void MainWindow::keyPressEvent(QKeyEvent * qkey)
{
QString file1,file2;
switch(qkey->key())
{
case Qt::Key_Right:
case Qt::Key_D:
nextImg();
break;
case Qt::Key_Left:
case Qt::Key_A:
prevImg();
break;
case Qt::Key_S:
file1 = imgdir.buildPath(
program_settings.retrive(DIR1_SETT),
imgdir.fileList.at(index).toStdString()).c_str();
file2 = imgdir.buildPath(
program_settings.retrive(DIR2_SETT),
imgdir.fileList.at(index).toStdString()).c_str();
dbg << file1.toStdString() << std::endl;
dbg << file2.toStdString() << std::endl;
imgdir.copyImg(file1,file2);
this->setWindowTitle(this->windowTitle().append(" (COPIED)"));
break;
case Qt::Key_W:
file1 = imgdir.buildPath(
program_settings.retrive(DIR1_SETT),
imgdir.fileList.at(index).toStdString()).c_str();
file2 = imgdir.buildPath(
program_settings.retrive(DIR2_SETT),
imgdir.fileList.at(index).toStdString()).c_str();
dbg << file1.toStdString() << std::endl;
dbg << file2.toStdString() << std::endl;
imgdir.moveImg(file1,file2);
imgdir.fileList.removeAt(index--);
nextImg();
break;
case Qt::Key_Space:
on_slideShowStart_clicked();
break;
default:
break;
}
coutdebug();
}
ImageViewer::ImageViewer(QWidget *parent):
QDockWidget(parent),
image(NULL),
dirp(NULL),
inFile(NULL),
imageCounter(0),
playFlag(false)
{
//! Initialize window attributes
setWindowTitle("Image Viewer");
setFixedSize(800,600);
//! Initialize play button
play = new QPushButton("Play",this);
play->setGeometry(0,500,200,30);
//! Initialize prev Button
prev = new QPushButton("Previous",this);
prev->setGeometry(200,500,200,30);
//! Initialize next Button
next = new QPushButton("Next",this);
next->setGeometry(400,500,200,30);
//! Open directory and initialize first image
dirp = opendir("images");
do{
inFile = readdir(dirp);
}while(inFile->d_name[0]=='.');
for(int i=0;i<20;++i)
nameBuffer[imageCounter][i] = inFile->d_name[i];
curImage = imageCounter++;
sprintf(imagePath,"images/%s",inFile->d_name);
//! Initialize play timer
timer = new QTimer(this);
QObject::connect(timer, SIGNAL(timeout()), this, SLOT(nextImg()));
//! QLabel image used as the "frame" in the window, holding the image
image = new QLabel("Dank Memes", this);
image->setGeometry(0, 0, 800, 500);
image->setPixmap(QPixmap(imagePath));
//! Assign button functions
QObject::connect(next, SIGNAL(clicked()), this, SLOT(nextImg()));
QObject::connect(prev, SIGNAL(clicked()), this, SLOT(prevImg()));
QObject::connect(play, SIGNAL(clicked()), this, SLOT(playImg()));
}
void cameraCB(const sensor_msgs::ImageConstPtr &img,
const sensor_msgs::CameraInfoConstPtr &info) {
//IplImage *ipl_ = new IplImage();
//ipl_ = cvCreateImage(cvSize(img->width, img->height), IPL_DEPTH_8U, 1);
//sensor_msgs::CvBridge bridge;
cv_bridge::CvImagePtr cv_ptr;
//cvResize(bridge.imgMsgToCv(img, "mono8"), ipl_);
//IplImage *ipl_ = bridge.imgMsgToCv(img, "mono8");
//cv_ptr = cv_bridge::toCvCopy(img, "mono8");
cv_ptr = cv_bridge::toCvCopy(img, "mono8");
bool prevImg_update_required = false;
if((flow.cols != (int)img->width) ||
(flow.rows != (int)img->height)) {
JSK_ROS_INFO("make flow");
cv_ptr->image.copyTo(flow);
prevImg_update_required = true;
}
if(prevImg_update_required) {
cv_ptr->image.copyTo(prevImg);
prevImg_update_required = false;
JSK_ROS_INFO("return");
return;
}
//
//JSK_ROS_INFO("subscribe image");
//prevImg.
//cv::Mat *nextImg = new cv::Mat(ipl_);
cv::Mat nextImg(img->height, img->width, CV_8UC1);
//memcpy(nextImg->data, ipl_->imageData, img->height*img->width);
cv_ptr->image.copyTo(nextImg);
cv::calcOpticalFlowFarneback(prevImg, nextImg, flow,
0.5, 3, 15, 3, 5, 1.2, 0 );
// 0.5, 2,
// 16, 4,
// 5, 1.1, 0);
//cv::OPTFLOW_USE_INITIAL_FLOW);
nextImg.copyTo(prevImg);
sensor_msgs::Image result;
result.header = img->header;
result.width = flow.cols;
result.height = flow.rows;
result.encoding = "mono8";
result.step = flow.cols;
result.data.resize(flow.cols * flow.rows);
CvPoint2D32f *ptr = (CvPoint2D32f *)flow.data;
for(int i = 0; i<result.data.size(); i++) {
// copy flow -> result
//result.data[i] = ;
int val = 10 * sqrt(ptr[i].x * ptr[i].x + ptr[i].y * ptr[i].y);
result.data[i] = 255>val?val:255;
}
result_pub_.publish(result);
}
bool CvCascadeImageReader::NegReader::get( Mat& _img )
{
CV_Assert( !_img.empty() );
CV_Assert( _img.type() == CV_8UC1 );
CV_Assert( _img.cols == winSize.width );
CV_Assert( _img.rows == winSize.height );
if( img.empty() )
if ( !nextImg() )
return false;
Mat mat( winSize.height, winSize.width, CV_8UC1,
(void*)(img.data + point.y * img.step + point.x * img.elemSize()), img.step );
mat.copyTo(_img);
if( (int)( point.x + (1.0F + stepFactor ) * winSize.width ) < img.cols )
point.x += (int)(stepFactor * winSize.width);
else
{
point.x = offset.x;
if( (int)( point.y + (1.0F + stepFactor ) * winSize.height ) < img.rows )
point.y += (int)(stepFactor * winSize.height);
else
{
point.y = offset.y;
scale *= scaleFactor;
if( scale <= 1.0F )
resize( src, img, Size( (int)(scale*src.cols), (int)(scale*src.rows) ) );
else
{
if ( !nextImg() )
return false;
}
}
}
return true;
}
void MainWindow::on_nextButton_clicked()
{
nextImg();
}
int main(int argc, char **argv)
{
int res;
try {
socket.bind ("tcp://*:14444");
s_sendmore (socket, "event");
s_send (socket, "{type:\"up\"}");
}
catch (zmq::error_t e) {
cerr << "Cannot bind to socket: " <<e.what() << endl;
return -1;
}
// printf("Kinect camera test\n");
//
// int i;
// for (i=0; i<2048; i++) {
// float v = i/2048.0;
// v = powf(v, 3)* 6;
// t_gamma[i] = v*6*256;
// }
//
// g_argc = argc;
// g_argv = argv;
//
// //setup Freenect...
// if (freenect_init(&f_ctx, NULL) < 0) {
// printf("freenect_init() failed\n");
// return 1;
// }
//
// freenect_set_log_level(f_ctx, FREENECT_LOG_ERROR);
//
// int nr_devices = freenect_num_devices (f_ctx);
// printf ("Number of devices found: %d\n", nr_devices);
//
// int user_device_number = 0;
// if (argc > 1)
// user_device_number = atoi(argv[1]);
//
// if (nr_devices < 1)
// return 1;
//
// if (freenect_open_device(f_ctx, &f_dev, user_device_number) < 0) {
// printf("Could not open device\n");
// return 1;
// }
//
// freenect_set_tilt_degs(f_dev,freenect_angle);
// freenect_set_led(f_dev,LED_RED);
// freenect_set_depth_callback(f_dev, depth_cb);
// freenect_set_video_callback(f_dev, rgb_cb);
// freenect_set_video_format(f_dev, FREENECT_VIDEO_RGB);
// freenect_set_depth_format(f_dev, FREENECT_DEPTH_11BIT);
//
// freenect_start_depth(f_dev);
// freenect_start_video(f_dev);
initFreenect();
//start the freenect thread to poll for events
res = pthread_create(&ocv_thread, NULL, freenect_threadfunc, NULL);
if (res) {
printf("pthread_create failed\n");
return 1;
}
Mat depthf;
Mat frameMat(rgbMat);
Mat blobMaskOutput(frameMat.size(),CV_8UC1),
outC(frameMat.size(),CV_8UC3);
Mat prevImg(frameMat.size(),CV_8UC1),
nextImg(frameMat.size(),CV_8UC1),
prevDepth(depthMat.size(),CV_8UC1);
vector<Point2f> prevPts,nextPts;
vector<uchar> statusv;
vector<float> errv;
Rect cursor(frameMat.cols/2,frameMat.rows/2,10,10);
bool update_bg_model = true;
int fr = 1;
int register_ctr = 0,register_secondbloc_ctr = 0;
bool registered = false;
Point2i appear(-1,-1); double appearTS = -1;
Point2i midBlob(-1,-1);
Point2i lastMove(-1,-1);
int hcr_ctr = -1;
vector<int> hc_stack(20); int hc_stack_ptr = 0;
while (!die) {
fr++;
// imshow("rgb", rgbMat);
pthread_mutex_lock(&buf_mutex);
//Linear interpolation
{
Mat _tmp = (depthMat - 400.0); //minimum observed value is ~440. so shift a bit
_tmp.setTo(Scalar(2048), depthMat > ((!registered) ? 700.0 : 750.0)); //cut off at 600 to create a "box" where the user interacts
_tmp.convertTo(depthf, CV_8UC1, 255.0/1648.0); //values are 0-2048 (11bit), account for -400 = 1648
}
{
Mat _tmp;
depthMat.convertTo(_tmp, CV_8UC1, 255.0/2048.0);
cvtColor(_tmp, outC, CV_GRAY2BGR);
}
pthread_mutex_unlock(&buf_mutex);
// { //saving the frames to files for debug
// stringstream ss; ss << "depth_"<<fr<<".png";
// imwrite(ss.str(), depthf);
// }
//Logarithm interpolation - try it!, It should be more "sensitive" for closer depths
// {
// Mat tmp,tmp1;
// depthMat.convertTo(tmp, CV_32FC1);
// log(tmp,tmp1);
// tmp1.convertTo(depthf, CV_8UC1, 255.0/7.6246189861593985);
// }
// imshow("depth",depthf);
Mat blobMaskInput = depthf < 255; //anything not white is "real" depth
vector<Point> ctr,ctr2;
Scalar blb = refineSegments(Mat(),blobMaskInput,blobMaskOutput,ctr,ctr2,midBlob); //find contours in the foreground, choose biggest
imshow("first", blobMaskOutput);
/////// blb :
//blb[0] = x, blb[1] = y, blb[2] = 1st blob size, blb[3] = 2nd blob size.
// uint mode_counters[3] = {0};
if(blb[0]>=0 && blb[2] > 500) { //1st blob detected, and is big enough
//cvtColor(depthf, outC, CV_GRAY2BGR);
//closest point to the camera
Point minLoc; double minval,maxval;
minMaxLoc(depthf, &minval, &maxval, &minLoc, NULL, blobMaskInput);
circle(outC, minLoc, 5, Scalar(0,255,0), 3);
Scalar mn,stdv;
meanStdDev(depthf,mn,stdv,blobMaskInput);
//cout << "min: " << minval << ", max: " << maxval << ", mean: " << mn[0] << endl;
blobMaskInput = depthf < (mn[0] + stdv[0]*.5);
blb = refineSegments(Mat(),blobMaskInput,blobMaskOutput,ctr,ctr2,midBlob);
imshow("second", blobMaskOutput);
if(blb[0] >= 0 && blb[2] > 300) {
//draw contour
Scalar color(0,0,255);
for (int idx=0; idx<ctr.size()-1; idx++)
line(outC, ctr[idx], ctr[idx+1], color, 1);
line(outC, ctr[ctr.size()-1], ctr[0], color, 1);
if(ctr2.size() > 0) {
Scalar color2(255,0,255);
for (int idx=0; idx<ctr2.size()-1; idx++)
line(outC, ctr2[idx], ctr2[idx+1], color2, 2);
line(outC, ctr2[ctr2.size()-1], ctr2[0], color2, 2);
}
//draw "major axis"
// Vec4f _line;
Mat curve(ctr);
// fitLine(curve, _line, CV_DIST_L2, 0, 0.01, 0.01);
// line(outC, Point(blb[0]-_line[0]*70,blb[1]-_line[1]*70),
// Point(blb[0]+_line[0]*70,blb[1]+_line[1]*70),
// Scalar(255,255,0), 1);
//blob center
circle(outC, Point(blb[0],blb[1]), 50, Scalar(255,0,0), 3);
// cout << "min depth " << minval << endl;
register_ctr = MIN((register_ctr + 1),60);
if(blb[3] > 5000)
register_secondbloc_ctr = MIN((register_secondbloc_ctr + 1),60);
if (register_ctr > 30 && !registered) {
registered = true;
appear.x = -1;
update_bg_model = false;
lastMove.x = blb[0]; lastMove.y = blb[1];
cout << "blob size " << blb[2] << endl;
if(register_secondbloc_ctr < 30) {
if(blb[2] > 10000) {
cout << "register panner" << endl;
send_event("Register", "\"mode\":\"openhand\"");
} else {
cout << "register pointer" << endl;
send_event("Register", "\"mode\":\"theforce\"");
}
} else {
cout << "register tab swithcer" << endl;
send_event("Register", "\"mode\":\"twohands\"");
}
}
if(registered) {
stringstream ss;
ss << "\"x\":" << (int)floor(blb[0]*100.0/640.0)
<< ",\"y\":" << (int)floor(blb[1]*100.0/480.0)
<< ",\"z\":" << (int)(mn[0] * 2.0);
//cout << "move: " << ss.str() << endl;
send_event("Move", ss.str());
//---------------------- fist detection ---------------------
//calc laplacian of curve
vector<Point> approxCurve; //approximate curve
approxPolyDP(curve, approxCurve, 10.0, true);
Mat approxCurveM(approxCurve);
Mat curve_lap;
calc_laplacian(approxCurveM, curve_lap); //calc laplacian
hcr_ctr = 0;
for (int i=0; i<approxCurve.size(); i++) {
double n = norm(((Point2d*)(curve_lap.data))[i]);
if (n > 10.0) {
//high curvature point
circle(outC, approxCurve[i], 3, Scalar(50,155,255), 2);
hcr_ctr++;
}
}
hc_stack.at(hc_stack_ptr) = hcr_ctr;
hc_stack_ptr = (hc_stack_ptr + 1) % hc_stack.size();
Scalar _avg = mean(Mat(hc_stack));
if (abs(_avg[0] - (double)hcr_ctr) > 5.0) { //a big change in curvature = hand fisted/opened?
cout << "Hand click!" << endl;
send_event("HandClick", "");
}
if (mode_state == MODE_NONE) {
}
// imshow("out",out);
//doHist(depthf,out);
{ //some debug on screen..
stringstream ss; ss << "high curve pts " << hcr_ctr << ", avg " << _avg[0];
putText(outC, ss.str(), Point(50,50), CV_FONT_HERSHEY_PLAIN, 2.0,Scalar(0,0,255), 2);
}
} else {
//not registered, look for gestures
if(appear.x<0) {
//first appearence of blob
appear = midBlob;
// update_bg_model = false;
appearTS = getTickCount();
cout << "appear ("<<appearTS<<") " << appear.x << "," << appear.y << endl;
} else {
//blob was seen before, how much time passed
double timediff = ((double)getTickCount()-appearTS)/getTickFrequency();
if (timediff > .2 && timediff < 1.0) {
//enough time passed from appearence
line(outC, appear, Point(blb[0],blb[1]), Scalar(0,0,255), 3);
if (appear.x - blb[0] > 100) {
cout << "right"<<endl; appear.x = -1;
send_event("SwipeRight", "");
update_bg_model = true;
register_ctr = 0;
} else if (appear.x - blb[0] < -100) {
cout << "left" <<endl; appear.x = -1;
send_event("SwipeLeft", "");
update_bg_model = true;
register_ctr = 0;
} else if (appear.y - blb[1] > 100) {
cout << "up" << endl; appear.x = -1;
send_event("SwipeUp", "");
update_bg_model = true;
register_ctr = 0;
} else if (appear.y - blb[1] < -100) {
cout << "down" << endl; appear.x = -1;
send_event("SwipeDown", "");
update_bg_model = true;
register_ctr = 0;
}
}
if(timediff >= 1.0) {
cout << "a ghost..."<<endl;
update_bg_model = true;
//a second passed from appearence - reset 1st appear
appear.x = -1;
appearTS = -1;
midBlob.x = midBlob.y = -1;
}
}
}
send_image(outC);
}
} else {
send_image(depthf);
register_ctr = MAX((register_ctr - 1),0);
register_secondbloc_ctr = MAX((register_secondbloc_ctr - 1),0);
}
imshow("blob",outC);
if (register_ctr <= 15 && registered) {
midBlob.x = midBlob.y = -1;
registered = false;
mode_state = MODE_NONE;
update_bg_model = true;
cout << "unregister" << endl;
send_event("Unregister", "");
}
char k = cvWaitKey(5);
if( k == 27 ) break;
if( k == ' ' )
update_bg_model = !update_bg_model;
if (k=='s') {
cout << "send test event" << endl;
send_event("TestEvent", "");
}
}
printf("-- done!\n");
pthread_join(ocv_thread, NULL);
pthread_exit(NULL);
return 0;
}
