int main (int argc, char *argv[])
{
CvHMM *models;
char *win = "hand";
int num, count=0, curr=1;
ptseq seq;
parse_args(argc,argv);
seq = ptseq_init();
for (;;) {
IplImage *depth, *tmp, *body, *hand;
CvSeq *cnt;
CvPoint cent;
int z, p, k;
depth = freenect_sync_get_depth_cv(0);
body = body_detection(depth);
hand = hand_detection(body, &z);
if (!get_hand_contour_basic(hand, &cnt, ¢))
continue;
if ((p = basic_posture_classification(cnt)) == -1)
continue;
if (cvhmm_get_gesture_sequence(p, cent, &seq)) {
ptseq_draw(seq, 0);
if ((k = cvWaitKey(0)) == 's') {
save_sequence(outfile, seq, N);
break;
}
seq = ptseq_reset(seq);
}
hand = draw_depth_hand(cnt, p);
cvShowImage("hand", hand);
if ((k = cvWaitKey(T)) == 'q')
break;
}
freenect_sync_stop();
cvDestroyAllWindows();
return 0;
}
FunctionMode ImageAnalysis::area_detection(Tracker *tracker)
{
/* Too small values lead to flawed detections. We backup the
* user value and restore it later. */
int backupMinBlobSize = m_pSettingKinect->m_kinectProp.minBlobArea;
switch (m_area_detection_step) {
case 2:
{// Wait util no blob is detected.
//printf("area detection 2\n");
hand_detection();
m_pSettingKinect->m_kinectProp.minBlobArea = max(backupMinBlobSize,256);
tracker->trackBlobs(m_filteredMat(m_pSettingKinect->m_kinectProp.roi), m_areaMask, true, NULL);
m_pSettingKinect->m_kinectProp.minBlobArea = backupMinBlobSize;
if( tracker->getBlobs().size() == 0 ){
m_area_detection_step = 1;
}
} break;
case 3://for AREA_DETECTION_END
{
//printf("area detection 3\n");
m_area_detection_step = 3;
repoke_finish();
return HAND_DETECTION;
} break;
case 0:
{
printf("area detection 0\n");
repoke_init();
genColoredAreas();
m_area_detection_step = 1;
}//no break!
case 1:
{
//printf("area detection 1\n");
//Mat& depth = m_depthMaskWithoutThresh;
hand_detection();
m_pSettingKinect->m_kinectProp.minBlobArea = max(backupMinBlobSize,256);
tracker->trackBlobs(m_filteredMat(m_pSettingKinect->m_kinectProp.roi), m_areaMask, true, NULL);
m_pSettingKinect->m_kinectProp.minBlobArea = backupMinBlobSize;
std::vector<cBlob>& blobs = tracker->getBlobs();
for(int i=0;i<blobs.size(); i++){
if( blobs[i].event != BLOB_MOVE) continue;
if( blobs[i].areaid == 1 ){
/* detection finshed. */
m_area_detection_step = 0;
//reset pixels with MAXAREAS+1 value
repoke_finish();
//clear blobs to begin fresh in hand detection.
blobs.clear();
return HAND_DETECTION;
}
}
for(int i=0;i<blobs.size(); i++){
if( blobs[i].event != BLOB_MOVE) continue;
if( blobs[i].areaid == MAXAREAS+1 ){
//found new blob without area
Area area;
area.id = m_area_detection_areas.size()+1;
area.repoke_x = blobs[i].location.x+m_pSettingKinect->m_kinectProp.roi.x;
area.repoke_y = blobs[i].location.y+m_pSettingKinect->m_kinectProp.roi.y;
if( ! repoke_step(area) )
return AREA_DETECTION;
m_area_detection_step = 2;
break;
}
}
}break;
default:
{
printf("Unknown state during area detection\n");
}break;
}
return AREA_DETECTION;
}
int main (int argc, char *argv[])
{
IplImage *rgb, *depth, *tmp, *body, *hand;
CvMat **tr, *mean, *cov;
CvFileStorage *fs;
int count=0, p=0, warmup=1;
parse_args(argc, argv);
rgb = cvCreateImage(cvSize(W,H), 8, 3);
tr = (CvMat**)malloc(sizeof(CvMat*)*num);
init_training_data(tr,num);
mean = cvCreateMat(1, FD_NUM, CV_64FC1);
cov = cvCreateMat(FD_NUM, FD_NUM, CV_64FC1);
fs = cvOpenFileStorage(outfile, NULL, CV_STORAGE_WRITE, NULL);
assert(fs);
for (;;) {
int z, k, c;
CvMat *fd;
CvSeq *cnt;
tmp = freenect_sync_get_rgb_cv(0);
cvCvtColor(tmp, rgb, CV_BGR2RGB);
depth = freenect_sync_get_depth_cv(0);
body = body_detection(depth);
hand = hand_detection(body, &z);
if (!get_hand_contour_advanced(hand, rgb, z, &cnt, NULL))
continue;
if (warmup) {
draw_contour(cnt);
if (k = cvWaitKey(T) == 'g') {
warmup = 0;
cvDestroyAllWindows();
}
continue;
}
fd = get_fourier_descriptors(cnt);
add_training_data(tr[count], fd);
if (count == 0)
printf("---> training hand pose %d\n", p);
if (++count == num) {
int c;
cvCalcCovarMatrix((void*)tr, count, cov, mean, CV_COVAR_NORMAL);
cvInvert(cov, cov, CV_LU);
save_posture_model(fs, mean, cov);
p++;
count = 0;
printf("save and quit:s exit:q next:any \n");
if ((c = cvWaitKey(0)) == 's') {
break;
} else if (c == 'q') {
break;
} else {
continue;
}
}
draw_contour(cnt);
cvWaitKey(T);
}
cvWriteInt(fs, "total", p);
freenect_sync_stop();
free_training_data(tr,num);
cvReleaseFileStorage(&fs);
cvReleaseMat(&mean);
cvReleaseMat(&cov);
cvReleaseImage(&rgb);
return 0;
}
