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gstzedodoverlay.cpp
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// /////////////////////////////////////////////////////////////////////////
//
// Copyright (c) 2024, STEREOLABS.
//
// All rights reserved.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// /////////////////////////////////////////////////////////////////////////
#include <gst-zed-meta/gstzedmeta.h>
#include <opencv2/opencv.hpp>
#include <gst/base/base.h>
#include <gst/controller/controller.h>
#include <gst/gst.h>
#include <gst/video/video.h>
#include "gstzedodoverlay.h"
GST_DEBUG_CATEGORY_STATIC(gst_zed_od_overlay_debug);
#define GST_CAT_DEFAULT gst_zed_od_overlay_debug
static void draw_objects(GstZedOdOverlay *filter, cv::Mat &image, guint8 obj_count, ZedObjectData *objs, gfloat scaleW, gfloat scaleH);
gboolean gst_zedoddisplaysink_event(GstBaseTransform *base, GstEvent *event);
/* Filter signals and args */
enum {
/* FILL ME */
LAST_SIGNAL
};
enum { PROP_0 };
static GstStaticPadTemplate sink_template =
GST_STATIC_PAD_TEMPLATE("sink", GST_PAD_SINK, GST_PAD_ALWAYS,
GST_STATIC_CAPS(("video/x-raw, " // Double stream VGA
"format = (string)BGRA, "
"width = (int)672, "
"height = (int)752 , "
"framerate = (fraction) { 15, 30, 60, 100 }"
";"
"video/x-raw, " // Double stream HD720
"format = (string)BGRA, "
"width = (int)1280, "
"height = (int)1440, "
"framerate = (fraction) { 15, 30, 60 }"
";"
"video/x-raw, " // Double stream HD1080
"format = (string)BGRA, "
"width = (int)1920, "
"height = (int)2160, "
"framerate = (fraction) { 15, 30, 60 }"
";"
"video/x-raw, " // Double stream HD2K
"format = (string)BGRA, "
"width = (int)2208, "
"height = (int)2484, "
"framerate = (fraction)15"
";"
"video/x-raw, " // Double stream HD1200 (GMSL2)
"format = (string)BGRA, "
"width = (int)1920, "
"height = (int)2400, "
"framerate = (fraction) { 15, 30, 60 }"
";"
"video/x-raw, " // Double stream SVGA (GMSL2)
"format = (string)BGRA, "
"width = (int)960, "
"height = (int)1200, "
"framerate = (fraction) { 15, 30, 60, 120 }"
";"
"video/x-raw, " // Color VGA
"format = (string)BGRA, "
"width = (int)672, "
"height = (int)376, "
"framerate = (fraction) { 15, 30, 60, 100 }"
";"
"video/x-raw, " // Color HD720
"format = (string)BGRA, "
"width = (int)1280, "
"height = (int)720, "
"framerate = (fraction) { 15, 30, 60}"
";"
"video/x-raw, " // Color HD1080
"format = (string)BGRA, "
"width = (int)1920, "
"height = (int)1080, "
"framerate = (fraction) { 15, 30, 60 }"
";"
"video/x-raw, " // Color HD2K
"format = (string)BGRA, "
"width = (int)2208, "
"height = (int)1242, "
"framerate = (fraction)15"
";"
"video/x-raw, " // Color HD1200 (GMSL2)
"format = (string)BGRA, "
"width = (int)1920, "
"height = (int)1200, "
"framerate = (fraction) { 15, 30, 60 }"
";"
"video/x-raw, " // Color SVGA (GMSL2)
"format = (string)BGRA, "
"width = (int)960, "
"height = (int)600, "
"framerate = (fraction) { 15, 30, 60, 120 }"
";"
"video/x-raw, " // Depth VGA
"format = (string)GRAY16_LE, "
"width = (int)672, "
"height = (int)376, "
"framerate = (fraction) { 15, 30, 60, 100 }"
";"
"video/x-raw, " // Depth HD720
"format = (string)GRAY16_LE, "
"width = (int)1280, "
"height = (int)720, "
"framerate = (fraction) { 15, 30, 60}"
";"
"video/x-raw, " // Depth HD1080
"format = (string)GRAY16_LE, "
"width = (int)1920, "
"height = (int)1080, "
"framerate = (fraction) { 15, 30, 60 }"
";"
"video/x-raw, " // Depth HD2K
"format = (string)GRAY16_LE, "
"width = (int)2208, "
"height = (int)1242, "
"framerate = (fraction)15"
";"
"video/x-raw, " // Depth HD1200 (GMSL2)
"format = (string)GRAY16_LE, "
"width = (int)1920, "
"height = (int)1200, "
"framerate = (fraction) { 15, 30, 60 }"
";"
"video/x-raw, " // Depth SVGA (GMSL2)
"format = (string)GRAY16_LE, "
"width = (int)960, "
"height = (int)600, "
"framerate = (fraction) { 15, 30, 60, 120 }")));
static GstStaticPadTemplate src_template =
GST_STATIC_PAD_TEMPLATE("src", GST_PAD_SRC, GST_PAD_ALWAYS,
GST_STATIC_CAPS(("video/x-raw, " // Double stream VGA
"format = (string)BGRA, "
"width = (int)672, "
"height = (int)752 , "
"framerate = (fraction) { 15, 30, 60, 100 }"
";"
"video/x-raw, " // Double stream HD720
"format = (string)BGRA, "
"width = (int)1280, "
"height = (int)1440, "
"framerate = (fraction) { 15, 30, 60 }"
";"
"video/x-raw, " // Double stream HD1080
"format = (string)BGRA, "
"width = (int)1920, "
"height = (int)2160, "
"framerate = (fraction) { 15, 30, 60 }"
";"
"video/x-raw, " // Double stream HD2K
"format = (string)BGRA, "
"width = (int)2208, "
"height = (int)2484, "
"framerate = (fraction)15"
";"
"video/x-raw, " // Double stream HD1200 (GMSL2)
"format = (string)BGRA, "
"width = (int)1920, "
"height = (int)2400, "
"framerate = (fraction) { 15, 30, 60 }"
";"
"video/x-raw, " // Double stream SVGA (GMSL2)
"format = (string)BGRA, "
"width = (int)960, "
"height = (int)1200, "
"framerate = (fraction) { 15, 30, 60, 120 }"
";"
"video/x-raw, " // Color VGA
"format = (string)BGRA, "
"width = (int)672, "
"height = (int)376, "
"framerate = (fraction) { 15, 30, 60, 100 }"
";"
"video/x-raw, " // Color HD720
"format = (string)BGRA, "
"width = (int)1280, "
"height = (int)720, "
"framerate = (fraction) { 15, 30, 60}"
";"
"video/x-raw, " // Color HD1080
"format = (string)BGRA, "
"width = (int)1920, "
"height = (int)1080, "
"framerate = (fraction) { 15, 30, 60 }"
";"
"video/x-raw, " // Color HD2K
"format = (string)BGRA, "
"width = (int)2208, "
"height = (int)1242, "
"framerate = (fraction)15"
";"
"video/x-raw, " // Color HD1200 (GMSL2)
"format = (string)BGRA, "
"width = (int)1920, "
"height = (int)1200, "
"framerate = (fraction) { 15, 30, 60 }"
";"
"video/x-raw, " // Color SVGA (GMSL2)
"format = (string)BGRA, "
"width = (int)960, "
"height = (int)600, "
"framerate = (fraction) { 15, 30, 60, 120 }"
";"
"video/x-raw, " // Depth VGA
"format = (string)GRAY16_LE, "
"width = (int)672, "
"height = (int)376, "
"framerate = (fraction) { 15, 30, 60, 100 }"
";"
"video/x-raw, " // Depth HD720
"format = (string)GRAY16_LE, "
"width = (int)1280, "
"height = (int)720, "
"framerate = (fraction) { 15, 30, 60}"
";"
"video/x-raw, " // Depth HD1080
"format = (string)GRAY16_LE, "
"width = (int)1920, "
"height = (int)1080, "
"framerate = (fraction) { 15, 30, 60 }"
";"
"video/x-raw, " // Depth HD2K
"format = (string)GRAY16_LE, "
"width = (int)2208, "
"height = (int)1242, "
"framerate = (fraction)15"
";"
"video/x-raw, " // Depth HD1200 (GMSL2)
"format = (string)GRAY16_LE, "
"width = (int)1920, "
"height = (int)1200, "
"framerate = (fraction) { 15, 30, 60 }"
";"
"video/x-raw, " // Depth SVGA (GMSL2)
"format = (string)GRAY16_LE, "
"width = (int)960, "
"height = (int)600, "
"framerate = (fraction) { 15, 30, 60, 120 }")));
#define gst_zed_od_overlay_parent_class parent_class
G_DEFINE_TYPE(GstZedOdOverlay, gst_zed_od_overlay, GST_TYPE_BASE_TRANSFORM);
static void gst_zed_od_overlay_set_property(GObject *object, guint prop_id, const GValue *value, GParamSpec *pspec);
static void gst_zed_od_overlay_get_property(GObject *object, guint prop_id, GValue *value, GParamSpec *pspec);
static GstFlowReturn gst_zed_od_overlay_transform_ip(GstBaseTransform *base, GstBuffer *outbuf);
/* GObject vmethod implementations */
/* initialize the plugin's class */
static void gst_zed_od_overlay_class_init(GstZedOdOverlayClass *klass) {
GObjectClass *gobject_class;
GstElementClass *gstelement_class;
gobject_class = (GObjectClass *) klass;
gstelement_class = (GstElementClass *) klass;
gobject_class->set_property = gst_zed_od_overlay_set_property;
gobject_class->get_property = gst_zed_od_overlay_get_property;
gst_element_class_set_details_simple(gstelement_class, "ZedOdOverlay", "Generic/Filter", "Draws the results of ZED Object Detection module",
"Stereolabs <[email protected]>");
gst_element_class_add_pad_template(gstelement_class, gst_static_pad_template_get(&src_template));
gst_element_class_add_pad_template(gstelement_class, gst_static_pad_template_get(&sink_template));
GST_BASE_TRANSFORM_CLASS(klass)->transform_ip = GST_DEBUG_FUNCPTR(gst_zed_od_overlay_transform_ip);
GST_BASE_TRANSFORM_CLASS(klass)->sink_event = GST_DEBUG_FUNCPTR(gst_zedoddisplaysink_event);
// debug category for filtering log messages
GST_DEBUG_CATEGORY_INIT(gst_zed_od_overlay_debug, "zedodoverlay", 0, "Zed Object Detection Overlay");
}
/* initialize the new element
* initialize instance structure
*/
static void gst_zed_od_overlay_init(GstZedOdOverlay *filter) {
filter->img_left_w = 0;
filter->img_left_h = 0;
}
static void gst_zed_od_overlay_set_property(GObject *object, guint prop_id, const GValue *value, GParamSpec *pspec) {
GstZedOdOverlay *filter = GST_ZED_OD_OVERLAY(object);
switch (prop_id) {
default:
G_OBJECT_WARN_INVALID_PROPERTY_ID(object, prop_id, pspec);
break;
}
}
static void gst_zed_od_overlay_get_property(GObject *object, guint prop_id, GValue *value, GParamSpec *pspec) {
GstZedOdOverlay *filter = GST_ZED_OD_OVERLAY(object);
switch (prop_id) {
default:
G_OBJECT_WARN_INVALID_PROPERTY_ID(object, prop_id, pspec);
break;
}
}
/* GstBaseTransform vmethod implementations */
gboolean gst_zedoddisplaysink_event(GstBaseTransform *base, GstEvent *event) {
GstEventType type;
GstZedOdOverlay *filter = GST_ZED_OD_OVERLAY(base);
type = GST_EVENT_TYPE(event);
GST_TRACE_OBJECT(filter, "Event %d [%d]", type, GST_EVENT_CAPS);
switch (type) {
case GST_EVENT_EOS:
break;
case GST_EVENT_CAPS: {
GST_DEBUG_OBJECT(filter, "Event CAPS");
GstCaps *caps;
gst_event_parse_caps(event, &caps);
GstVideoInfo vinfo_in;
gst_video_info_from_caps(&vinfo_in, caps);
filter->img_left_w = vinfo_in.width;
filter->img_left_h = vinfo_in.height;
if (vinfo_in.height == 752 || vinfo_in.height == 1440 || vinfo_in.height == 2160 || vinfo_in.height == 2484) {
filter->img_left_h /= 2; // Only half buffer size if the stream is composite
}
break;
}
default:
break;
}
return GST_BASE_TRANSFORM_CLASS(parent_class)->sink_event(base, event);
}
/* this function does the actual processing
*/
static GstFlowReturn gst_zed_od_overlay_transform_ip(GstBaseTransform *base, GstBuffer *outbuf) {
GstZedOdOverlay *filter = GST_ZED_OD_OVERLAY(base);
GST_TRACE_OBJECT(filter, "transform_ip");
GstMapInfo map_buf;
if (GST_CLOCK_TIME_IS_VALID(GST_BUFFER_TIMESTAMP(outbuf)))
gst_object_sync_values(GST_OBJECT(filter), GST_BUFFER_TIMESTAMP(outbuf));
if (FALSE == gst_buffer_map(outbuf, &map_buf, GstMapFlags(GST_MAP_READ | GST_MAP_WRITE))) {
GST_WARNING_OBJECT(filter, "Could not map buffer for write/read");
return GST_FLOW_OK;
}
// Get left image (upper half memory buffer)
cv::Mat ocv_left = cv::Mat(filter->img_left_h, filter->img_left_w, CV_8UC4, map_buf.data);
// Metadata
GstZedSrcMeta *meta = (GstZedSrcMeta *) gst_buffer_get_meta(outbuf, GST_ZED_SRC_META_API_TYPE);
if (meta == NULL) // Metadata not found
{
GST_ELEMENT_ERROR(filter, RESOURCE, FAILED, ("No ZED metadata [GstZedSrcMeta] found in the stream'"), (NULL));
return GST_FLOW_ERROR;
}
GST_LOG_OBJECT(filter, "Cam. Model: %d", meta->info.cam_model);
GST_LOG_OBJECT(filter, "Stream type: %d", meta->info.stream_type);
GST_LOG_OBJECT(filter, "Grab frame Size: %d x %d", meta->info.grab_single_frame_width, meta->info.grab_single_frame_height);
GST_LOG_OBJECT(filter, "Filter frame Size: %d x %d", filter->img_left_w, filter->img_left_h);
gboolean rescaled = FALSE;
gfloat scaleW = 1.0f;
gfloat scaleH = 1.0f;
if (meta->info.grab_single_frame_width != filter->img_left_w || meta->info.grab_single_frame_height != filter->img_left_h) {
rescaled = TRUE;
scaleW = ((gfloat) filter->img_left_w) / meta->info.grab_single_frame_width;
scaleH = ((gfloat) filter->img_left_h) / meta->info.grab_single_frame_height;
}
if (meta->od_enabled) {
GST_LOG_OBJECT(filter, "Detected %d objects", meta->obj_count);
// Draw 2D detections
draw_objects(filter, ocv_left, meta->obj_count, meta->objects, scaleW, scaleH);
}
GST_TRACE("Buffer unmap");
gst_buffer_unmap(outbuf, &map_buf);
return GST_FLOW_OK;
}
/* entry point to initialize the plug-in
* initialize the plug-in itself
* register the element factories and other features
*/
static gboolean plugin_init(GstPlugin *plugin) { return gst_element_register(plugin, "zedodoverlay", GST_RANK_NONE, GST_TYPE_ZED_OD_OVERLAY); }
GST_PLUGIN_DEFINE(GST_VERSION_MAJOR, GST_VERSION_MINOR, zedodoverlay, "ZED Object Detection Overlay", plugin_init, GST_PACKAGE_VERSION, GST_PACKAGE_LICENSE,
GST_PACKAGE_NAME, GST_PACKAGE_ORIGIN)
static void draw_objects(GstZedOdOverlay *filter, cv::Mat &image, guint8 obj_count, ZedObjectData *objs, gfloat scaleW, gfloat scaleH) {
for (int i = 0; i < obj_count; i++) {
cv::Scalar color = cv::Scalar::all(125);
if (objs[i].id >= 0) {
color = cv::Scalar((objs[i].id * 232 + 232) % 255, (objs[i].id * 176 + 176) % 255, (objs[i].id * 59 + 59) % 255);
}
cv::Rect roi_render(0, 0, image.size().width, image.size().height);
GST_LOG_OBJECT(filter,"Object: %d", i);
GST_LOG_OBJECT(filter," * Id: %d [%d]", (int) objs[i].label, (int) objs[i].sublabel);
GST_LOG_OBJECT(filter," * Pos: %g,%g,%g", objs[i].position[0], objs[i].position[1], objs[i].position[2]);
if (objs[i].skeletons_avail == FALSE) {
GST_LOG_OBJECT(filter,"Scale: %g, %g", scaleW, scaleH);
// ----> Bounding box
cv::Point2f tl;
tl.x = objs[i].bounding_box_2d[0][0] * scaleW;
tl.y = objs[i].bounding_box_2d[0][1] * scaleH;
cv::Point2f br;
br.x = objs[i].bounding_box_2d[2][0] * scaleW;
br.y = objs[i].bounding_box_2d[2][1] * scaleH;
cv::rectangle(image, tl, br, color, 3);
// <---- Bounding box
// ----> Text info
int baseline = 0;
int font_face = cv::FONT_HERSHEY_COMPLEX_SMALL;
double font_scale = 0.75;
std::stringstream txt_info;
txt_info << "Id: " << objs[i].id << " - ";
switch (objs[i].label) {
case OBJECT_CLASS::PERSON:
txt_info << "PERSON";
break;
case OBJECT_CLASS::VEHICLE:
txt_info << "VEHICLE";
break;
case OBJECT_CLASS::ANIMAL:
txt_info << "ANIMAL";
break;
case OBJECT_CLASS::BAG:
txt_info << "BAG";
break;
case OBJECT_CLASS::ELECTRONICS:
txt_info << "ELECTRONICS";
break;
case OBJECT_CLASS::FRUIT_VEGETABLE:
txt_info << "FRUIT_VEGETABLE";
break;
case OBJECT_CLASS::LAST:
default:
txt_info << "UNDEFINED";
break;
}
if (!objs[i].skeletons_avail) {
switch (objs[i].sublabel) {
case OBJECT_SUBCLASS::PERSON:
// txt_info << " [Person]";
break;
case OBJECT_SUBCLASS::BICYCLE:
txt_info << " [Bicycle]";
break;
case OBJECT_SUBCLASS::CAR:
txt_info << " [Car]";
break;
case OBJECT_SUBCLASS::MOTORBIKE:
txt_info << " [Motorbike]";
break;
case OBJECT_SUBCLASS::BUS:
txt_info << " [Bus]";
break;
case OBJECT_SUBCLASS::TRUCK:
txt_info << " [Truck]";
break;
case OBJECT_SUBCLASS::BOAT:
txt_info << " [Boat]";
break;
case OBJECT_SUBCLASS::BACKPACK:
txt_info << " [Backpack]";
break;
case OBJECT_SUBCLASS::HANDBAG:
txt_info << " [Handbag]";
break;
case OBJECT_SUBCLASS::SUITCASE:
txt_info << " [Suitcase]";
break;
case OBJECT_SUBCLASS::BIRD:
txt_info << " [Bird]";
break;
case OBJECT_SUBCLASS::CAT:
txt_info << " [Cat]";
break;
case OBJECT_SUBCLASS::DOG:
txt_info << " [Dog]";
break;
case OBJECT_SUBCLASS::HORSE:
txt_info << " [Horse]";
break;
case OBJECT_SUBCLASS::SHEEP:
txt_info << " [Sheep]";
break;
case OBJECT_SUBCLASS::COW:
txt_info << " [Cow]";
break;
case OBJECT_SUBCLASS::CELLPHONE:
txt_info << " [CellPhone]";
break;
case OBJECT_SUBCLASS::LAPTOP:
txt_info << " [Laptop]";
break;
case OBJECT_SUBCLASS::BANANA:
txt_info << " [Banana]";
break;
case OBJECT_SUBCLASS::APPLE:
txt_info << " [Apple]";
break;
case OBJECT_SUBCLASS::ORANGE:
txt_info << " [Orange]";
break;
case OBJECT_SUBCLASS::CARROT:
txt_info << " [Carrot]";
break;
default:
txt_info << " [-]";
break;
}
}
cv::Size txt_size = cv::getTextSize(txt_info.str(), font_face, font_scale, 1, &baseline);
int offset = 5;
cv::Point txt_tl;
cv::Point txt_br;
cv::Point txt_pos;
txt_tl.x = tl.x;
txt_tl.y = tl.y - (txt_size.height + 2 * offset);
txt_br.x = tl.x + (txt_size.width + 2 * offset);
txt_br.y = tl.y;
txt_pos.x = txt_tl.x + offset;
txt_pos.y = txt_br.y - offset;
if (!roi_render.contains(txt_tl)) {
txt_tl.y = tl.y + (txt_size.height + 2 * baseline);
txt_pos.y = txt_tl.y - offset;
}
cv::rectangle(image, txt_tl, txt_br, color, 1);
cv::putText(image, txt_info.str(), txt_pos, font_face, font_scale, color, 1, cv::LINE_AA);
if (!std::isnan(objs[i].position[0]) && !std::isnan(objs[i].position[1]) && !std::isnan(objs[i].position[2])) {
float dist =
sqrtf(objs[i].position[0] * objs[i].position[0] + objs[i].position[1] * objs[i].position[1] + objs[i].position[2] * objs[i].position[2]);
char text[64];
sprintf(text, "%.2fm", abs(dist / 1000.0f));
putText(image, text, cv::Point2i(tl.x + (br.x - tl.x) / 2 - 20, tl.y + (br.y - tl.y) / 2 - 12), cv::FONT_HERSHEY_COMPLEX_SMALL, 0.75, color, 1);
}
// <---- Text info
} else {
GST_LOG_OBJECT(filter,"Scale: %g, %g", scaleW, scaleH);
GST_LOG_OBJECT(filter,"Format: %d", objs[i].skel_format);
// ----> Skeletons
{
switch (objs[i].skel_format) {
case 18:
// ----> Bones
for (const auto &parts : skeleton::BODY_18_BONES) {
if (objs[i].keypoint_2d[skeleton::getIdx_18(parts.first)][0] >= 0 && objs[i].keypoint_2d[skeleton::getIdx_18(parts.first)][1] >= 0 &&
objs[i].keypoint_2d[skeleton::getIdx_18(parts.second)][0] >= 0 && objs[i].keypoint_2d[skeleton::getIdx_18(parts.second)][1] >= 0) {
cv::Point2f kp_a;
kp_a.x = objs[i].keypoint_2d[skeleton::getIdx_18(parts.first)][0] * scaleW;
kp_a.y = objs[i].keypoint_2d[skeleton::getIdx_18(parts.first)][1] * scaleH;
GST_LOG_OBJECT(filter,"kp_a: %g, %g", kp_a.x, kp_a.y);
cv::Point2f kp_b;
kp_b.x = objs[i].keypoint_2d[skeleton::getIdx_18(parts.second)][0] * scaleW;
kp_b.y = objs[i].keypoint_2d[skeleton::getIdx_18(parts.second)][1] * scaleH;
GST_LOG_OBJECT(filter,"kp_b: %g, %g", kp_b.x, kp_b.y);
if (roi_render.contains(kp_a) && roi_render.contains(kp_b))
cv::line(image, kp_a, kp_b, color, 1, cv::LINE_AA);
}
}
// <---- Bones
// ----> Joints
for (int j = 0; j < 18; j++) {
if (objs[i].keypoint_2d[j][0] >= 0 && objs[i].keypoint_2d[j][1] >= 0) {
cv::Point2f cv_kp;
cv_kp.x = objs[i].keypoint_2d[j][0] * scaleW;
cv_kp.y = objs[i].keypoint_2d[j][1] * scaleH;
if (roi_render.contains(cv_kp)) {
cv::circle(image, cv_kp, 3, color + cv::Scalar(50, 50, 50), -1, cv::LINE_AA);
}
}
}
// <---- Joints
break;
case 34:
// ----> Bones
for (const auto &parts : skeleton::BODY_34_BONES) {
if (objs[i].keypoint_2d[skeleton::getIdx_34(parts.first)][0] >= 0 && objs[i].keypoint_2d[skeleton::getIdx_34(parts.first)][1] >= 0 &&
objs[i].keypoint_2d[skeleton::getIdx_34(parts.second)][0] >= 0 && objs[i].keypoint_2d[skeleton::getIdx_34(parts.second)][1] >= 0) {
cv::Point2f kp_a;
kp_a.x = objs[i].keypoint_2d[skeleton::getIdx_34(parts.first)][0] * scaleW;
kp_a.y = objs[i].keypoint_2d[skeleton::getIdx_34(parts.first)][1] * scaleH;
GST_LOG_OBJECT(filter,"kp_a: %g, %g", kp_a.x, kp_a.y);
cv::Point2f kp_b;
kp_b.x = objs[i].keypoint_2d[skeleton::getIdx_34(parts.second)][0] * scaleW;
kp_b.y = objs[i].keypoint_2d[skeleton::getIdx_34(parts.second)][1] * scaleH;
GST_LOG_OBJECT(filter,"kp_b: %g, %g", kp_b.x, kp_b.y);
if (roi_render.contains(kp_a) && roi_render.contains(kp_b))
cv::line(image, kp_a, kp_b, color, 1, cv::LINE_AA);
}
}
// <---- Bones
// ----> Joints
for (int j = 0; j < 34; j++) {
if (objs[i].keypoint_2d[j][0] >= 0 && objs[i].keypoint_2d[j][1] >= 0) {
cv::Point2f cv_kp;
cv_kp.x = objs[i].keypoint_2d[j][0] * scaleW;
cv_kp.y = objs[i].keypoint_2d[j][1] * scaleH;
if (roi_render.contains(cv_kp)) {
cv::circle(image, cv_kp, 3, color + cv::Scalar(50, 50, 50), -1, cv::LINE_AA);
}
}
}
// <---- Joints
break;
case 38:
// ----> Bones
for (const auto &parts : skeleton::BODY_38_BONES) {
if (objs[i].keypoint_2d[skeleton::getIdx_38(parts.first)][0] >= 0 && objs[i].keypoint_2d[skeleton::getIdx_38(parts.first)][1] >= 0 &&
objs[i].keypoint_2d[skeleton::getIdx_38(parts.second)][0] >= 0 && objs[i].keypoint_2d[skeleton::getIdx_38(parts.second)][1] >= 0) {
cv::Point2f kp_a;
kp_a.x = objs[i].keypoint_2d[skeleton::getIdx_38(parts.first)][0] * scaleW;
kp_a.y = objs[i].keypoint_2d[skeleton::getIdx_38(parts.first)][1] * scaleH;
GST_LOG_OBJECT(filter,"kp_a: %g, %g", kp_a.x, kp_a.y);
cv::Point2f kp_b;
kp_b.x = objs[i].keypoint_2d[skeleton::getIdx_38(parts.second)][0] * scaleW;
kp_b.y = objs[i].keypoint_2d[skeleton::getIdx_38(parts.second)][1] * scaleH;
GST_LOG_OBJECT(filter,"kp_b: %g, %g", kp_b.x, kp_b.y);
if (roi_render.contains(kp_a) && roi_render.contains(kp_b))
cv::line(image, kp_a, kp_b, color, 1, cv::LINE_AA);
}
}
// <---- Bones
// ----> Joints
for (int j = 0; j < 38; j++) {
if (objs[i].keypoint_2d[j][0] >= 0 && objs[i].keypoint_2d[j][1] >= 0) {
cv::Point2f cv_kp;
cv_kp.x = objs[i].keypoint_2d[j][0] * scaleW;
cv_kp.y = objs[i].keypoint_2d[j][1] * scaleH;
if (roi_render.contains(cv_kp)) {
cv::circle(image, cv_kp, 3, color + cv::Scalar(50, 50, 50), -1, cv::LINE_AA);
}
}
}
// <---- Joints
break;
case 70:
// ----> Bones
for (const auto &parts : skeleton::BODY_70_BONES) {
if (objs[i].keypoint_2d[skeleton::getIdx_70(parts.first)][0] >= 0 && objs[i].keypoint_2d[skeleton::getIdx_70(parts.first)][1] >= 0 &&
objs[i].keypoint_2d[skeleton::getIdx_70(parts.second)][0] >= 0 && objs[i].keypoint_2d[skeleton::getIdx_70(parts.second)][1] >= 0) {
cv::Point2f kp_a;
kp_a.x = objs[i].keypoint_2d[skeleton::getIdx_70(parts.first)][0] * scaleW;
kp_a.y = objs[i].keypoint_2d[skeleton::getIdx_70(parts.first)][1] * scaleH;
GST_LOG_OBJECT(filter,"kp_a: %g, %g", kp_a.x, kp_a.y);
cv::Point2f kp_b;
kp_b.x = objs[i].keypoint_2d[skeleton::getIdx_70(parts.second)][0] * scaleW;
kp_b.y = objs[i].keypoint_2d[skeleton::getIdx_70(parts.second)][1] * scaleH;
GST_LOG_OBJECT(filter,"kp_b: %g, %g", kp_b.x, kp_b.y);
if (roi_render.contains(kp_a) && roi_render.contains(kp_b))
cv::line(image, kp_a, kp_b, color, 1, cv::LINE_AA);
}
}
// <---- Bones
// ----> Joints
for (int j = 0; j < 70; j++) {
if (objs[i].keypoint_2d[j][0] >= 0 && objs[i].keypoint_2d[j][1] >= 0) {
cv::Point2f cv_kp;
cv_kp.x = objs[i].keypoint_2d[j][0] * scaleW;
cv_kp.y = objs[i].keypoint_2d[j][1] * scaleH;
GST_LOG_OBJECT(filter,"Joint: %g, %g", cv_kp.x, cv_kp.y);
if (roi_render.contains(cv_kp)) {
cv::circle(image, cv_kp, 3, color + cv::Scalar(50, 50, 50), -1, cv::LINE_AA);
}
}
}
// <---- Joints
break;
default:
GST_ELEMENT_ERROR(filter, RESOURCE, FAILED, ("Wrong skeleton model format: %d",objs[i].skel_format), (NULL));
}
}
// <---- Skeletons
}
}
}