working camera move & sort

.vscode/c_cpp_properties.json

@@ -107,7 +107,31 @@
                 "${workspaceRoot}",
                 "/home/cailean/Desktop/openframeworks/of_v0.12.0_linux64gcc6_release/addons/ofxOpenCv/src",
                 "/usr/local/onnxruntime-linux-x64-gpu-1.19.2/include",
-                "/home/cailean/Desktop/openframeworks/of_v0.12.0_linux64gcc6_release/addons/ofxOpenCv/libs/opencv/include/opencv4"
+                "/home/cailean/Desktop/openframeworks/of_v0.12.0_linux64gcc6_release/addons/ofxOpenCv/libs/opencv/include/opencv4",
+                "/home/cailean/Desktop/openframeworks/of_v0.12.0_linux64gcc6_release/addons/ofxOsc/src",
+                "/home/cailean/Desktop/openframeworks/of_v0.12.0_linux64gcc6_release/addons/ofxNetwork/src",
+                "/home/cailean/Desktop/openframeworks/of_v0.12.0_linux64gcc6_release/addons/ofxGui/src",
+                "/home/cailean/Desktop/openframeworks/of_v0.12.0_linux64gcc6_release/addons/ofxTSNE/src",
+                "/home/cailean/Desktop/openframeworks/of_v0.12.0_linux64gcc6_release/addons/ofxOsc/libs/oscpack/src/osc",
+                "/home/cailean/Desktop/openframeworks/of_v0.12.0_linux64gcc6_release/addons/ofxOsc/libs/oscpack/src/ip",
+                "/home/cailean/Desktop/openframeworks/of_v0.12.0_linux64gcc6_release/addons/ofxTSNE/src/bhtsne",
+                "/home/cailean/Desktop/openframeworks/of_v0.12.0_linux64gcc6_release/addons/ofxPiMapper/src",
+                "/home/cailean/Desktop/openframeworks/of_v0.12.0_linux64gcc6_release/addons/ofxPiMapper/src/Sources",
+                "/home/cailean/Desktop/openframeworks/of_v0.12.0_linux64gcc6_release/addons/ofxPiMapper/src/Application",
+                "/home/cailean/Desktop/openframeworks/of_v0.12.0_linux64gcc6_release/addons/ofxPiMapper/src/Info",
+                "/home/cailean/Desktop/openframeworks/of_v0.12.0_linux64gcc6_release/addons/ofxPiMapper/src/Surfaces",
+                "/home/cailean/Desktop/openframeworks/of_v0.12.0_linux64gcc6_release/addons/ofxPiMapper/src/Types",
+                "/home/cailean/Desktop/openframeworks/of_v0.12.0_linux64gcc6_release/addons/ofxPiMapper/src/Types",
+                "/home/cailean/Desktop/openframeworks/of_v0.12.0_linux64gcc6_release/addons/ofxPiMapper/src/Gui",
+                "/home/cailean/Desktop/openframeworks/of_v0.12.0_linux64gcc6_release/addons/ofxPiMapper/src/Gui",
+                "/home/cailean/Desktop/openframeworks/of_v0.12.0_linux64gcc6_release/addons/ofxPiMapper/src/Gui/Widgets",
+                "/home/cailean/Desktop/openframeworks/of_v0.12.0_linux64gcc6_release/addons/ofxPiMapper/src/Utils",
+                "/home/cailean/Desktop/openframeworks/of_v0.12.0_linux64gcc6_release/addons/ofxPiMapper/src/MediaServer",
+                "/home/cailean/Desktop/openframeworks/of_v0.12.0_linux64gcc6_release/addons/ofxXmlSettings/src",
+                "/home/cailean/Desktop/openframeworks/of_v0.12.0_linux64gcc6_release/addons/ofxXmlSettings/libs",
+                "/home/cailean/Desktop/openframeworks/of_v0.12.0_linux64gcc6_release/addons/ofxPiMapper/src/UserInterface",
+                "/home/cailean/Desktop/openframeworks/of_v0.12.0_linux64gcc6_release/addons/ofxPiMapper/src/Commands",
+                "/home/cailean/Desktop/openframeworks/of_v0.12.0_linux64gcc6_release/addons/ofxPiMapper/src/Application/Modes"
             ],
             "browse": {
                 "limitSymbolsToIncludedHeaders": true,
@@ -119,6 +143,7 @@
                     "${workspaceRoot}/../../../addons",
                     "${workspaceRoot}/../../../libs/openFrameworks",
                     "/home/cailean/Desktop/openframeworks/of_v0.12.0_linux64gcc6_release/addons/ofxOpenCv/src",
+                    "/home/cailean/Desktop/openframeworks/of_v0.12.0_linux64gcc6_release/addons/ofxPiMapper/src",
                     "/usr/local/onnxruntime-linux-x64-gpu-1.19.2/include"
                 ]
             },

.vscode/settings.json

@@ -0,0 +1,3 @@
+{
+    "C_Cpp.errorSquiggles": "enabled"
+}

addons.make

@@ -1,2 +1,12 @@
 ofxOpenCv
 ofxOpenCv
+ofxOsc
+ofxOsc
+ofxNetwork
+ofxNetwork
+ofxGui
+ofxGui
+ofxTSNE
+ofxTSNE
+ofxPiMapper
+ofxPiMapper

onnx-test.code-workspace

@@ -101,7 +101,9 @@
 			"__hash_table": "cpp",
 			"__split_buffer": "cpp",
 			"__tree": "cpp",
-			"filesystem": "cpp"
+			"filesystem": "cpp",
+			"__mutex_base": "cpp",
+			"__node_handle": "cpp"
 		}
 	}
 }

src/Map.cpp

@@ -0,0 +1,282 @@
+#include "Map.h"
+#include "algorithm"
+
+Map::Map(){
+    
+}
+
+void Map::Setup(){
+    scale = 10000;
+    isDebug = true;
+
+    json_embeddings = ofLoadJson(jsonPath);
+    if(!json_embeddings.is_array()){
+        ofLogError() << "JSON is not an array";
+        return;
+    } else {
+        std::cout << "JSON LOADED" << std::endl;
+        SetupTSNE();
+    }
+
+    mapFbo.allocate(ofGetWindowWidth() / 2, ofGetWindowHeight(), GL_RGB);
+
+    fboImage.allocate(ofGetWindowWidth() / 2, ofGetWindowHeight(), OF_IMAGE_COLOR);
+
+    Setup3D();
+
+    SetupNodes();
+}
+
+void Map::Update(std::string& vp_img, bool& is_active){
+    time = ofGetElapsedTimef();
+    for(auto& n : nodes){
+        glm::vec2 offset = n.amplitude * sin(n.speed * time);
+        n.offset = glm::vec3(offset.x, offset.y, 0);
+    }
+    std::cout << cam.getPosition() << std::endl;
+    if(is_active){
+        has_reached = false;
+    }
+
+    if(!is_active)
+        MoveCamera(vp_img);
+}
+
+void Map::Draw(){
+    mapFbo.begin();
+
+    cam.begin();
+
+    ofClear(0, 0, 0, 1);
+
+    ofMatrix4x4 projectionMatrix = cam.getProjectionMatrix();
+    ofMatrix4x4 viewMatrix = cam.getModelViewMatrix();
+    ofMatrix4x4 mvpMatrix = projectionMatrix * viewMatrix;
+
+    for (auto& n :sortedNodes){
+        glm::vec3 node_position = n->position + n->offset;
+
+
+        if(isFrustum(node_position, 50)){
+            n->texture.getTexture().bind();
+            ofPushMatrix();
+                ofFill();
+                n->geom.setPosition(node_position);
+                n->geom.draw();
+            ofPopMatrix();
+            n->texture.getTexture().unbind();
+        }
+        
+    }
+
+    cam.end();
+
+    mapFbo.end();
+
+    mapFbo.readToPixels(fboPixels);
+
+    fboImage.setFromPixels(fboPixels);
+}
+
+/*
+    Setup texture for each node
+*/
+void Map::SetupNodes(){
+    std::cout << "Setting up nodes.." << std::endl;
+    for (auto& node : nodes){
+        ofImage img;
+        ofPlanePrimitive plane;
+
+        img.load("data/" + node.image_path);
+        int imageW = img.getWidth() * 0.1;
+        int imageH = img.getHeight() * 0.1;
+        int maxWidth = 1;
+        int maxHeight = 1;
+        float aspectRatio = (float)imageW / (float)imageH;
+
+        // Determine plane dimensions based on aspect ratio and constraints
+        float planeW, planeH;
+        if (aspectRatio > (float)maxWidth / maxHeight) {
+            // Image is wider relative to the max constraints
+            planeW = maxWidth;
+            planeH = maxWidth / aspectRatio;
+        } else {
+            // Image is taller relative to the max constraints
+            planeH = maxHeight;
+            planeW = maxHeight * aspectRatio;
+        }
+
+        // Ensure that dimensions do not exceed constraints
+        if (planeH > maxHeight) {
+            planeH = maxHeight;
+            planeW = maxHeight * aspectRatio;
+        }
+        if (planeW > maxWidth) {
+            planeW = maxWidth;
+            planeH = maxWidth / aspectRatio;
+        }
+
+        plane.set(imageW, imageH);
+        plane.setPosition(node.position);
+        plane.setResolution(10, 10);
+        plane.mapTexCoordsFromTexture(img.getTexture());
+        img.getTexture().setTextureWrap(GL_REPEAT, GL_REPEAT);
+        plane.setScale(1);
+
+        node.geom = plane;
+        node.texture = img;
+        node.speed = glm::vec2(ofRandom(0.1, 0.5), ofRandom(0.1, 0.5));
+        node.amplitude = glm::vec2(ofRandom(1, 5), ofRandom(1, 5));
+        node.phase = glm::vec2(ofRandom(0, TWO_PI), ofRandom(0, TWO_PI));
+    }
+    std::cout << "Finished setting up nodes!" << std::endl;
+}
+
+/*
+    Setup TSNE - reads JSON, converts to points, creates nodes & hashmap
+*/
+void Map::SetupTSNE(){
+    for (const auto& entry: json_embeddings) {
+        if (entry.contains("vector") && entry["vector"].is_array()) {
+            Node n;
+            n.foldername = entry["folder"];
+            n.image_path =  entry["image"];
+            n.isLost = entry["lost"].get<int>();
+
+            std::vector<float> emb;
+
+            for (const auto& value: entry["vector"]){
+                if(value.is_number()){
+                    emb.push_back(value.get<float>());
+                } else {
+                    ofLogError() << "Vector value is not a number";
+                }
+            }
+
+            n.emotion_vector = emb;
+
+            nodes.push_back(n);
+            embeddings.push_back(emb);
+        }
+    }
+
+    std::cout << nodes.size() << std::endl;
+
+    points = tsne.run(embeddings, dims, perplexity, theta, normalise, runManually);
+
+    for (size_t i = 0; i < points.size(); i++){
+        const auto& vec = points[i];
+        auto& n = nodes[i];
+        n.position = (glm::vec3(vec[0] * scale, vec[1] * scale, vec[2] * scale));
+        node_hash_map[n.image_path] = &n;
+    }
+
+    // Instead of sorting nodes, just create a sorted reference list
+    for (auto& node : nodes) {
+        sortedNodes.push_back(&node);  // Pointers to the original nodes
+    }
+    
+    SortNodes();  // Sort the references for rendering
+}
+
+/*
+    Setup 3D environment
+*/
+void Map::Setup3D(){
+    cam.setFov(20);
+    cam.removeAllInteractions();
+}
+
+/*
+    Query hashmap
+*/
+bool Map::SearchMap(std::string& search_string){
+    std::string t = search_string;
+    if(node_hash_map.find(t) != node_hash_map.end()){
+        Node* n = node_hash_map[t];
+        std::cout << n->foldername << std::endl;
+        return true;
+    } else {
+        return false;
+    }
+}
+
+/* search if image is in the hashmap -> if true, move to its position */
+void Map::MoveCamera(std::string& vp_img){
+    if(SearchMap(vp_img)){
+        Node* n = node_hash_map[vp_img];
+        glm::vec3 cur_pos(cam.getPosition().x, cam.getPosition().y, cam.getPosition().z);
+        glm::vec3 target_pos((n->position.x), (n->position.y), (n->position.z) + 100);
+        glm::vec3 dir = target_pos - cur_pos;
+        float dist = glm::length(dir);
+        dir = glm::normalize(dir);
+        accel = dir * 0.02f;
+        vel += accel;
+
+        // Define minimum and maximum velocities based on distance
+        const float minVelocity = 0.01f; // Minimum velocity when close to the target
+        const float maxVelocityDistance = 1000.0f; // Distance at which max velocity is applied
+        const float maxVelocity = 50.0f; // Maximum velocity
+
+        // Scale max velocity based on distance
+        float dynamicMaxVelocity = glm::clamp(dist / maxVelocityDistance * maxVelocity, minVelocity, maxVelocity);
+
+        // Clamp the velocity to the range [-dynamicMaxVelocity, dynamicMaxVelocity]
+        float velocityLength = glm::length(vel);
+        if (velocityLength > dynamicMaxVelocity) {
+            vel = glm::normalize(vel) * dynamicMaxVelocity;
+        }
+
+        // Update position
+        glm::vec3 newPosition = cur_pos + vel;
+        
+
+        if(cam.getPosition() == target_pos){
+            has_reached = true;
+        }
+
+        if(!has_reached){
+            cam.setPosition(target_pos);
+        }
+
+        std::cout << "velocity " << vel << std::endl;
+        std::cout << "target " << target_pos << std::endl;
+        std::cout << "new position " << cam.getPosition() << std::endl;
+    }
+
+}
+
+void Map::buttonPressed(int key){
+    if(key==OF_KEY_LEFT){
+        z_adj -= 1;
+    } else {
+        z_adj += 1;
+    }
+}
+
+/*
+    Sort nodes by z position, for draw calls (lowest -> highest)
+*/
+void Map::SortNodes(){
+    std::sort(sortedNodes.begin(), sortedNodes.end(), [](const Node* a, const Node* b){
+        return a->position.z < b->position.z;  // Sorting by z-position
+    });
+}
+
+bool Map::isFrustum(const glm::vec3& position, float radius){
+    float box_w = 2000;
+    float box_h = 2000;
+    glm::vec3 cam_position = cam.getPosition();
+
+    float left = cam_position.x - box_w / 2.0f;
+    float right = cam_position.x + box_w / 2.0f;
+    float top = cam_position.y + box_h / 2.0f;
+    float bottom = cam_position.y - box_h / 2.0f;
+
+    // Check if the object (with radius) is within the bounding box
+    if (position.x + radius < left || position.x - radius > right) return false;
+    if (position.y + radius < bottom || position.y - radius > top) return false;
+
+    // Z-depth doesn't matter in this approach, so we're ignoring it
+    return true;
+}

src/Map.h

@@ -0,0 +1,87 @@
+#ifndef _MAP
+#define _MAP
+
+#include "ofMain.h"
+#include "ofxOsc.h"
+#include "ofxTSNE.h"
+
+struct Node {
+    glm::vec2 speed;
+    glm::vec2 amplitude;
+    glm::vec2 phase;
+    glm::vec3 offset;
+    ofImage texture;
+    ofPlanePrimitive geom;
+    glm::vec3 position;
+    std::string image_path;
+    std::string foldername;
+    std::vector<float> emotion_vector;
+    int isLost;
+};
+
+class Map {
+    public:
+
+    /*
+        Methods
+    */
+
+    Map();
+    void Setup();
+    void Update(std::string& vp_img, bool& is_active);
+    void Draw();
+    void SetupNodes();
+    void SetupTSNE();
+    void Setup3D();
+
+    bool SearchMap(std::string& search_string);
+    void SortNodes();
+
+    void MoveCamera(std::string& vp_img);
+
+    bool isFrustum(const glm::vec3& position, float radius);
+
+    void buttonPressed(int key);
+
+    /*
+        Variables
+    */
+    bool isDebug;
+    float time;
+
+    ofFbo mapFbo;
+    std::vector<Node> nodes;
+    std::vector<Node*> sortedNodes;
+    float scale;
+
+    ofxTSNE tsne;
+    vector<vector<double>> points;
+    vector<vector<float>> embeddings;
+    int dims = 3;
+    float perplexity = 20;
+    float theta = 0.2;
+    bool normalise = true;
+    bool runManually = false;
+    ofJson json_embeddings;
+    std::string jsonPath = "data/json/embeddings.json";
+
+    std::unordered_map<std::string, Node*> node_hash_map;
+
+    /*
+        3D Variables
+    */
+    ofLight light;
+    ofEasyCam cam;
+    float zoom;
+    glm::vec3 accel;
+    glm::vec3 vel;
+    float z_adj = 0;
+    bool has_reached = false;
+
+    ofImage fboImage;
+    ofPixels fboPixels;
+
+    private:
+};
+
+#endif

src/ModelThread.h

@@ -0,0 +1,99 @@
+#include "ofMain.h"
+#include "Onnx.h"
+#include "Yolo.h"
+
+class ModelThread : public ofThread
+{
+    public:
+    ofImage* img;
+    ofFbo* fbo;
+    Onnx* model;
+    Yolo* yolo;
+    std::vector<types::BoxfWithLandmarks>* detected_faces;
+    std::string model_type;
+
+    // emotional recognition model
+    std::vector<ofImage>* croppedFaces;
+    float* emotional_data;
+
+
+    ~ModelThread(){
+        stop();
+        waitForThread(false);
+    }
+
+    void setup(ofImage* _img, ofFbo* _fbo, Onnx* _model){
+        std::lock_guard<std::mutex> lock(mutex);
+        this->img = _img;
+        this->fbo = _fbo;
+        this->model = _model;
+        this->model_type = "depth";
+    }
+
+    void setupYolo(ofImage* _img, std::vector<types::BoxfWithLandmarks>* _detected_faces, Onnx* _model, Yolo* _yolo){
+        std::lock_guard<std::mutex> lock(mutex);
+        this->img = _img;
+        this->detected_faces = _detected_faces;
+        this->model_type = "yolo";
+        this->model = _model;
+        this->yolo = _yolo;
+    }
+
+    void start(){
+        startThread();
+    }
+
+    void stop(){
+        stopThread();
+        condition.notify_all();
+    }
+
+    void threadedFunction(){
+        while(isThreadRunning()){
+            if(model_type == "depth"){
+                std::unique_lock<std::mutex> lock(mutex);
+                inferDepthImage(fbo, img, model);
+                condition.wait(lock);
+            } else if(model_type == "yolo") {
+                std::unique_lock<std::mutex> lock(mutex);
+                inferYolo();
+                condition.wait(lock);
+            }
+            
+        }
+    }
+
+    void update(){
+        std::lock_guard<std::mutex> lock(mutex);
+        condition.notify_one();
+    }
+
+    void inferYolo(){
+        auto output_tensors_face = model->Run(*img);
+
+        auto output_faces = output_tensors_face.front().GetTensorTypeAndShapeInfo().GetShape();
+
+        unsigned int num_anchors = output_faces[1];  // Number of anchors
+
+        float* output_face_ptr = output_tensors_face.front().GetTensorMutableData<float>();
+
+        yolo->ParseOutput(output_face_ptr, *detected_faces, num_anchors);
+    }
+
+    void inferDepthImage(ofFbo* fbo, ofImage* img, Onnx* model){
+        auto output_tensors = model->Run(*img);
+        float* output_ptr = output_tensors.front().GetTensorMutableData<float>();
+        size_t num_elements = output_tensors.front().GetTensorTypeAndShapeInfo().GetElementCount();
+
+        float min_value = model->ReduceMin(output_ptr, num_elements);
+        float max_value = model->ReduceMax(output_ptr, num_elements);
+
+        model->Normalize(output_ptr, num_elements, min_value, max_value);
+
+        model->DataToFbo(output_ptr, 518, 518, *fbo);
+    }
+
+
+    protected:
+    std::condition_variable condition;
+};

src/Onnx.cpp

@@ -1,4 +1,5 @@
 #include "Onnx.h"
+#include <cmath> 
 
 // Setups the model. CUDA is enabled by default
 void Onnx::Setup(ORTCHAR_T* modelPath, bool isLog, bool useCuda){
@@ -51,7 +52,6 @@ void Onnx::Setup(ORTCHAR_T* modelPath, bool isLog, bool useCuda){
 
 // Runs the model, given an image
 std::vector<Ort::Value> Onnx::Run(ofImage &img){
-
     auto start = std::chrono::high_resolution_clock::now();
 
     TransformImage(img);
@@ -75,14 +75,10 @@ std::vector<Ort::Value> Onnx::Run(ofImage &img){
     std::transform(std::begin(output_node_names), std::end(output_node_names), std::begin(output_names_char),
                     [&](const std::string& str) { return str.c_str(); });
 
-    std::cout << "Running model... ";
-
     try {
         auto output_tensors = ort_session->Run(Ort::RunOptions{nullptr}, input_names_char.data(), input_tensors.data(),
                                         input_names_char.size(), output_names_char.data(), output_names_char.size());
 
-        std::cout << "Done!" << std::endl;
-
         if (timeStamp) {
             auto end = std::chrono::high_resolution_clock::now();
             std::chrono::duration<double, std::milli> elapsed = end - start;
@@ -146,14 +142,10 @@ std::vector<Ort::Value> Onnx::RunBatch(std::vector<ofImage>& images){
     std::transform(std::begin(output_node_names), std::end(output_node_names), std::begin(output_names_char),
                     [&](const std::string& str) { return str.c_str(); });
 
-    std::cout << "Running model... ";
-
     try {
         auto output_tensors = ort_session->Run(Ort::RunOptions{nullptr}, input_names_char.data(), input_tensors.data(),
                                         input_names_char.size(), output_names_char.data(), output_names_char.size());
 
-        std::cout << "Done!" << std::endl;
-
         if (timeStamp) {
             auto end = std::chrono::high_resolution_clock::now();
             std::chrono::duration<double, std::milli> elapsed = end - start;
@@ -235,37 +227,30 @@ void Onnx::Normalize(float* data, size_t size, float min_value, float max_value)
 }
 
 // Coverts the output tensor data to a texture of a given ofFbo.
-void Onnx::DataToFbo(const float* data, size_t width, size_t height, ofFbo& fbo){
+void Onnx::DataToFbo(float* data, size_t width, size_t height, ofFbo& fbo){
     // Convert data into opencv mat
-    cv::Mat inputMat(height, width, CV_32FC1, const_cast<float*>(data));
+    cv::Mat inputMat(height, width, CV_32FC1);
-
+    memcpy(inputMat.data, data, width * height * sizeof(float));
-    // Convert to 8-bit grayscale Mat
+    // // Convert to 8-bit grayscale Mat
     cv::Mat inputMat8U;
     inputMat.convertTo(inputMat8U, CV_8UC1, 255.0);  // Convert float to 8-bit grayscale
 
-    // Resize the image using OpenCV
+    // // Resize the image using OpenCV
     cv::Mat resizedMat;
     cv::resize(inputMat8U, resizedMat, cv::Size(fbo.getWidth(), fbo.getHeight()), 0, 0, cv::INTER_LINEAR);
 
-    // Convert OpenCV Mat to ofPixels
+    // // Convert OpenCV Mat to ofPixels
-    ofPixels pixels;
     pixels.allocate(fbo.getWidth(), fbo.getHeight(), OF_PIXELS_GRAY);
 
-    // Copy data from resizedMat to ofPixels
+    // // Copy data from resizedMat to ofPixels
-    for (size_t y = 0; y < fbo.getHeight(); ++y) {
+    memcpy(pixels.getData(), resizedMat.data, fbo.getWidth() * fbo.getHeight());
-        for (size_t x = 0; x < fbo.getWidth(); ++x) {
+}
-            unsigned char value = resizedMat.at<uchar>(y, x);
-            pixels.setColor(x, y, ofColor(value));
-        }
-    }
 
-    // Update FBO with new pixels
+void Onnx::SetPixels(ofFbo& fbo){
     fbo.begin();
     ofTexture& texture = fbo.getTexture();
     texture.loadData(pixels);
     fbo.end();
-
-
 }
 
 void Onnx::Softmax(float* data, size_t size) {

src/Onnx.h

@@ -31,10 +31,12 @@
         float ReduceMin(const float* data, size_t size);
         float ReduceMax(const float* data, size_t size);
         void Normalize(float* data, size_t size, float min_value, float max_value);
-        void DataToFbo(const float* data, size_t width, size_t height, ofFbo& fbo);
+        void DataToFbo(float* data, size_t width, size_t height, ofFbo& fbo);
         void Softmax(float* data, size_t size);
-        bool timeStamp = true;
+        void SetPixels(ofFbo& fbo);
+        bool timeStamp = false;
         bool log = false;
+        ofPixels pixels;
     
     protected:
         Ort::Env ort_env;

src/Player.cpp

@@ -6,26 +6,68 @@ Player::Player(){
 
 /* Basic ofVideoPlayer setup */
 void Player::Setup(){
-    videoPlayer.setLoopState(OF_LOOP_NONE);
+    videoPlayer.setLoopState(OF_LOOP_NORMAL);
     videoPlayer.setVolume(0);
 }
 
 /* Updated the video player:
     (1) Allocates the required W x H for the model input
     (2) Updates the video texture, and sets the current frame value */
-void Player::Update(ofImage &img){
+void Player::Update(ofImage &img, bool show_frame){
 
-    if(!img.isAllocated() || img.getWidth() != videoPlayer.getWidth() || img.getHeight() != videoPlayer.getHeight()){
+    if(!img.isAllocated()){
-        img.allocate(videoPlayer.getWidth(), videoPlayer.getHeight(), OF_IMAGE_COLOR);
+        img.allocate(ofGetWindowWidth() / 2, ofGetWindowHeight(), OF_IMAGE_COLOR);
-        std::cout << "allocating new ofImage" << std::endl;
+        temp.allocate(ofGetWindowWidth() / 2, ofGetWindowHeight(), GL_RGB);
     }
 
-    if(videoPlayer.isLoaded()){
+    // Calculate the target width and height for model_output_fbo_1
+    float fbo_1_target_width = img.getWidth();  // 1/2 of the screen width (990px)
+    float fbo_1_target_height = img.getHeight();  // Full height of the screen
+    float fbo_aspect_ratio = fbo_1_target_width / fbo_1_target_height;
+    float aspect_ratio;
+
+    if(show_frame && frame.isAllocated()){
+        aspect_ratio = frame.getWidth() / frame.getHeight();
+    } 
+
+    if(videoPlayer.isLoaded() && !show_frame){
         hasVideo = true;
         playerCurrentFrame = videoPlayer.getCurrentFrame();
+        std::cout << playerCurrentFrame << std::endl;
         videoPlayer.update();
-        videoPlayer.play();
+        aspect_ratio = videoPlayer.getWidth() / videoPlayer.getHeight();
     }
+
+    if (fbo_aspect_ratio > aspect_ratio) {
+        // FBO is wider; scale by width to fill the FBO
+        new_width = fbo_1_target_width;
+        new_height = new_width / aspect_ratio;  // Scale height to maintain aspect ratio
+    } else {
+        // FBO is taller; scale by height to fill the FBO
+        new_height = fbo_1_target_height;
+        new_width = new_height * aspect_ratio;  // Scale width to maintain aspect ratio
+    }
+
+    // Center the video to ensure it fills the FBO and is cropped if necessary
+    x_pos = (ofGetWindowWidth() * 0.25) - (new_width / 2);
+    y_pos = (ofGetWindowHeight() - new_height) / 2;  // Center vertically
+
+    if(show_frame && frame.isAllocated()){
+        set_frame = true;
+        temp.begin();
+        frame.draw(x_pos, y_pos, new_width, new_height);
+        temp.end();
+    } 
+
+    if(videoPlayer.isLoaded() && !show_frame){
+        temp.begin();
+        videoPlayer.draw(x_pos, y_pos, new_width, new_height);
+        temp.end();
+    }
+
+    ofPixels pixels;
+    temp.readToPixels(pixels);
+    img.setFromPixels(pixels);
 }
 
 void Player::Draw(){
@@ -41,10 +83,49 @@ ofPixels Player::GetVideoPixels(){
 /* Loads the video from path:
     (1) Sets the frame
     (2) Allocates the fbo dims for final render */
-void Player::SetVideo(std::string path, ofFbo &fbo){
+void Player::SetVideoOnAwake(std::string path, ofFbo &fbo){
     videoPlayer.load(path);
+    videoPlayer.play();
     videoPlayer.setFrame(800);
-    fbo.allocate(videoPlayer.getWidth(), videoPlayer.getHeight(), GL_RGB);
+    /* pause video initially */
+    fbo.allocate(ofGetWindowWidth() / 2, ofGetWindowHeight(), GL_RGB);
+}
+
+void Player::SetVideo(std::string path, std::string frame, bool is_active){
+    if(path.empty()){
+        path = "videos/output.mp4";
+    }
+
+    /* convert str frame -> int (remove _x)*/
+    int f_number = 0;
+
+    try {
+        size_t pos = frame.find("_");
+        std::string frame_number = frame.substr(0, pos);
+        f_number = std::stoi(frame_number);
+    } catch (exception e){
+        std::cout << "No underscore found in frame name" << std::endl;
+    }
+
+    if(!is_active){
+        if(videoPlayer.getMoviePath() != path){
+            videoPlayer.loadAsync(path);
+            videoPlayer.play();
+        }
+
+        if(set_frame){
+            if(videoPlayer.isPlaying() && playerCurrentFrame != f_number){
+                videoPlayer.setFrame(f_number);
+                if(playerCurrentFrame == f_number)
+                    set_frame = false;
+            }
+        }
+    }
+}
+
+/* Loads a frame from path */
+void Player::SetFrame(std::string path){
+    frame.load(path);
 }
 
 // Sets a random frame in the active video
@@ -53,3 +134,25 @@ void Player::SetRandomFrame(){
     std::cout << "setting frame: " << randomFrame << std::endl;
     videoPlayer.setFrame(randomFrame);
 }
+
+void Player::SetVideoPosition(ofFbo& output_fbo){
+    int playerW = videoPlayer.getWidth();
+    int playerH = videoPlayer.getHeight();
+
+    // Calculate the scaling to fit the 2/3 width and full height area
+    float targetWidth = output_fbo.getWidth();
+    float targetHeight = output_fbo.getHeight();
+
+    float scaleX = targetWidth / playerW;
+    float scaleY = targetHeight / playerH;
+
+    // Use the larger scaling factor to ensure coverage
+    float scale = std::max(scaleX, scaleY);
+
+    // Calculate scaled dimensions
+    int scaledWidth = playerW * scale;
+    int scaledHeight = playerH * scale;
+
+    // Center the video within the FBO
+    centerPosition = glm::vec2((targetWidth - scaledWidth) / 2, (targetHeight - scaledHeight) / 2);
+}

src/Player.h

@@ -8,11 +8,13 @@ class Player {
     public:
     
     void Setup();
-    void Update(ofImage &img);
+    void Update(ofImage &img, bool show_frame);
     void Draw();
-    void SetVideo(std::string path, ofFbo &fbo);
+    void SetVideoOnAwake(std::string path, ofFbo &fbo);
+    void SetVideo(std::string path, std::string frame, bool show_frame);
+    void SetFrame(std::string path);
     ofPixels GetVideoPixels();
-    void SetVideoPosition();
+    void SetVideoPosition(ofFbo& output_fbo);
     void SetRandomFrame();
     void SetupGUI();
     void UpdateGUI();
@@ -31,9 +33,18 @@ class Player {
     glm::vec2 centerPosition;
 
     ofFbo fbo;
+    ofFbo temp;
 
-    Player();
+    float x_pos;
+    float y_pos;
+    float new_width;
+    float new_height;
+
+    bool set_frame;
 
+    ofImage frame;
+    
+    Player();
 };
 
 #endif

src/QuadSource/QuadSource.cpp

@@ -0,0 +1,21 @@
+#include "QuadSource.h"
+
+void QuadSource::setup(){
+    // name
+    name = "test";
+
+    // allocate size
+    allocate(1512, 1080);
+}
+
+
+void QuadSource::update(){
+	
+}
+
+void QuadSource::draw(){
+	// Fill FBO with our quads
+    ofClear(0);
+	//ofBackground(255, 120, 10);
+	fbo_in->draw(0, 0);
+}

src/QuadSource/QuadSource.h

@@ -0,0 +1,17 @@
+#ifndef _QUADSOURCE
+#define _QUADSOURCE
+
+#include "ofMain.h"
+#include "FboSource.h"
+
+class QuadSource : public ofx::piMapper::FboSource{
+
+    public:
+    void setup();
+    void update();
+    void draw();
+
+    std::vector<ofRectangle> quads;
+    std::vector<float> quad_speeds;
+};
+#endif

src/Request.cpp

@@ -0,0 +1,40 @@
+#include "Request.h"
+
+/* setup http server */
+void Request::setup(std::string ip, int port, std::string page){
+    std::cout << "Initialising HTTP Server" << std::endl;
+
+    req.method = ofHttpRequest::POST;
+    req.url = "http://" + ip + ":" + ofToString(port) + "/" + page;
+    req.headers["Content-Type"] = "application/json";
+}
+
+/* send a request to vp_server & return frame/video/folder */
+VPResp Request::query(Vector7D& in){
+    VPResp vp_resp;
+    try {
+        req.body = "{\"vector\": [" +
+                ofToString(in.angry) + "," +
+                ofToString(in.disgust) + "," +
+                ofToString(in.fear) + "," +
+                ofToString(in.happy) + "," +
+                ofToString(in.sad) + "," +
+                ofToString(in.surprise) + "," +
+                ofToString(in.neutral) + "]}";
+
+        auto resp = http.handleRequest(req);
+        json_resp = ofJson::parse(resp.data.getText());
+        vp_resp.folder = json_resp["folder"];
+        vp_resp.image = json_resp["image"];
+        vp_resp.video = json_resp["video"];
+        vp_resp.frame = json_resp["frame"];
+        vp_resp.lost = json_resp["lost"];
+
+        past_vp_resp = vp_resp;
+
+        return vp_resp;
+    } catch (exception e) {
+        // Some issue happening here when plugging in controllers, or when they initially connect
+        return past_vp_resp;
+    }
+}

src/Request.h

@@ -0,0 +1,46 @@
+#ifndef _REQUEST
+#define _REQUEST
+
+#include "ofMain.h"
+
+/* emotional embedding */
+struct Vector7D {
+    float angry;
+    float disgust;
+    float fear;
+    float happy;
+    float sad;
+    float surprise;
+    float neutral;
+    
+    bool operator!=(const Vector7D &other) const {
+        return angry != other.angry ||
+               disgust != other.disgust ||
+               fear != other.fear ||
+               happy != other.happy ||
+               sad != other.sad ||
+               surprise != other.surprise ||
+               neutral != other.neutral;
+    }
+};
+
+/* Vantage point query structure */
+struct VPResp{
+    std::string folder;
+    std::string video;
+    std::string image;
+    std::string frame;
+    int lost;
+};
+
+class Request{
+    public:
+    void setup(std::string ip, int port, std::string page);
+    VPResp query(Vector7D& in);
+
+    ofHttpRequest req;
+    ofURLFileLoader http;
+    ofJson json_resp;
+    VPResp past_vp_resp;
+};
+#endif

src/Server.cpp

@@ -0,0 +1,159 @@
+#include "Server.h"
+
+void Server::start(){
+    std::cout << "Initialising TCP sever" << std::endl;
+    server.setup(port);
+    osc_sender.setup(OSC_HOST, OSC_PORT);
+    http.setup(http_ip, http_port, http_page);
+    is_active = true;
+    previous_embedding = embedding;
+    last_change_time = std::chrono::steady_clock::now();
+}
+
+void Server::update(){
+
+    for ( int i = 0; i < server.getLastID(); i++){
+        if (server.isClientConnected(i)) {
+            const int buffer_size = 8;
+            char buffer[buffer_size];
+            int bytes_recieved = server.receiveRawBytes(i, buffer, buffer_size);
+
+            if (bytes_recieved == buffer_size){
+                float value;
+                int id;
+                memcpy(&value, buffer, sizeof(float));
+                memcpy(&id, buffer + sizeof(float), sizeof(int));
+
+                std::string ip_address = server.getClientIP(i);
+
+                addOrUpdateClient(id, value, ip_address);
+            }
+        }
+    }
+
+    updateEmbedding();
+    checkActivity();
+    sendOSCMessage();
+
+    if(debug){
+        printClients();
+    }
+}
+
+void Server::addOrUpdateClient(int client_id, float value, const std::string& ip_address){
+    ClientInfo client;
+
+    client.ip_address = ip_address;
+    client.value = value;
+
+    clients[client_id] = client;
+}
+
+void Server::updateEmbedding(){
+    for(const auto& c : clients){
+        const ClientInfo& info = c.second;
+        float val = std::round(info.value * 100.0f) / 100.0f;
+        switch(c.first){
+            case 0: 
+                embedding.angry = val;
+                break;
+            case 1: 
+                embedding.disgust = val;
+                break;
+            case 2: 
+                embedding.fear = val;
+                break;
+            case 3: 
+                embedding.happy = val;
+                break;
+            case 4: 
+                embedding.sad = val;
+                break;
+            case 5: 
+                embedding.surprise = val;
+                break;
+            case 6: 
+                embedding.neutral = val;
+                embedding.fear = ofRandom(0.1, 0.6);
+                embedding.angry = ofRandom(0.01, 0.99);
+                embedding.happy = ofRandom(0.01, 0.99);
+                break;
+        }
+    }
+}
+
+void Server::printClients(){
+    for( const auto& c : clients){
+        int id = c.first;
+        const ClientInfo& info = c.second;
+        std::cout << "id: " << id
+            << ", value: " << info.value
+            << ", IP: " << info.ip_address << std::endl;
+    }
+
+    std::cout << is_active << std::endl;
+}
+
+/* check if the controllers are in use */
+void Server::checkActivity(){
+    if (previous_embedding.neutral != embedding.neutral) {  // Check if embedding has changed
+        last_change_time = std::chrono::steady_clock::now();  // Reset the timer if there is a change
+        previous_embedding = embedding;  // Update the previous embedding to the current one
+        is_active = true;
+        sendHttpRequest();
+    } else {
+        // Calculate the time since the last change
+        auto now = std::chrono::steady_clock::now();
+        auto duration = std::chrono::duration_cast<std::chrono::seconds>(now - last_change_time).count();
+
+        if (duration >= 2) {
+            is_active = false;
+        }
+    }
+}
+
+/* send osc msg, check if audio file exists and it is different to the past audiofile */
+void Server::sendOSCMessage(){
+    std::vector<ofxOscMessage> messages;
+
+    ofxOscMessage me_0;
+    ofxOscMessage me_1;
+    ofxOscMessage me_2;
+    ofxOscMessage me_3;
+    ofxOscMessage me_file;
+
+    std::string audio_file = vp_resp.folder;
+
+    // Check if file exists in a given dir
+    ofFile file("/home/cailean/Desktop/rave/all_wav_files/" +  audio_file + ".wav");
+
+    if(!is_active && (audio_file != past_audio_file) && file.exists()){
+        me_file.setAddress("/emote/filename");
+        me_file.addStringArg(audio_file + ".wav");
+        messages.push_back(me_file);
+        past_audio_file = audio_file;
+    }
+
+    me_0.setAddress("/emote/0");
+    me_0.addFloatArg(embedding.neutral);
+    messages.push_back(me_0);
+    me_1.setAddress("/emote/1");
+    me_1.addFloatArg(embedding.neutral);
+    messages.push_back(me_1);
+    me_2.setAddress("/emote/2");
+    me_2.addFloatArg(embedding.neutral);
+    messages.push_back(me_2);
+    me_3.setAddress("/emote/3");
+    me_3.addFloatArg(embedding.neutral);
+    messages.push_back(me_3);
+
+    for (auto& msg : messages){
+         osc_sender.sendMessage(msg, false);
+    }
+   
+}
+
+/* sends request to http server if is_active = true */
+void Server::sendHttpRequest(){
+    vp_resp = http.query(embedding);
+}

src/Server.h

@@ -0,0 +1,54 @@
+#ifndef _SERVER
+#define _SERVER
+
+#include "ofMain.h"
+#include "ofxNetwork.h"
+#include "Request.h"
+#include <unordered_map>
+#include <chrono>
+#include "ofxOsc.h"
+
+#define OSC_HOST "127.0.0.1"
+#define OSC_PORT 9002
+
+struct ClientInfo {
+    float value;
+    std::string ip_address;
+};
+
+class Server{
+    public:
+    Server(int port, Vector7D& _embedding, bool debug, std::string _http_ip, int _http_port, std::string _http_page) 
+        : port(port), embedding(_embedding), debug(debug), http_ip(_http_ip), http_port(_http_port), http_page(_http_page) {}
+
+    void start();
+    void update();
+    void addOrUpdateClient(int client_id, float value, const std::string& ip_address);
+    void printClients();
+    void updateEmbedding();
+    void checkActivity();
+    void sendHttpRequest();
+    void sendOSCMessage();
+
+    int port;
+    ofxTCPServer server;
+    std::unordered_map<int, ClientInfo> clients;
+    bool debug;
+    bool is_active;
+    Vector7D& embedding;
+
+    Request http;
+    std::string http_ip;
+    int http_port;
+    std::string http_page;
+    VPResp vp_resp;
+
+    private:
+    Vector7D previous_embedding;
+    std::chrono::time_point<std::chrono::steady_clock> last_change_time;
+
+    ofxOscSender osc_sender;
+    std::string past_audio_file;
+};
+
+#endif

src/Yolo.cpp

@@ -47,14 +47,16 @@ void Yolo::ParseOutput(float* &output_tensors, std::vector<types::BoxfWithLandma
 void Yolo::DrawBox(std::vector<types::BoxfWithLandmarks> &detected_faces){
     for (const auto &face : detected_faces) {
         ofNoFill();
-        ofDrawRectangle(face.box.x1, face.box.y1, face.box.x2 - face.box.x1, face.box.y2 - face.box.y1);
+        float w = ofGetWindowWidth() / 2;
+        ofDrawRectangle(face.box.x1 + w, face.box.y1, ((face.box.x2 + w) - (face.box.x1 + w)), face.box.y2 - face.box.y1);
     }
 }
 
 // Simple helper to draw boxes at the center of the detected face.
 void Yolo::DrawCenter(std::vector<types::BoxfWithLandmarks> &detected_faces){
     ofNoFill();
-    ofDrawCircle(detected_faces[0].box.center, 5);
+    glm::vec2 position = detected_faces[0].box.center;
+    ofDrawCircle(position.x + ofGetWindowWidth() / 2, position.y, 5);
     
 }
 

src/main.cpp

@@ -6,7 +6,9 @@ int main( ){
 
 	//Use ofGLFWWindowSettings for more options like multi-monitor fullscreen
 	ofGLWindowSettings settings;
-	settings.setSize(1600, 800);
+	//1512x1080
+	settings.setSize(1980, 1080);
+	settings.setGLVersion(3, 2);
 	settings.windowMode = OF_WINDOW; //can also be OF_FULLSCREEN
 
 	auto window = ofCreateWindow(settings);

src/ofApp.cpp

@@ -2,108 +2,162 @@
 
 //--------------------------------------------------------------
 void ofApp::setup(){
-    ofSetFrameRate(24);
+    /* ofSettings */
+    ofDisableArbTex();
     ofSetVerticalSync(true);
+    window_width = 1512;
+    window_height = ofGetWindowHeight();
 
-    player.Setup();
+    /* setup pi_mapper */
-    player.SetVideo("videos/demo.mp4", fbo);
+    ofx::piMapper::VideoSource::enableAudio = false;
+	ofx::piMapper::VideoSource::useHDMIForAudio = false;
+    projection_mapper.registerFboSource(quad_src);
+    projection_mapper.setup();
 
-    emoteImage.allocate(260, 260);
+    /* load font */
-    tempImage.allocate(emoteImage.getWidth(), emoteImage.getHeight(), OF_IMAGE_COLOR);
+    tf.load("data/fonts/jetbrainsmono-regular.ttf", 20);
+
+    /* load shader */
+    depthToColourShader.load("data/shader/rampShader.vert", "data/shader/rampShader.frag");
+
+    /* setup map */
+    map.Setup();
+
+    /* setup video */
+    player.Setup();
+    player.SetVideoOnAwake("dataset/20230601_webexclusi-irelandsey_cl11536538/20230601_webexclusi-irelandsey_cl11536538.mp4", model_output_fbo_1);
+    player.SetFrame("demo.jpg");
 
+    /* setup models (modelPath, log, useCuda)   */
     ORTCHAR_T* modelPath = "/home/cailean/Desktop/openframeworks/of_v0.12.0_linux64gcc6_release/apps/myApps/onnx-test/bin/data/depth_anything_v2_vitb.onnx";
     ORTCHAR_T* modelPath2 = "/home/cailean/Desktop/openframeworks/of_v0.12.0_linux64gcc6_release/apps/myApps/onnx-test/bin/data/yolov5s-face.onnx";
     ORTCHAR_T* modelPath3 = "/home/cailean/Desktop/openframeworks/of_v0.12.0_linux64gcc6_release/apps/myApps/onnx-test/bin/data/rgb_emotion.onnx";
+    ORTCHAR_T* modelPath4 = "/home/cailean/Desktop/openframeworks/of_v0.12.0_linux64gcc6_release/apps/myApps/onnx-test/bin/data/depth_anything_v2_vits.onnx";
+
+    //yolo.Setup(modelPath2, false, true);
+    depth.Setup(modelPath, true, true);
+    depth_small.Setup(modelPath, true, true);
+    //emotion.Setup(modelPath3, false, true);
+
+    /* Depth output fbo */
+    model_output_fbo.allocate(window_width / 2, window_height, GL_RGB);
+
+    /* Shader output */
+    rampedFbo.allocate(window_width, window_height);
+
+    /* pi_mapper set output fbo_src */
+    quad_src.setFbo(&rampedFbo);
+
+    emoteImage.allocate(260, 260);
+    tempImage.allocate(emoteImage.getWidth(), emoteImage.getHeight(), OF_IMAGE_COLOR);
 
-    /* Setup Models (modelPath, log, useCuda)   */
+    screen_fbo.allocate(window_width, window_height, GL_RGB);
-    yolo.Setup(modelPath2, false, true);
+
-    depth.Setup(modelPath, false, true);
+    threadMap.setup(&map.fboImage, &model_output_fbo, &depth);
-    emotion.Setup(modelPath3, false, true);
+    threadVideo.setup(&img, &model_output_fbo_1, &depth_small);
+    //threadYolo.setupYolo(&img, &detected_faces, &yolo, &faceDetector);
+
+     /* 
+        Create a dummy initial input of batch_size = 5, as 
+        when initialising the model, it will attempt to create a space in memory for this array.
+        If the batch_size does change it will completely slow down inference, due to how the cudnn_search_algo is set.
+        None of the other search alogithms bar EXHAUSTIVE will work.. no idea why.
+
+        for(int i = 0; i < emotionImageMaxBatchSize; i++){
+            tempImage.setFromPixels(emoteImage.getPixels());
+            croppedFaces.push_back(tempImage);
+        }
+    */
+
+    /* setup server (http & tcp) */
+    server = std::make_unique<Server>(12345, embedding, false, "192.168.0.253", 2000, "search");
+    server->start();
 }
 
 
 
 //--------------------------------------------------------------
 void ofApp::update(){
+
+    /* update server - check for clients and values */ 
+    server->update();
+
     /*  Check to see if the application has moved to the first frame    
         As the models need to load first, as the first inference is quite slow  */ 
-    if(ofGetFrameNum() > 0)
+    if(ofGetFrameNum() < 2){
         firstRun = false;
+        threadMap.start();
+        threadVideo.start();
+        //threadYolo.start();
+    }
     
     /* Clear detetced face list */
     detected_faces.clear();
 
-    /* Setup model input using ofImage */
+    /* tsnemap fbo - first run to allocate fbo */
-    player.Update(img);
+    map.Update(server->vp_resp.image, server->is_active);
-    img.setFromPixels(player.GetVideoPixels());
-    
-    /* Run Models */
-    try{
-        auto output_tensors = depth.Run(img);
-        float* output_ptr = output_tensors.front().GetTensorMutableData<float>();
-        size_t num_elements = output_tensors.front().GetTensorTypeAndShapeInfo().GetElementCount();
-
-        float min_value = depth.ReduceMin(output_ptr, num_elements);
-        float max_value = depth.ReduceMax(output_ptr, num_elements);
-
-        depth.Normalize(output_ptr, num_elements, min_value, max_value);
-
-        depth.DataToFbo(output_ptr, 518, 518, fbo);
 
-        auto output_tensors_face = yolo.Run(img);
+    if(firstRun){
-
+        map.Draw(); 
-        auto output_faces = output_tensors_face.front().GetTensorTypeAndShapeInfo().GetShape();
+    }
     
-        unsigned int num_anchors = output_faces[1];  // Number of anchors
+    /* Setup model input using ofImage, allocated fbo, checks if a frame or video_frme should be drawn to the screen */
+    displayFrame();
     
-        float* output_face_ptr = output_tensors_face.front().GetTensorMutableData<float>();
+    /* Run Models, and set pixels */
+    try{
 
-        faceDetector.ParseOutput(output_face_ptr, detected_faces, num_anchors);
+        threadMap.update();
+        threadVideo.update();
+        //threadYolo.update();
 
-        faceDetector.ConvertBoxCoordsToOriginalSize(detected_faces, fbo.getWidth(), fbo.getHeight());
+        depth.SetPixels(model_output_fbo);
+        depth_small.SetPixels(model_output_fbo_1);
+        //faceDetector.ConvertBoxCoordsToOriginalSize(detected_faces, model_output_fbo_1.getWidth(), model_output_fbo_1.getHeight());
 
         /* As no input is generated for the emotion recognition model, run a dummy vector through the model
-            So it can load */
+            So it can load.
-        if(firstRun){
-
-            /* 
-                Create a dummy initial input of batch_size = 5, as 
-                when initialising the model, it will attempt to create a space in memory for this array.
-                If the batch_size does change it will completely slow down inference, due to how the cudnn_search_algo is set.
-                None of the other search alogithms bar EXHAUSTIVE will work.. no idea why.
-            */
-            for(int i = 0; i < emotionImageMaxBatchSize; i++){
-                tempImage.setFromPixels(emoteImage.getPixels());
-                croppedFaces.push_back(tempImage);
-            }
-
-            // Run model to warmup
-            auto emotion_output_tensor = emotion.RunBatch(croppedFaces);
-
-        } else {
-            //inferEmotionalState();
-        }
-
-        /*  Run emotion inference */
-        //inferEmotionalState();
 
+            auto emotion_output_tensor = emotion.RunBatch(croppedFaces);
+        */
     } catch (exception e){
 
         std::cout << "Model did not run" << std::endl;
 
     }
 
+    projection_mapper.update();
 }
 
 
 //--------------------------------------------------------------
 void ofApp::draw(){
-    fbo.draw(0, 0);
+    map.Draw();
  
-    if(!firstRun){
+    screen_fbo.begin();
-        faceDetector.DrawBox(detected_faces);
+
-        faceDetector.DrawCenter(detected_faces);
+    model_output_fbo.draw(0, 0);
-    }
+
+    model_output_fbo_1.draw(window_width / 2, 0);
+
+    screen_fbo.end();    
+
+    renderDepthMap();
+
+    // if(!firstRun && detected_faces.size() != 0){
+    //     faceDetector.DrawBox(detected_faces);
+    //     faceDetector.DrawCenter(detected_faces);
+    // }
+
+    ofPushMatrix();
+    ofSetColor(255);
+    ofSetBackgroundColor(0);
+    tf.drawString(std::to_string(ofGetFrameRate()), 10, 30);
+    ofPopMatrix();
+    // printEmotions();
+
+    // send final fbo (ramp.fbo) to pi_mapper
+    //projection_mapper.draw();
 
 //   emoteImage.draw(640, 0);
 //   for(auto& face : detected_faces){
@@ -114,7 +168,6 @@ void ofApp::draw(){
 
 //--------------------------------------------------------------
 void ofApp::inferEmotionalState(){
-
     /*
         Max faces to process with the model (5)
     */
@@ -139,9 +192,9 @@ void ofApp::inferEmotionalState(){
     auto& output_tensor = emotion_output_tensor.front();
     auto output_shap = output_tensor.GetTensorTypeAndShapeInfo().GetShape();
     size_t batch_size = output_shap[0]; // Number of images in the batch
-    size_t num_classes = output_shap[1]; // Number of emotion classes
+    size_t num_classes = 7; //output_shap[1]; // Number of emotion classes
 
-    float* emotional_data = output_tensor.GetTensorMutableData<float>();
+    emotional_data = output_tensor.GetTensorMutableData<float>();
 
     for (size_t i = 0; i < max_faces_to_process; i++){
 
@@ -153,16 +206,51 @@ void ofApp::inferEmotionalState(){
     }
 }
 
+/*
+    Depth Map Shader Pass
+*/
+void ofApp::renderDepthMap(){
+    rampedFbo.begin();
+    // depthToColourShader.begin();
+    // depthToColourShader.setUniformTexture("tex0", screen_fbo.getTexture(), 0);
+    // depthToColourShader.setUniform1f("texW", rampedFbo.getWidth());
+    // depthToColourShader.setUniform1f("texH", rampedFbo.getHeight());
+    screen_fbo.draw(0, 0);
+    // depthToColourShader.end();
+    rampedFbo.end();
+
+    rampedFbo.draw(0,0);
+}
+
+void ofApp::printEmotions(){
+    ofPushMatrix();
+    ofSetColor(255);
+    ofSetBackgroundColor(0);
+    char buffer[50];  // Create a buffer to hold the formatted string
+    std::sprintf(buffer, "Value: %.3f", embedding.neutral);  //
+    tf.drawString(buffer, 10, 90);
+    ofPopMatrix();
+}
+
+/* check vp_resp, set frame to video_player fbo (centered + scaled) */
+void ofApp::displayFrame(){
+    /* set frame from recent vantage-point tree response */
+    player.SetFrame(server->vp_resp.image);
+    /* set video from recent vantage-point tree resp */
+    player.SetVideo(server->vp_resp.video, server->vp_resp.frame, server->is_active);
+    /* set image for model input, checks if the clients are active -> yes-frame no-video */
+    player.Update(img, server->is_active);
+}
+
 //--------------------------------------------------------------
 void ofApp::keyPressed(int key){
-    if (key=OF_KEY_LEFT){
+    projection_mapper.keyPressed(key);
-        player.SetRandomFrame();
+    map.buttonPressed(key);
-    }
 }
 
 //--------------------------------------------------------------
 void ofApp::keyReleased(int key){
-
+    projection_mapper.keyReleased(key);
 }
 
 //--------------------------------------------------------------
@@ -172,17 +260,17 @@ void ofApp::mouseMoved(int x, int y ){
 
 //--------------------------------------------------------------
 void ofApp::mouseDragged(int x, int y, int button){
-
+    projection_mapper.mouseDragged(x, y, button);
 }
 
 //--------------------------------------------------------------
 void ofApp::mousePressed(int x, int y, int button){
-
+    projection_mapper.mousePressed(x, y, button);
 }
 
 //--------------------------------------------------------------
 void ofApp::mouseReleased(int x, int y, int button){
-
+    projection_mapper.mouseReleased(x, y, button);
 }
 
 //--------------------------------------------------------------

src/ofApp.h

@@ -7,6 +7,14 @@
 #include "Yolo.h"
 #include <vector>
 #include "Player.h"
+#include "Map.h"
+#include <chrono>
+#include <iostream>
+#include "ModelThread.h"
+#include "Server.h"
+#include "Request.h"
+#include "ofxPiMapper.h"
+#include "QuadSource/QuadSource.h"
 
 class ofApp : public ofBaseApp{
 
@@ -27,15 +35,22 @@ class ofApp : public ofBaseApp{
 		void dragEvent(ofDragInfo dragInfo);
 		void gotMessage(ofMessage msg);
 		void inferEmotionalState();
+		void renderDepthMap();
+		void printEmotions();
+		void displayFrame();
+
+		float window_height;
+		float window_width;
 
 		ofImage img;
-		ofFbo fbo;
+		
 		cv::Mat cvImg;
 		ofVideoGrabber webcam;
 		Player player;
 		bool firstRun = true;
 
 		Onnx depth;
+		Onnx depth_small;
 		Onnx yolo;
 		Onnx emotion;
 		ofxCvColorImage emoteImage;
@@ -45,5 +60,33 @@ class ofApp : public ofBaseApp{
 		
 		Emotef emo;
 		Yolo faceDetector;
+		float* emotional_data;
 		std::vector<types::BoxfWithLandmarks> detected_faces;
+
+		Map map;
+
+		ofShader depthToColourShader;
+		ofFbo rampedFbo;
+
+		ofTrueTypeFont tf;
+
+		ofFbo video_player_fbo;
+		ofFbo model_output_fbo;
+		ofFbo model_output_fbo_1;
+		ofFbo model_output_fbo_frame;
+		ofFbo screen_fbo;
+
+		ModelThread threadMap;
+		ModelThread threadVideo;
+		ModelThread threadYolo;
+		ModelThread threadEmotion;
+
+		std::unique_ptr<Server> server;
+		Vector7D embedding;
+
+		int app_h = 1080;
+		int app_w = 1512;
+
+		ofxPiMapper projection_mapper;
+		QuadSource quad_src;
 };