void ScheinrieseApp::handleKinect()
{
if (!hasKinect) {
return;
}
if( mKinectTilt != mKinect.getTilt() ) {
mKinect.setTilt( mKinectTilt );
}
if( mKinect.checkNewDepthFrame() ) {
mDepthTexture = mKinect.getDepthImage();
}
if( mKinect.checkNewVideoFrame() ) {
mColorTexture = mKinect.getVideoImage();
}
/* debug view */
if (mColorTexture && !mDebugViewColor) {
mGui->addLabel("COLOR");
mDebugViewColor = mGui->addParam("COLOR", &mColorTexture);
mDebugViewColor->var = &mColorTexture;
console() << "color" << endl;
}
if (mDepthTexture && !mDebugViewDepth) {
mGui->addLabel("DEPTH");
mDebugViewDepth = mGui->addParam("DEPTH", &mDepthTexture);
mDebugViewDepth->var = &mDepthTexture;
console() << "depth" << endl;
}
}
void RogalarmApp::lookingForUser() {
if( mKinect.checkNewDepthFrame() ){
ImageSourceRef depthImage = mKinect.getDepthImage();
// make a texture to display
mDepthTexture = depthImage;
// make a surface for opencv
mDepthSurface = depthImage;
if(mDepthSurface){
// once the surface is avalable pass it to opencv
// had trouble here with bit depth. surface comes in full color, needed to crush it down
cv::Mat tmp( toOcv( Channel8u( mDepthSurface ) ) ), input, blurred, thresholded, thresholded2, output;
if (mReflectionBottom > 0) {
cv::Scalar black( 0, 0, 0 );
cv::Point p1 = cv::Point(0,480 - mReflectionBottom-1);
cv::Point p2 = cv::Point(640, 480);
cv::rectangle(tmp, p1, p2, black, -1, 8, 0);
}
if (mReflectionTop > 0) {
cv::Scalar black( 0, 0, 0 );
cv::Point p1 = cv::Point(0, 0);
cv::Point p2 = cv::Point(640, mReflectionTop);
cv::rectangle(tmp, p1, p2, black, -1, 8, 0);
}
//tmp.copyTo(input, mBackground);
cv::blur(tmp, blurred, cv::Size(10,10));
// make two thresholded images one to display and one
// to pass to find contours since its process alters the image
cv::threshold( blurred, thresholded, mThreshold, 255, CV_THRESH_BINARY);
cv::threshold( blurred, thresholded2, mThreshold, 255, CV_THRESH_BINARY);
// 2d vector to store the found contours
vector<vector<cv::Point> > contours;
// find em
cv::findContours(thresholded, contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_SIMPLE);
// convert theshold image to color for output
// so we can draw blobs on it
cv::cvtColor( thresholded2, output, CV_GRAY2RGB );
cv::Scalar color( 0, 255, 255 );
mUser = false;
// loop the stored contours
for (vector<vector<cv::Point> >::iterator it=contours.begin() ; it < contours.end(); it++ ){
// center abd radius for current blob
cv::Point2f center;
float radius;
// convert the cuntour point to a matrix
vector<cv::Point> pts = *it;
cv::Mat pointsMatrix = cv::Mat(pts);
// pass to min enclosing circle to make the blob
cv::minEnclosingCircle(pointsMatrix, center, radius);
if (radius > mBlobMin && radius < mBlobMax) {
mUserPos = 640 - center.x;
mUser = true;
if (mNoUserMessage == false) {
mNoUserMessage = true;
}
cv::circle(output, center, radius, color, 3);
mStopedTime = getElapsedSeconds();
osc::Message message;
message.addFloatArg(mUserPos);
message.setAddress("/user/1");
message.setRemoteEndpoint(mHost, mPort);
mSender.sendMessage(message);
} else if (mNoUserMessage) {
osc::Message message;
message.addFloatArg(mUserPos);
message.setAddress("/nouser");
message.setRemoteEndpoint(mHost, mPort);
mSender.sendMessage(message);
mNoUserMessage = false;
}
}
cv::Scalar yellow( 0, 255, 255 );
if (mReflectionBottom > 0) {
cv::Point p1 = cv::Point(0, 480 - mReflectionBottom-1);
cv::Point p2 = cv::Point(640, 480);
cv::rectangle(output, p1, p2, yellow, -1, 8, 0);
}
if (mReflectionTop > 0) {
cv::Scalar black( 0, 0, 0 );
cv::Point p1 = cv::Point(0, 0);
cv::Point p2 = cv::Point(640, mReflectionTop);
cv::rectangle(output, p1, p2, yellow, -1, 8, 0);
}
mContourTexture = gl::Texture( fromOcv( output ) );
}
}
if( mKinect.checkNewVideoFrame() )
mColorTexture = mKinect.getVideoImage();
}