void kinectSkelApp::mouseUp( MouseEvent event )
{
writeImage( getHomeDirectory() + "kinect_color.png", mKinect.getColorImage() );
writeImage( getHomeDirectory() + "kinect_depth.png", mKinect.getDepthImage() );
// set tilt to random angle
mKinect.setLedColor( Kinect::LED_YELLOW );
}
void HandTrackingApp::update()
{
if( mKinect.checkNewDepthFrame() ){
ImageSourceRef depthImage = mKinect.getDepthImage();
// make a texture to display
mDepthTexture = depthImage;
// make a surface for opencv
mDepthSurface = depthImage;
if(mDepthSurface){
// once the surface is avalable pass it to opencv
// had trouble here with bit depth. surface comes in full color, needed to crush it down
cv::Mat input( toOcv( Channel8u( mDepthSurface ) ) ), blurred, thresholded, thresholded2, output;
cv::blur(input, blurred, cv::Size(10,10));
// make two thresholded images one to display and one
// to pass to find contours since its process alters the image
cv::threshold( blurred, thresholded, mThreshold, 255, CV_THRESH_BINARY);
cv::threshold( blurred, thresholded2, mThreshold, 255, CV_THRESH_BINARY);
// 2d vector to store the found contours
vector<vector<cv::Point> > contours;
// find em
cv::findContours(thresholded, contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_SIMPLE);
// convert theshold image to color for output
// so we can draw blobs on it
cv::cvtColor( thresholded2, output, CV_GRAY2RGB );
// loop the stored contours
for (vector<vector<cv::Point> >::iterator it=contours.begin() ; it < contours.end(); it++ ){
// center abd radius for current blob
cv::Point2f center;
float radius;
// convert the cuntour point to a matrix
vector<cv::Point> pts = *it;
cv::Mat pointsMatrix = cv::Mat(pts);
// pass to min enclosing circle to make the blob
cv::minEnclosingCircle(pointsMatrix, center, radius);
cv::Scalar color( 0, 255, 0 );
if (radius > mBlobMin && radius < mBlobMax) {
// draw the blob if it's in range
cv::circle(output, center, radius, color);
//update the target position
mTargetPosition.x = 640 - center.x;
mTargetPosition.y = center.y;
mTargetPosition.z = 0;
}
}
mCvTexture = gl::Texture( fromOcv( output ) );
}
}
if( mKinect.checkNewColorFrame() )
mColorTexture = mKinect.getColorImage();
if( mKinectTilt != mKinect.getTilt() )
mKinect.setTilt( mKinectTilt );
}