コード例 #1
0
ファイル: main.cpp プロジェクト: SAIC-ATS/ARTTECH-5010
void update()
{
    // Update our little offset thingy.
    offset += 0.01;

    if (offset > 1) 
    {
        offset = 0;   
    }
    
    // Update our camera.
    grabber.update();
    
    // If the camera has a new frame to offer us ...
    if (grabber.isFrameNew())
    {
        // Make a copy of our grabber pixels in the colorImage.
        colorImage.setFromPixels(grabber.getPixelsRef());

        // When we assign a color image to a grayscale image, it is converted automatically.
        grayscaleImage = colorImage;
		
	    // If we set learnBackground to true using the keyboard, we'll take a snapshot of 
	    // the background and use it to create a clean foreground image.
		if (learnBackground == true)
		{
		    // We assign the grayscaleImage to the grayscaleBackgroundImage.
			grayscaleBackgroundImage = grayscaleImage;	
			
			// Now we set learnBakground so we won't set a background unless
			// explicitly directed to with a keyboard command.
			learnBackground = false;
		}

        // Create a difference image by comparing the background and the current grayscale images.
		grayscaleAbsoluteDifference.absDiff(grayscaleBackgroundImage, grayscaleImage);

        // Assign grayscaleAbsoluteDifference to the grayscaleBinary image.
        grayscaleBinary = grayscaleAbsoluteDifference;
        
        // Then threshold the grayscale image to create a binary image.
        grayscaleBinary.threshold(threshold, invert);

        // Find contours (blobs) that are between the size of 20 pixels and 
        // 1 / 3 * (width * height) of the camera. Also find holes.
		contourFinder.findContours(grayscaleBinary, 100, (width * height) / 3.0, 10, true);

        // Get the biggest blob and use it to draw.
        if (contourFinder.nBlobs > 0)
        {
            holePositions.addVertex(contourFinder.blobs[0].boundingRect.getCenter());
        }
        else 
        {
		   holePositions.clear(); 
        }
    }
}
コード例 #2
0
void ofApp::update() {
    
    if (ofGetElapsedTimeMillis() - lastTime >= timeToReset) {
        lastTime = ofGetElapsedTimeMillis();
        bLearnBackground = true;
        bLearnBackground1 = true;
    }
    
    
    micLevelsTopNew[4] = contourFinder.nBlobs;
    micLevelsTopNew[5] = contourFinder1.nBlobs;
    
    
    /* NEW CAMERA CODE */
    
    bool bNewFrame = false;
    
    bool bNewFrame1 = false;
    
    vidGrabber.update();
    bNewFrame = vidGrabber.isFrameNew();
    
    vidGrabber1.update();
    bNewFrame1 = vidGrabber.isFrameNew();
    
    if (bNewFrame){
        
        colorImg.setFromPixels(vidGrabber.getPixels(), 320,240);
        
        grayImage = colorImg;
        if (bLearnBackground == true){
            grayBg = grayImage;		// the = sign copys the pixels from grayImage into grayBg (operator overloading)
            bLearnBackground = false;
        }
        grayDiff.absDiff(grayBg, grayImage);
        grayDiff.threshold(threshold);
        contourFinder.findContours(grayDiff, 20, (340*240)/3, 10, true);
    }
    
    if (bNewFrame1){
        
        colorImg1.setFromPixels(vidGrabber1.getPixels(), 320,240);
        
        grayImage1 = colorImg1;
        if (bLearnBackground1 == true){
            grayBg1 = grayImage1;
            bLearnBackground1 = false;
        }
        grayDiff1.absDiff(grayBg1, grayImage1);
        grayDiff1.threshold(threshold);
        contourFinder1.findContours(grayDiff1, 20, (340*240)/3, 10, true);
    }
    
    switch (ANIMATION_STATE) {
        case ACTIVATED: {
            int max_pos = 0;
            int max_element = -1000;
            for (int i = 0; i < 12; i++) {
                if (micLevelsTopNew[i] > max_element) {
                    max_pos = i;
                    max_element = micLevelsTopNew[i];
                }
            }
        
            for (int x = 0; x < 1280; x++) {
                float top = pow(x-bottomSwarm.b,2);
                float bottom = 2*pow(bottomSwarm.c,2);
                bottomSwarm.curve[x] = bottomSwarm.a*exp(-(top/bottom));
            }
            
            ofVec2f norm = swarmPosition;
            bottomSwarm.b = norm.normalize().x*1280-160;
//            ofVec2f btm = absColumnPositionTop[max_pos];
            ofVec2f btm = cameraPositionsTop[max_pos];
            ofVec2f desired =  btm - swarmPosition;
            float d = sqrt((desired.x*desired.x) + (desired.y+desired.y));
            desired.normalize();
            if (d < 100) {
                float m = ofMap(d, 0.0, 100.0, 0.0, 4.0);
                desired *= m;
            } else {
                desired *= 4.0;
            }

            swarmPosition += desired;
            
            /* UPDATE WAVES */
            for (int x = 0; x < 1280; x++) {
                gaussianBottom[x] = ofMap(bottomSwarm.curve[x], 0.0, 1.1, ambientLevel, 255.0);
            }
            break;
        }
        case DEACTIVATED: {
            
            for (int x = 0; x < 1280; x++) {
                float top = pow(x-bottomSwarm.b,2);
                float bottom = 2*pow(bottomSwarm.c,2);
                bottomSwarm.curve[x] = bottomSwarm.a*exp(-(top/bottom));
            }
            
            swarmPosition += swarmVector;
            if (swarmPosition.x >= 300+770 || swarmPosition.x <= 300) {
                swarmVector *= -1.0;
            }
            
            ofVec2f norm = swarmPosition;
            bottomSwarm.b = norm.normalize().x*1280.0-160;
            
            for (int x = 0; x < 1280; x++) {
                gaussianBottom[x] = ofMap(bottomSwarm.curve[x], 0.0, 1.1, ambientLevel, 255.0);
            }
            break;
        }
    }
    int cnt = 0;
    for (int i = 0; i < 12; i++) {
        if (i == 4 || i == 5) {
        } else {
            micLevelsTopNew[i] = 0.0;
        }
    }
    if (simulationIsOn) {
        int cntN = 0;
        for (int region = 3; region < 6; region++) {
            string reg = "region" + ofToString(region);
            int numCols;
            if (region == 4) {
                numCols = 3;
            } else {
                numCols = 4;
            }
            /* TODO: Did this get f****d up? */
            for (int pointPos = 0; pointPos < numCols; pointPos++) {
                string point = "point" + ofToString(pointPos);
                float colX = columnGeometry[reg][point][0].asFloat();
                for (int i = 0; i < 20; i++) {
                    if (i == 4 || i == 5) {
                    } else {
                        if (abs(spheresXPos[i]-columnGeometry[reg][point][0].asFloat()) < 100) {
                            micLevelsTopNew[cntN]++;
                        }
                    }
                }
                cntN++;
            }
        }
    }
    

}
コード例 #3
0
//--------------------------------------------------------------
void testApp::update(){
	
	
	/************ UPDATE BALL ***********************/

	//Update ball position
	ballPositionX += ballVelocityX;
	ballPositionY += ballVelocityY;
	
	if(ballPositionX < 0 || ballPositionX > ofGetWidth()) {
		ballVelocityX *= -1;
	}
	
	if (ballPositionY < 0 || ballPositionY > ofGetHeight()) {
		ballVelocityY *= -1;
	}
	
	/************ UPDATE KINECT ***********************/

	kinect.update();
	
	// get color pixels
	colorImageRGB			= kinect.getPixels();
	
	// get depth pixels
	depthOrig = kinect.getDepthPixels();
	
	// save original depth, and do some preprocessing
	depthProcessed = depthOrig;
	if(invert) depthProcessed.invert();
	if(mirror) {
		depthOrig.mirror(false, true);
		depthProcessed.mirror(false, true);
		colorImageRGB.mirror(false, true);
	}
	if(preBlur) cvSmooth(depthProcessed.getCvImage(), depthProcessed.getCvImage(), CV_BLUR , preBlur*2+1);
	if(topThreshold) cvThreshold(depthProcessed.getCvImage(), depthProcessed.getCvImage(), topThreshold * 255, 255, CV_THRESH_TRUNC);
	if(bottomThreshold) cvThreshold(depthProcessed.getCvImage(), depthProcessed.getCvImage(), bottomThreshold * 255, 255, CV_THRESH_TOZERO);
	if(dilateBeforeErode) {
		if(dilateAmount) cvDilate(depthProcessed.getCvImage(), depthProcessed.getCvImage(), 0, dilateAmount);
		if(erodeAmount) cvErode(depthProcessed.getCvImage(), depthProcessed.getCvImage(), 0, erodeAmount);
	} else {
		if(erodeAmount) cvErode(depthProcessed.getCvImage(), depthProcessed.getCvImage(), 0, erodeAmount);
		if(dilateAmount) cvDilate(depthProcessed.getCvImage(), depthProcessed.getCvImage(), 0, dilateAmount);
	}
	depthProcessed.flagImageChanged();
	
	// find contours
	depthContours.findContours(depthProcessed,
							   minBlobSize * minBlobSize * depthProcessed.getWidth() * depthProcessed.getHeight(),
							   maxBlobSize * maxBlobSize * depthProcessed.getWidth() * depthProcessed.getHeight(),
							   maxNumBlobs, findHoles, useApproximation);
	
	
	// Clear old attraction points
	attractPts.clear();
	
	// Find centroid point for each blob area and add an attraction force to it
	for (int i=0; i<depthContours.blobs.size(); i++) {
		
		attractPts.push_back(new ofPoint(depthContours.blobs[i].centroid));
		//printf("Blob %d: %f %f \n", i, depthContours.blobs[i].centroid.x, depthContours.blobs[i].centroid.y);
	}
	
	// if one blob found, find nearest point in blob area
	static ofxVec3f newPoint;
	if(depthContours.blobs.size() == 1) {
		ofxCvBlob &blob = depthContours.blobs[0];
		
		depthOrig.setROI(blob.boundingRect);
		
		double minValue, maxValue;
		CvPoint minLoc, maxLoc;
		cvMinMaxLoc(depthOrig.getCvImage(), &minValue, &maxValue, &minLoc, &maxLoc, NULL);
		
		depthOrig.resetROI();
		
		newPoint.x = maxLoc.x + blob.boundingRect.x;
		newPoint.y = maxLoc.y + blob.boundingRect.y;
		//		newPoint.z = (maxValue + offset) * depthScale;	// read from depth map
		//printf("Min: %f %f Max: %f %f \n", minLoc.x, minLoc.y, maxLoc.x, maxLoc.y);
		
		// read directly from distance (in cm)
		// this doesn't seem to work, need to look into it
		newPoint.z = (kinect.getDistanceAt(newPoint) + depthOffset) * depthScale;
		
		// apply kalman filtering
		if(doKalman) {
			newPoint.x = updateKalman(0, newPoint.x);
			newPoint.y = updateKalman(1, newPoint.y);
			newPoint.z = updateKalman(2, newPoint.z);
		}

	} else {
		clearKalman(0);
		clearKalman(1);
		clearKalman(2);
	}
	
	pointHead = (pointHead + 1) % kNumPoints;
	curPoint += (newPoint - curPoint) * lerpSpeed;
	points[pointHead] = curPoint;
	
}