private void ClassifierConfigControl_Load(object sender, EventArgs e)
{
_currentParams = new ClassifierParameters();
SetConfig(_currentParams);
}
private void HaarCascadeControl_Load(object sender, EventArgs e)
{
_classiferParams = new ClassifierParameters();
classifierConfigControl.ConfigChanged += classifierConfigControl_ConfigChanged;
SetupComboBox();
}
void classifierConfigControl_ConfigChanged(object sender, EventArgs e)
{
_classiferParams = classifierConfigControl.GetConfig();
}
private void HaarCascadeControl_Load(object sender, EventArgs e)
{
_classiferParams = new ClassifierParameters();
classifierConfigControl.ConfigChanged += classifierConfigControl_ConfigChanged;
SetupComboBox();
}
private void ClassifierConfigControl_Load(object sender, EventArgs e)
{
_currentParams = new ClassifierParameters();
SetConfig(_currentParams);
}
