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fix 2D skeletons #26

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fix 2D skeletons #26

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43 changes: 36 additions & 7 deletions tutorials/tutorial_10_metadata_stream/cpp/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -79,6 +79,26 @@ vector<cv::Scalar> colors = {
cv::Scalar(194, 72, 113, 255)
};

template<typename T>
void drawBones(
cv::Mat &image,
const vector<sl::float2> keypoints,
const std::vector<std::pair<T, T>> &bones,
const sl::float2 &img_scale,
const cv::Scalar &color,
const cv::Rect &roi_render)
{
for (auto &bone: bones)
{
auto kp_a = cvt(keypoints[sl::getIdx(bone.first)], img_scale);
auto kp_b = cvt(keypoints[sl::getIdx(bone.second)], img_scale);
if (roi_render.contains(kp_a) && roi_render.contains(kp_b))
{
cv::line(image, kp_a, kp_b, color, 1);
}
}
}

int main(int argc, char **argv)
{
// Create camera object
Expand Down Expand Up @@ -135,7 +155,7 @@ int main(int argc, char **argv)
sl::BodyTrackingParameters body_track_params;
body_track_params.enable_tracking = true;
body_track_params.enable_body_fitting = false; // smooth skeletons moves
body_track_params.body_format = BODY_FORMAT::BODY_38;
body_track_params.body_format = BODY_FORMAT::BODY_18;
body_track_params.detection_model = BODY_TRACKING_MODEL::HUMAN_BODY_ACCURATE;
zed_error = p_zed->enableBodyTracking(body_track_params);
if (zed_error != ERROR_CODE::SUCCESS)
Expand Down Expand Up @@ -195,14 +215,23 @@ int main(int argc, char **argv)
if (roi_render.contains(cv_kp))
cv::circle(cv_image, cv_kp, 3, color, -1);
}

// Skeleton bones
for (auto& limb : BODY_38_BONES)
if (body_track_params.body_format == BODY_FORMAT::BODY_18)
{
drawBones(cv_image, body.keypoint_2d, sl::BODY_18_BONES, img_scale, color, roi_render);
}
else if (body_track_params.body_format == BODY_FORMAT::BODY_34)
{
drawBones(cv_image, body.keypoint_2d, sl::BODY_34_BONES, img_scale, color, roi_render);
}
else if (body_track_params.body_format == BODY_FORMAT::BODY_38)
{
drawBones(cv_image, body.keypoint_2d, sl::BODY_38_BONES, img_scale, color, roi_render);
}
else if (body_track_params.body_format == BODY_FORMAT::BODY_70)
{
auto kp_a = cvt(body.keypoint_2d[getIdx(limb.first)], img_scale);
auto kp_b = cvt(body.keypoint_2d[getIdx(limb.second)], img_scale);
if (roi_render.contains(kp_a) && roi_render.contains(kp_b))
cv::line(cv_image, kp_a, kp_b, color, 1);
drawBones(cv_image, body.keypoint_2d, sl::BODY_70_BONES, img_scale, color, roi_render);
}
}
}
Expand Down