void Jive::update(DepthFrame *frm)
{
DepthFrame hand;
vector< vector<cv::Point> > contours;
vector<Vec4i> hierarchy;
RNG rng(12345);
Mat gray;
// Create silhouette
clipBackground(*frm, hand);
_binaryMat = Mat(hand.size.height, hand.size.width, CV_32FC1, hand.amplitude.data());
_binaryMat.convertTo(gray, CV_8U, 255.0);
threshold(gray, gray, 200, 255, THRESH_BINARY);
findContours(gray, contours, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE, cv::Point(0,0));
Mat drawing = Mat::zeros( gray.size(), CV_8UC3 );
int hands = 0;
if (contours.size() > 0) {
vector<int> hull, rhull;
vector<int> defect;
vector<int> tips;
cv::Point center = cv::Point(0,0);
float radius = 0;
for( int i = 0; i < contours.size(); i++ ) {
if (contourArea(contours[i]) > adjPix(1000)) {
hands++;
findPalmCenter(contours[i], center, radius);
float palm_depth = depthAt(*frm, center);
cv::circle(drawing, center, (int)radius, Scalar(0, 0, 255), 1);
findKeyPoints(contours[i], hull, defect, adjPix(15));
distillHullPoints(contours[i], hull, rhull, adjPix(10));
for (int k=0; k < rhull.size(); k++) {
if (k > 0)
cv::line(drawing, contours[i][rhull[k-1]], contours[i][rhull[k]], Scalar(255, 0, 0), 1);
}
#if 1
for (int k=0; k < defect.size(); k++)
cv::circle(drawing, contours[i][defect[k]], adjPix(3), Scalar(255, 0, 255), -1);
#endif
vector<int> temp;
vector<cv::Point> tips;
kCurvature(contours[i], rhull, adjPix(5), adjPix(25), 60.0, temp);
for (int k=0; k < temp.size(); k++) {
// if (depthAt(*frm, contours[i][temp[k]]) < palm_depth)
tips.push_back(contours[i][temp[k]]);
}
for (int k=0; k < tips.size(); k++) {
cv::circle(drawing, tips[k], adjPix(4), Scalar(0, 0, 255), -1);
}
#if 0
cout << "palm_size= " << palm_depth << " ";
for (int k=0; k < temp.size(); k++)
cout << "temp[" << k << "]=" << depthAt(*frm, contours[i][temp[k]]) << " ";
cout << endl;
#endif
}
drawContours( drawing, contours, i, Scalar(0, 255, 0), 1, 8, vector<Vec4i>(), 0, cv::Point() );
}
}
imshow("Binary", _binaryMat);
imshow("Contours", drawing);
}
const QVector3D AbstractPainter::objAt(const QPointF &windowCoordinates)
{
return objAt(windowCoordinates, depthAt(windowCoordinates), m_camera->viewProjectionInverted());
}
