void ContourManager::children(const ContourVector & _contours, const Hierarchy & _hierarchy, int _parentIndex, ContourVector & _children)
{
_children.clear();
int currentChild = _hierarchy[_parentIndex][HIERARCHY_INDEX_FIRST_CHILD];//First child
while (currentChild >= 0)
{
_children.push_back(_contours.at(currentChild));
currentChild = _hierarchy[currentChild][HIERARCHY_INDEX_NEXT];
}//while (currentChild >= 0)
}//children
void MotionTrackingTestApp::onDepth( openni::VideoFrameRef frame, const OpenNI::DeviceOptions& deviceOptions){
mInput = toOcv( OpenNI::toChannel16u( frame ) );
cv::Mat withoutBlack;
withoutBlack = removeBlack( mInput, mNearLimit, mFarLimit );
cv::Mat eightBit;
cv::Mat thresh;
// convert to RGB color space, with some compensation
withoutBlack.convertTo( eightBit, CV_8UC3, 0.1/1.0 );
cv::bitwise_not(eightBit, eightBit);
mContours.clear();
mApproxContours.clear();
cv::threshold( eightBit, thresh, mThresh, mMaxVal, CV_8U );
cv::findContours( thresh, mContours, mHierarchy, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_SIMPLE );
vector<cv::Point> approx;
// approx number of points per contour
for( int i=0; i<mContours.size(); i++ ) {
cv::approxPolyDP(mContours[i], approx, 3, true );
mApproxContours.push_back( approx );
}
// get data that we can later compare
mShapes.clear();
mShapes = getEvaluationSet( mApproxContours, 75, 100000 );
// find the nearest match for each shape
for( int i = 0; i<mTrackedShapes.size(); i++ ){
Shape* nearestShape = findNearestMatch( mTrackedShapes[i], mShapes, 5000 );
if( nearestShape != NULL){
// update our tracked contour
// last frame seen
nearestShape->matchFound = true;
mTrackedShapes[i].centroid = nearestShape->centroid;
mTrackedShapes[i].lastFrameSeen = ci::app::getElapsedFrames();
mTrackedShapes[i].hull.clear();
mTrackedShapes[i].hull = nearestShape->hull;
}
}
// if shape->matchFound is false, add it as a new shape
for( int i = 0; i<mShapes.size(); i++ ){
if( mShapes[i].matchFound == false ){
mShapes[i].ID = shapeUID;
mShapes[i].lastFrameSeen = ci::app::getElapsedFrames();
mTrackedShapes.push_back( mShapes[i]);
shapeUID++;
// std::cout << "adding a new tracked shape with ID: " << mShapes[i].ID << std::endl;
}
}
// if we didnt find a match for x frames, delete the tracked shape
for( vector<Shape>::iterator it=mTrackedShapes.begin(); it!=mTrackedShapes.end(); ){
// std::cout << "tracked shapes size: " << mTrackedShapes.size() << std::endl;
if( ci::app::getElapsedFrames() - it->lastFrameSeen > 20 ){
// std::cout << "deleting shape with ID: " << it->ID << std::endl;
it = mTrackedShapes.erase(it);
} else {
++it;
}
}
cv::Mat gray8Bit;
withoutBlack.convertTo( gray8Bit, CV_8UC3, 0.1/1.0 );
mSurfaceDepth = Surface8u( fromOcv( mInput ) );
mSurfaceBlur = Surface8u( fromOcv( withoutBlack ) );
mSurfaceSubtract = Surface8u( fromOcv( eightBit ) );
}
