int main()
{
KinectGrabber grabber;
grabber.initialize();
// Set camera tilt.
grabber.setTiltAngle(0);
grabber.start();
// Postprocess raw kinect data.
// Tell the processor to transform raw depth into meters using baseline-offset technique.
RGBDProcessor processor;
processor.setFilterFlag(RGBDProcessor::ComputeKinectDepthBaseline, true);
// OpenCV windows.
namedWindow("color");
namedWindow("depth");
namedWindow("depth_as_color");
// Current image. An RGBDImage stores rgb and depth data.
RGBDImage current_frame;
while (true)
{
grabber.waitForNextFrame();
grabber.copyImageTo(current_frame);
processor.processImage(current_frame);
// Show the frames per second of the grabber
int fps = grabber.frameRate();
cv::putText(current_frame.rgbRef(),
cv::format("%d fps", fps),
Point(10,20), 0, 0.5, Scalar(255,0,0,255));
// Display the color image
imshow("color", current_frame.rgb());
// Show the depth image as normalized gray scale
imshow_normalized("depth", current_frame.depth());
// Compute color encoded depth.
cv::Mat3b depth_as_color;
compute_color_encoded_depth(current_frame.depth(), depth_as_color);
imshow("depth_as_color", depth_as_color);
// Enable switching to InfraRead mode.
unsigned char c = cv::waitKey(10) & 0xff;
if (c == 'q')
exit(0);
}
return 0;
}
int main(int argc, char** argv) {
arg_base::set_help_option("-h");
arg_parse(argc, argv);
ntk_debug_level = 1;
cv::setBreakOnError(true);
KinectGrabber * grabber = new KinectGrabber();
grabber->initialize();
//Initialize X11 Stuff
display = XOpenDisplay(0);
root_window = DefaultRootWindow(display);
screenw = XDisplayWidth(display, SCREEN);
screenh = XDisplayHeight(display, SCREEN);
printf("\nDefault Display Found\n");
printf("\nSize: %dx%d\n", screenw, screenh);
screenw += 200;
screenh += 200;
ntk::RGBDCalibration* calib_data = 0;
if (opt::calibration_file()) {
//cout << "calibrated" << endl;
calib_data = new RGBDCalibration();
calib_data->loadFromFile(opt::calibration_file());
}
else if (QDir::current().exists("kinect_calibration.yml")) {
ntk_dbg(0) << "[WARNING] Using kinect_calibration.yml in current directory";
ntk_dbg(0) << "[WARNING] use --calibration to specify a different file.";
calib_data = new RGBDCalibration();
calib_data->loadFromFile("kinect_calibration.yml");
}
if (calib_data) {
grabber->setCalibrationData(*calib_data);
}
// Set camera tilt.
grabber->setTiltAngle(25);
grabber->start();
// Postprocess raw kinect data.
// Tell the processor to transform raw depth into meters using baseline-offset technique.
RGBDProcessor processor;
processor.setFilterFlag(RGBDProcessor::ComputeKinectDepthBaseline, true);
// OpenCV windows.
namedWindow("color");
//namedWindow("depth_as_color");
//namedWindow("depth");
//namedWindow("depth_normalized");
namedWindow("fingers");
// OpenCV variables
cv::Mat z(480, 640, CV_32FC1); //our matrix to mask with
Mat1f debugFrame(480, 640); //our frame to paint fingers and circles and lines
debugFrame = z * 0.1;//??
hand1.center.x=300;
hand1.center.y=200;
int counter;
// Current image. An RGBDImage stores rgb and depth data.
RGBDImage current_frame;
while (true) {
grabber->waitForNextFrame();
grabber->copyImageTo(current_frame);
/**
* This is where the RGB and depth are processed
* Take a look at RGBDProcessor.cpp to see whats going on
*/
processor.processImage(current_frame);
//Show the frames per second of the grabber
int fps = grabber->frameRate();
cv::putText(current_frame.rgbRef(),
cv::format("%d fps", fps),
Point(10,20), 0, 0.5, Scalar(255,0,0,255));
// Show the depth image as normalized gray scale
//imshow_normalized("depth", current_frame.depth());
// Compute color encoded depth.
//cv::Mat3b depth_as_color;
//compute_color_encoded_depth(current_frame.depth(), depth_as_color);
//imshow("depth_as_color", depth_as_color);
// get the depth channel and show it
Mat1f depth = current_frame.depth();
//imshow("depth", depth);
// normalize the depth channel and show it
Mat1b depth_normalized;
normalize(depth, depth_normalized, 0, 255, NORM_MINMAX, 0);
//imshow("depth_normalized", depth_normalized);
// failed attempt at thresholding
//Mat1f thresh;
//threshold(depth, thresh, 2, 2, THRESH_TOZERO);
//imshow("thresh", thresh);
/*
for (int i = 0; i < d.rows; i++) {
for (int j = 0;j < d.cols; j++) {
if (d.at<float>(i, j) > 10) {
cout << d.at<float>(i, j) << " ";
}
}
cout << endl;
}
*/
//cout << endl << endl;
// OpenCV Magic
std::vector<cv::Point2i> fingerTips; //our fingertips output info
detectFingertips(depth_normalized, 1, 45, debugFrame);
// update hand centers
if(hand1.isOn) circle (current_frame.rgbRef(), hand1.center, 10, CV_RGB(255,0,0), 10);
if(hand2.isOn) circle (current_frame.rgbRef(), hand2.center, 10, CV_RGB(0,255,0), 10);
// post smoothing
//cout << "for hand 1... " << endl;
hand1.smoothData();
//cout << "for hand 2... " << endl;
hand2.smoothData();
// draw fingertips
for(vector<Point2i>::iterator it = hand1.fingerTips.begin(); it != hand1.fingerTips.end(); it++) {
circle(debugFrame, (*it), 10, Scalar(1.0f), -1);
circle (current_frame.rgbRef(), (*it), 5, CV_RGB(255,0,0), 5);
}
for(vector<Point2i>::iterator it = hand2.fingerTips.begin(); it != hand2.fingerTips.end(); it++) {
circle(debugFrame, (*it), 10, Scalar(1.0f), -1);
circle (current_frame.rgbRef(), (*it), 5, CV_RGB(0,255,0), 5);
}
imshow("fingers", debugFrame);
// Display the color image
imshow("color", current_frame.rgb());
hand2.fingerTips.clear();
hand1.fingerTips.clear();
//X11 Mouse Control Code
//Right now giving priority to hand 1
int px, py, isMouse=0;
if(hand1.isOn&&(hand1.center.x!=0 && hand1.center.y!=0)){
px = hand1.center.x; py = hand1.center.y;
isMouse=1;
}
else if((hand2.isOn&&!hand1.isOn&&(hand2.center.x!=0 && hand2.center.y!=0))||
(hand2.isOn&&(hand1.center.x!=0 && hand1.center.y!=0))){
cout << "made it here" << endl;
px = hand2.center.x; py = hand2.center.y;
isMouse=1;
}
//cout << "x= " << hand1.center.x << "y = " hand1.center.y << endl;
if(isMouse&&allowMouse){
pointerx = ((px-640.0f) / -1);
pointery = (py);
mousex = ((pointerx / 630.0f) * screenw);
mousey = ((pointery / 470.0f) * screenh);
int mx , my;
mx = mousex;
my = mousey;
if(mx > tmousex) tmousex+= (mx - tmousex) / 7;
if(mx < tmousex) tmousex-= (tmousex - mx) / 7;
if(my > tmousey) tmousey+= (my - tmousey) / 7;
if(my < tmousey) tmousey-= (tmousey - my) / 7;
if((pusx <= (mx + 15)) && (pusx >= (mx - 15)) && (pusy <= (my + 15)) && (pusy >= (my - 15))) {
pauseTime++;
printf("\n%d\n", pauseTime);
} else {
pusx = mx;
pusy = my;
pauseTime = 0;
}
if(pauseTime > 15) {
pauseTime = -30;
XTestFakeButtonEvent(display, 1, TRUE, CurrentTime);
XTestFakeButtonEvent(display, 1, FALSE, CurrentTime);
}
//printf("-- %d x %d -- \n", mx, my);
XTestFakeMotionEvent(display, -1, tmousex-200, tmousey-200, CurrentTime);
XSync(display, 0);
//printf("\n\n %d - %d \n\n", mx, my);
}
unsigned char c = cv::waitKey(10) & 0xff;
if (c == 'q' || c == 27)
exit(0);
else if (c == 'm'){
if(allowMouse==0)
allowMouse=1;
else
allowMouse=0;
}
}
return 0;
}
DWORD ProcessThread(LPVOID pParam) {
KinectGrabber *p = (KinectGrabber*) pParam;
p->ProcessThreadInternal();
return 0;
}
