void IIBackgroundSubtractor::setROI(cv::Mat& oROI) {
validateROI(oROI);
CV_Assert(cv::countNonZero(oROI)>0);
if(m_bInitialized) {
cv::Mat oLatestBackgroundImage;
getBackgroundImage(oLatestBackgroundImage);
initialize(oLatestBackgroundImage,oROI);
}
else
m_oROI = oROI.clone();
}
// Do recursive ray tracing! You'll want to insert a lot of code here
// (or places called from here) to handle reflection, refraction, etc etc.
vec3f RayTracer::traceRay( Scene *scene, const ray& r,
const vec3f& thresh, int depth )
{
isect i;
if( scene->intersectMode( r, i ) ) {
// YOUR CODE HERE
// An intersection occured! We've got work to do. For now,
// this code gets the material for the surface that was intersected,
// and asks that material to provide a color for the ray.
// This is a great place to insert code for recursive ray tracing.
// Instead of just returning the result of shade(), add some
// more steps: add in the contributions from reflected and refracted
// rays.
const Material& m = i.getMaterial();
vec3f I = m.shade(scene, r, i);
if (depth >= maxDepth)return I;
if (thresh.length() < maxThresh-RAY_EPSILON)return I;
vec3f conPoint = r.at(i.t);
vec3f normal;
vec3f Rdir = 2 * (i.N*-r.getDirection()) * i.N - (-r.getDirection());
//reflection
ray R = ray(conPoint, Rdir);
vec3f newThres = prod(thresh, i.getMaterial().kr);
if (!i.getMaterial().kr.iszero())I += prod(i.getMaterial().kr, traceRay(scene, R, newThres, depth + 1));
//if not opaque
if (!i.getMaterial().kt.iszero()){
bool TIR = false;
//refraction
ray T(conPoint, r.getDirection());//without refraction
bool toAdd = false, toErase = false;
//if not surface
if (i.obj->hasInterior()){
//calculate angle
//in or out
double indexA, indexB;
if (i.N*r.getDirection() > RAY_EPSILON){//out
if (mediaHistory.empty())indexA = 1.0;
else indexA = mediaHistory.rbegin()->second.index;
mediaHistory.erase(i.obj->getOrder());
toAdd = true;
if (mediaHistory.empty())indexB = 1.0;
else {
indexB = mediaHistory.rbegin()->second.index;
}
normal = -i.N;
}
else {//in
if (mediaHistory.empty())indexA = 1.0;
else indexA = mediaHistory.rbegin()->second.index;
mediaHistory.insert(make_pair(i.obj->getOrder(),i.getMaterial()));
toErase = true;
indexB = mediaHistory.rbegin()->second.index;
normal = i.N;
}
double indexRatio = indexA / indexB;
double cdi = normal*-r.getDirection();
double sdi = 1 - cdi*cdi;
double sdt = sdi * indexRatio; //sin delta t
//TIR
if (sdt > 1.0 + RAY_EPSILON){
TIR = true;
}
else {
TIR = false;
double cdt = sqrt(1 - sdt*sdt);
vec3f Tdir = (indexRatio*cdi - cdt)*normal - indexRatio*-r.getDirection();
T = ray(conPoint, Tdir);
}
}
newThres = prod(thresh, i.getMaterial().kt);
if(!TIR)I += prod(i.getMaterial().kt, traceRay(scene, T, newThres, depth + 1));
if (toAdd)mediaHistory.insert(make_pair(i.obj->getOrder(), i.getMaterial()));
if (toErase)mediaHistory.erase(i.obj->getOrder());
}
I = I.clamp();
return I;
} else {
// No intersection. This ray travels to infinity, so we color
// it according to the background color, which in this (simple) case
// is just black.
if (!useBackground)return vec3f(0.0, 0.0, 0.0);
else {
vec3f axis_x = scene->getCamera()->getU();
vec3f S = r.getDirection();
S -= (S*axis_x)*axis_x;
vec3f axis_z = scene->getCamera()->getLook();
vec3f sz = (S*axis_z) *axis_z;
S -= sz;
vec3f axis_v = scene->getCamera()->getV();
vec3f axis_y = axis_x.cross(axis_z);
double dis_v = (S*axis_y);
S = r.getDirection() - dis_v * axis_v;
double dis_x = S * axis_x;
double dis_z = S * axis_z;
vec3f res = dis_x * axis_x + dis_v * axis_v + dis_z * axis_z;
return getBackgroundImage(dis_x / dis_z + 0.5, dis_v / dis_z + 0.5);
}
}
}
void FkMainWorker::run(){
IplImage* frame;
IplImage* bgImage = cvCreateImage(camera.getResolution(), IPL_DEPTH_8U, 3);
#ifndef WIN32
CvRect piCamResolution = cvRect(100, 100, 440, 330);
#endif
setWindow(); //cvNamedWindow() Method must be called in run() method of thread
while(1){
key->lock();
timer->signal();
timer->await();
key->unlock();
frame = this->camera.getQueryFrame();
if(!frame)
continue;
if(preProcessor.cameraCalibrator.isCamCalibrated()){
#ifdef WIN32
cvFlip(frame, dstImage, 1);
#else
cvFlip(frame, frame, 1);
cvSetImageROI(frame, piCamResolution);
cvResize(frame, dstImage);
#endif
}
else{
#ifdef WIN32
cvFlip(frame, dstImage, 1);
#else
cvFlip(frame, frame, 1);
cvSetImageROI(frame, piCamResolution);
cvResize(frame, dstImage);
#endif
}
if(mouseListener.isSettingROI())
imageProcessor.paperAreaDraggingImage(dstImage, mouseListener);
if(FkCurrentMode::state){
if(FkCurrentMode::state == CONFIRM_KB_REGION){
preProcessor.paperKeyboardRecognizer.setSelectedPaperKeyboard(mouseListener.getMouseDragArea());
mouseListener.setBenchmarkPoint();
imageProcessor.drawSelectedArea(dstImage, preProcessor.paperKeyboardRecognizer.getSelectedPaperKeyboard());
}
else if(FkCurrentMode::state == SET_KB_CORNER){
if(preProcessor.paperKeyboardRecognizer.setPaperKeyboardCorner(dstImage, mouseListener) == -1){
FkCurrentMode::state = SET_KB_REGION;
mouseListener.resetMouseDragArea();
message->showMessage("MESSAGE : 종이 키보드 선택이 정확하지 않습니다");
}
else
FkCurrentMode::state = CONFIRM_KB_CORNER;
}
else if(FkCurrentMode::state == CONFIRM_KB_CORNER || FkCurrentMode::state == ADJUST_KB_CORNER){
cvSetImageROI(dstImage, preProcessor.paperKeyboardRecognizer.getSelectedPaperKeyboard());
imageProcessor.drawPaperKeyboardCorner(dstImage);
cvResetImageROI(dstImage);
if(mouseListener.isAdjustCorner())
imageProcessor.paperAreaDraggingImage(dstImage, this->mouseListener);
}
else if(FkCurrentMode::state == CATCH_KB_CORNER){
cvSetImageROI(dstImage, preProcessor.paperKeyboardRecognizer.getSelectedPaperKeyboard());
imageProcessor.drawPaperKeyboardCorner(dstImage);
cvResetImageROI(dstImage);
imageProcessor.drawSelectedArea(dstImage, mouseListener.getMouseDragArea());
}
else if(FkCurrentMode::state == MOVE_KB_CORNER){
cvSetImageROI(dstImage, preProcessor.paperKeyboardRecognizer.getSelectedPaperKeyboard());
imageProcessor.drawPaperKeyboardCorner(dstImage);
cvResetImageROI(dstImage);
}
else if(FkCurrentMode::state == SET_KB_BUTTON){
preProcessor.paperKeyboardRecognizer.setKeyButton(dstImage);
preProcessor.paperKeyboardRecognizer.setKeyButtonImage(dstImage);
getBackgroundImage(dstImage, bgImage);
if(preProcessor.cameraCalibrator.isCamCalibrated())
FkCurrentMode::state = WAIT_HAND;
else
FkCurrentMode::state = SET_CAM_CALIB;
}
else if(FkCurrentMode::state == SET_CAM_CALIB){
//preProcessor.cameraCalibrator.cameraCalibration(dstImage, this->paperKeyboard);
FkCurrentMode::state = SET_KB_REGION;
}
else if(FkCurrentMode::state == WAIT_HAND){
imageProcessor.drawHandInputCircle(dstImage);
}
else if(FkCurrentMode::state == SET_HIST){
preProcessor.skinColorDetector.createSkinColorHistogram(dstImage);
FkCurrentMode::state = INPUT_AVAILABLE;
}
else if(FkCurrentMode::state == INPUT_AVAILABLE){
//method.1 손가락 검출 1번 방법을 사용하기 위해선 getBackgroundImage()에서 dstImage의 Color Model을 HSV로 변경
/* postProcessor.fingerTipDetector.getHandBinaryImage(dstImage, bgImage, preProcessor.skinColorDetector.skinColorHistogram, 1);
postProcessor.fingerTipDetector.detectHandContour(preProcessor.paperKeyboardRecognizer.getSelectedPaperKeyboard());
postProcessor.fingerTipDetector.detectFingerTip(dstImage);*/
//method.2 손가락 검출 2번 방법을 사용하기 위해선 getBackgroundImage()에서 dstImage의 Color Model을 YCrCb로 변경
postProcessor.fingerTipDetector.getHandBinaryImage(dstImage, bgImage, preProcessor.skinColorDetector.skinColorHistogram);
postProcessor.fingerTipDetector.detectHandContour(preProcessor.paperKeyboardRecognizer.getSelectedPaperKeyboard());
postProcessor.fingerTipDetector.detectFingerTip();
postProcessor.fingerTipDetector.calcMotionProperty();
motionLogger->writeMotion();
imageProcessor.drawFingerTip(dstImage,postProcessor.fingerTipDetector.detectHandCount, postProcessor.fingerTipDetector.userHand);
postProcessor.keyButtonEventListener.keyEventProcessing();
postProcessor.keyButtonEventListener.setInputAvailable();
postProcessor.fingerTipDetector.resetData();
cvWriteFrame(vout, dstImage);
}
}
if(FkCurrentMode::state > CONFIRM_KB_REGION && FkCurrentMode::state < WAIT_HAND)
imageProcessor.drawDetermineArea(dstImage, preProcessor.paperKeyboardRecognizer.getSelectedPaperKeyboard());
cvShowImage(WINDOW_NAME, dstImage);
exitKey->lock();
#ifndef _WINDOWS
if((cvWaitKey(1)) == 27){
exitKey->unlock();
break;
}
#else
cvWaitKey(1);
#endif
exitKey->unlock();
}
}
