void main() {
using namespace std;
using namespace cv;
using namespace TUIO;
cv::Mat depthFrameRaw(480, 640, CV_16UC1);
cv::Mat x(480, 640, CV_32FC1);
cv::Mat y(480, 640, CV_32FC1);
cv::Mat z(480, 640, CV_32FC1);
Mat1f debugFrame(480, 640);
CLNUICamera cam = CreateNUICamera();
const float rMin = 25;
stringstream buffer;
unsigned short* depthFrameRawData = (unsigned short*) depthFrameRaw.data;
int key;
bool tuio3dMode = false;
TuioServer* tuio = new TuioServer(tuio3dMode);
TuioTime time;
bool debug = true;
float zMin = 0.0f;
float zMax = 0.75f;
if ( StartNUICamera(cam) ) {
cout << "cam started" << endl;
while ( (key = cvWaitKey(1)) != 27) {
if ( GetNUICameraDepthFrameRAW(cam, (PUSHORT)depthFrameRaw.data) ) {
unproject(depthFrameRawData, (float*)x.data, (float*)y.data, (float*)z.data);
debugFrame = z * 0.1;
if (key == 32) {
debug = !debug;
}
std::vector<cv::Point2i> fingerTips;
if (debug) {
fingerTips = detectFingertips(z, 0, 0.75, debugFrame);
} else {
// find fingertips
fingerTips = detectFingertips(z);
// draw fingetips
for(vector<Point2i>::iterator it = fingerTips.begin(); it != fingerTips.end(); it++) {
circle(debugFrame, (*it), 10, Scalar(1.0f), -1);
}
}
// send fingertip positions via TUIO
time = TuioTime::getSessionTime();
tuio->initFrame(time);
for(vector<Point2i>::iterator it = fingerTips.begin(); it != fingerTips.end(); it++) {
// pixel coordinates
int u = (int)(*it).x;
int v = (int)(*it).y;
float pX = 1.0f - u / 640.0f;
float pY = v / 480.0f;
float pZ = (z.at<float>(v,u) - zMin) / (zMax - zMin);
TUIO::TuioCursor* cursor = tuio->getClosestTuioCursor(pX,pY,pZ);
if (cursor == NULL || cursor->getDistance(pX,pY,pZ) > 0.05) {
tuio->addTuioCursor(pX,pY,pZ);
} else if(cursor->getTuioTime() != time) {
tuio->updateTuioCursor(cursor, pX, pY, pZ);
}
}
tuio->stopUntouchedMovingCursors();
tuio->removeUntouchedStoppedCursors();
tuio->commitFrame();
cout << tuio->getTuioCursors().size() << endl;
// draw our debugframe
imshow("debugFrame", debugFrame);
}
}
} else {
cout << "could not start cam" << endl;
}
StopNUICamera(cam);
}
int main(int argc, const char** argv)
{
//Tuio Parameters
TuioServer *tuioServer;
TuioTime currentTime;
vector<TuioCursor*> cursors;
help();
//CommandLineParser parser(argc, argv, keys);
bool useCamera=true;
int camera=0;
string file;
if(argc == 3){
if (strcmp(argv[1],"-c") == 0){
camera=atoi(argv[2]);
}else if (strcmp(argv[1],"-fn") == 0){
useCamera=false;
file=argv[2];
}
}
VideoCapture cap;
bool update_bg_model = true;
int frames=0;
if( useCamera )
cap.open(camera);
else
cap.open(file.c_str());
if( !cap.isOpened() )
{
printf("can not open camera or video file\n");
return -1;
}
namedWindow("image", CV_WINDOW_KEEPRATIO);
namedWindow("foreground mask", CV_WINDOW_KEEPRATIO);
namedWindow("foreground image", CV_WINDOW_KEEPRATIO);
namedWindow("outlines", CV_WINDOW_KEEPRATIO);
BackgroundSubtractorMOG bg_model(100,25,0.5,10);
//bg_model.set("noiseSigma", 10);
/* SimpleBlobDetector::Params blobParams;
blobParams.minDistBetweenBlobs = 10.0f;
blobParams.filterByInertia = false;
blobParams.filterByConvexity = false;
blobParams.filterByColor = false;
blobParams.filterByCircularity = false;
blobParams.filterByArea = true;
blobParams.minArea = 200.0f;
blobParams.maxArea = 10000.0f;
SimpleBlobDetector blobs(blobParams);
vector<KeyPoint> blobKeypoints;
*/
vector<vector<Point> > contours,contoursAll;
vector<Moments> contourMoments;
vector<Point2d> centers;
Mat img, fgmask, fgmask_old, fgimg, temp, outline_img;
tuioServer = new TuioServer("rb-mbp.local",3333);
//tuioServer = new TuioServer();
int niters=1;
for(;;)
{
cap >> img;
contours.clear();
contoursAll.clear();
contourMoments.clear();
centers.clear();
if( img.empty() )
break;
//cvtColor(_img, img, COLOR_BGR2GRAY);
if( fgimg.empty() )
fgimg.create(img.size(), img.type());
if( outline_img.empty() )
outline_img.create(img.size(), img.type());
//update the model
bg_model(img, fgmask, update_bg_model ? -1 : 0);
//Fill in gaps in the mask using morphology functions
dilate(fgmask, temp, Mat(), Point(-1,-1), niters);
//erode(temp, temp, Mat(), Point(-1,-1), niters*2);
//dilate(temp, temp, Mat(), Point(-1,-1), niters);
threshold(temp,temp,200,255,CV_THRESH_BINARY);
temp.copyTo(fgmask);
//detect movement. Update bgimage when we have movement or every n frames
/*
if (fgmask_old.empty()){
fgmask_old.create(fgmask.size(),fgmask.type());
}
if (sum(fgmask-fgmask_old)[0] > 1e6 || frames > 5){
update_bg_model = true;
frames = 0;
}else {
update_bg_model = false;
frames++;
}
fgmask.copyTo(fgmask_old);
*/
// blobs.detect(fgmask,blobKeypoints);
// drawKeypoints(img,blobKeypoints,img);
/*
**Find blobs using Contours
**
*/
fgimg = Scalar::all(0);
outline_img = Scalar::all(0);
findContours(temp,contoursAll,CV_RETR_EXTERNAL,CV_CHAIN_APPROX_SIMPLE);
for (int contour=0;contour < contoursAll.size(); contour++){
Moments m = moments(contoursAll[contour]);
if (m.m00 < 100)
continue;
contours.push_back(contoursAll[contour]);
centers.push_back(Point2d(m.m10 / m.m00, m.m01 / m.m00));
contourMoments.push_back(m);
}
drawContours(outline_img,contours,-1,Scalar(255,255,255));
currentTime = TuioTime::getSessionTime();
tuioServer->initFrame(currentTime);
list<TuioCursor*> cursorList = tuioServer->getTuioCursors();
for(list<TuioCursor *>::iterator cursor=cursorList.begin();cursor != cursorList.end();++cursor){
tuioServer->removeTuioCursor(*cursor);
}
tuioServer->stopUntouchedMovingCursors();
tuioServer->commitFrame();
currentTime = TuioTime::getSessionTime();
tuioServer->initFrame(currentTime);
for (int contour=0;contour < contours.size(); contour++){
circle(outline_img,centers[contour],4,Scalar(0,0,255),-1);
cursors.push_back(tuioServer->addTuioCursor((float)(centers[contour].x)/800.0,(float)(centers[contour]).y/600.0));
}
tuioServer->commitFrame();
img.copyTo(fgimg, fgmask);
//bg_model.getBackgroundImage(bgimg);
imshow("image", img);
imshow("foreground mask", fgmask);
imshow("foreground image", fgimg);
imshow("outlines",outline_img);
//if(!bgimg.empty())
// imshow("mean background image", bgimg );
char k = (char)waitKey(30);
if( k == 27 ) break;
if( k == ' ' )
{
update_bg_model = !update_bg_model;
if(update_bg_model)
printf("Background update is on\n");
else
printf("Background update is off\n");
}
}
return 0;
}
