//--------------------------------------------------------------
void testApp::mousePressed(int x, int y, int button){
if (button == OF_MOUSE_BUTTON_1) {
// ofSendMessage("Hello");
// Catch the Bot!
for (vector<ofxCvBlob>::iterator blob_it = blobs.begin(); blob_it != blobs.end(); blob_it++) {
if (blob_it->boundingRect.inside(x, y)) {
bots.insert(pair<int, Bot>(potential_bot_id, Bot(*blob_it, potential_bot_id, colors[botColorNum])));
botColorNum = (botColorNum + 1) % 18;
potential_bot_id++;
blobs.erase(blob_it);
break;
}
}
}
}
int main(void)
{
Bot a = Bot();
float c_rgb[3];
GLFWwindow* window;
glfwSetErrorCallback(error_callback);
if (!glfwInit())
exit(EXIT_FAILURE);
window = glfwCreateWindow(640, 480, "Simple example", NULL, NULL);
if (!window)
{
glfwTerminate();
exit(EXIT_FAILURE);
}
glfwMakeContextCurrent(window);
glfwSwapInterval(1);
glfwSetKeyCallback(window, key_callback);
while (!glfwWindowShouldClose(window))
{
float ratio;
int width, height;
glfwGetFramebufferSize(window, &width, &height);
ratio = width / (float)height;
glViewport(0, 0, width, height);
glClear(GL_COLOR_BUFFER_BIT);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glOrtho(-ratio, ratio, -1.f, 1.f, 1.f, -1.f);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glRotatef((float)glfwGetTime() * 50.f, 0.f, 0.f, 1.f);
glBegin(GL_TRIANGLES);
a.getColor(c_rgb);
glColor3f(c_rgb[0], c_rgb[1], c_rgb[2]);
glVertex3f(-0.6f, -0.4f, 0.f);
//glColor3f(0.f, 1.f, 0.f);
glVertex3f(0.6f, -0.4f, 0.f);
//glColor3f(0.f, 0.f, 1.f);
glVertex3f(0.f, 0.6f, 0.f);
glEnd();
glfwSwapBuffers(window);
glfwPollEvents();
}
glfwDestroyWindow(window);
glfwTerminate();
exit(EXIT_SUCCESS);
}
//--------------------------------------------------------------
void testApp::update()
{
bool bNewFrame = false;
#ifdef _USE_LIVE_VIDEO
vidGrabber.update();
bNewFrame = vidGrabber.isFrameNew();
#else
vidPlayer.update();
bNewFrame = vidPlayer.isFrameNew();
#endif
if (bNewFrame)
{
#ifdef _USE_LIVE_VIDEO
colorImg.setFromPixels(vidGrabber.getPixels(), vidSize.x, vidSize.y);
#else
colorImg.setFromPixels(vidPlayer.getPixels(), vidPlayer.width,vidPlayer.height);
#endif
grayImage = colorImg;
if (shouldSetNewBackGround == true)
{
grayBg = grayImage; // the = sign copys the pixels from grayImage into grayBg
bots.clear();
shouldSetNewBackGround = false;
}
// take the abs value of the difference between background and incoming and then threshold:
grayDiff.absDiff(grayBg, grayImage);
grayDiff.threshold(thresholdSlider);
// dilate the blobs on the screen; compensating for blob-splitting by lines on grid
for (int i = 0; i < dilateSlider; i++)
grayDiff.dilate();
// find contours which are between the size of 1/300 pixels and 1/3 the w*h pixels.
contourFinder.findContours(grayDiff,
(colorImg.height * colorImg.width)/300,
(colorImg.height * colorImg.width)/3,
10,
false); // find bots
// get all the blobs found in the contourFinder
blobs = vector<ofxCvBlob>(contourFinder.blobs.begin(), contourFinder.blobs.end());
// if the contourFinder didn't find any blobs, remove all the bots stored.
if (blobs.size() == 0)
{
bots.clear();
potential_bot_id = 0;
botColorNum = 0;
}
else
{
// vector iterator that will contain the pointer to the beginning of blobs
vector<ofxCvBlob>::iterator vect_it;
// remove any elements that may resise in black_list
black_list.clear();
// updated the positions of the blobs
for (map<int, Bot>::iterator it = bots.begin(); it != bots.end(); it++)
{
// this will contain the offset of one pointer to the pointer of first element
int offset = it->second.updatePosition(blobs);
vect_it = blobs.begin();
std::advance(vect_it, offset);
if (offset == -1)
{
// push key to bot that no longer exist
black_list.push_back(it->first);
}
else
{
blobs.erase(vect_it);
}
}
// if there are any keys in black_list, remove them from bots map
for (vector<int>::iterator it = black_list.begin(); it != black_list.end(); it++)
{
bots.erase(*it);
}
if (shouldCaptureNewBot)
{
if (blobs.size() > 0)
{
bots.insert(pair<int, Bot>(newBotID, Bot(*blobs.begin(), newBotID, colors[botColorNum])));
botColorNum = (botColorNum + 1) % 18;
shouldCaptureNewBot = false;
}
}
else if (autoFindBots)
{
// insert newly-found blobs, if there are any
for (vector<ofxCvBlob>::iterator it = blobs.begin(); it != blobs.end(); it++)
{
bots.insert(pair<int, Bot>(potential_bot_id, Bot(*it, potential_bot_id, colors[botColorNum])));
botColorNum = (botColorNum + 1) % 18;
potential_bot_id++;
}
}
if (shouldBeginSendingBotInfo)
{
zmqThread.setBots(bots);
zmqThread.setBlobs(blobs);
}
}
ofPoint size;
size.x = colorImg.width;
size.y = colorImg.height;
zmqThread.setFrameDimensions(size);
}
switch (vidID) {
case 0:
displayedImage = colorImg;
label = "Color Image";
break;
case 1:
displayedImage = grayBg;
label = "Gray Bg Image";
break;
case 2:
displayedImage = grayImage;
label = "Gray Image";
break;
case 3:
displayedImage = grayDiff;
label = "Subtracted Image";
break;
default:
displayedImage = colorImg;
label = "Color Image";
break;
}
}
