// skeletonHand.cpp : Defines the entry point for the console application.
//
// STL Header
#include "stdafx.h"
#include <iostream>
#include <vector>
// OpenCV Header
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
// o1. OpenNI Header
#include <OpenNI.h>
// n1. NiTE Header
#include <NiTE.h>
// namespace
using namespace std;
using namespace openni;
using namespace nite;
using std::vector;
const unsigned int ROI_OFFSET = 70;
const unsigned int XRES = 640;
const unsigned int YRES = 480;
const unsigned int BIN_THRESH_OFFSET = 5;
const unsigned int MEDIAN_BLUR_K = 5;
const unsigned int GRASPING_THRESH = 0.9;
//define color
const cv::Scalar COLOR_DARK_GREEN = cv::Scalar (0 , 128, 0);
const cv::Scalar COLOR_YELLOW = cv::Scalar (0 , 128, 200 );
const cv::Scalar COLOR_BLUE = cv::Scalar ( 240, 40, 0);
const cv::Scalar COLOR_LIGHT_GREEN = cv::Scalar (0, 255 ,0);
const cv::Scalar COLOR_RED = cv::Scalar ( 0, 0, 255);
struct ConvexityDefect
{
cv::Point start;
cv::Point end;
cv::Point depth_point;
float depth;
};
bool handApproachingDisplayPerimeter(float x, float y)
{
return (x > (XRES - ROI_OFFSET)) || (x < (ROI_OFFSET)) ||
(y > (YRES - ROI_OFFSET)) || (y < (ROI_OFFSET));
}
//
//// Thanks to Jose Manuel Cabrera for part of this C++ wrapper function
////Convexity為凸的意思，Defect為缺陷的意思，hull為殼的意思
////貌似這個函數在opencv中已經被實現了
// void findConvexityDefects(vector<cv::Point>& contour, vector<int>& hull, vector<ConvexityDefect>& convexDefects)
// {
// if(hull.size() > 0 && contour.size() > 0)
// {
// CvSeq* contourPoints;
// CvSeq* defects;
// CvMemStorage* storage;
// CvMemStorage* strDefects;
// CvMemStorage* contourStr;
// CvConvexityDefect *defectArray = 0;
//
// strDefects = cvCreateMemStorage();
// defects = cvCreateSeq( CV_SEQ_KIND_GENERIC|CV_32SC2, sizeof(CvSeq),sizeof(CvPoint), strDefects );
//
// //We transform our vector<Point> into a CvSeq* object of CvPoint.
// contourStr = cvCreateMemStorage();
// contourPoints = cvCreateSeq(CV_SEQ_KIND_GENERIC|CV_32SC2, sizeof(CvSeq), sizeof(CvPoint), contourStr);
// for(int i = 0; i < (int)contour.size(); i++) {
// CvPoint cp = {contour[i].x, contour[i].y};
// cvSeqPush(contourPoints, &cp);
// }
//
// //Now, we do the same thing with the hull index
// int count = (int) hull.size();
// //int hullK[count];
// int* hullK = (int*) malloc(count*sizeof(int));
// for(int i = 0; i < count; i++) { hullK[i] = hull.at(i); }
// CvMat hullMat = cvMat(1, count, CV_32SC1, hullK);
//
// // calculate convexity defects
// storage = cvCreateMemStorage(0);
// defects = cv::convexityDefects(*contourPoints, &hullMat, *storage);
// defectArray = (CvConvexityDefect*)malloc(sizeof(CvConvexityDefect)*defects->total);
// cvCvtSeqToArray(defects, defectArray, CV_WHOLE_SEQ);
// //printf("DefectArray %i %i\n",defectArray->end->x, defectArray->end->y);
//
// //We store defects points in the convexDefects parameter.
// for(int i = 0; i<defects->total; i++){
// ConvexityDefect def;
// def.start = cv::Point(defectArray[i].start->x, defectArray[i].start->y);
// def.end = cv::Point(defectArray[i].end->x, defectArray[i].end->y);
// def.depth_point = cv::Point(defectArray[i].depth_point->x, defectArray[i].depth_point->y);
// def.depth = defectArray[i].depth;
// convexDefects.push_back(def);
// }
//
// // release memory
// cvReleaseMemStorage(&contourStr);
// cvReleaseMemStorage(&strDefects);
// cvReleaseMemStorage(&storage);
//
// }
//}
//
//
//
int main( int argc, char **argv )
{
// o2. Initial OpenNI
OpenNI::initialize();
// o3. Open Device
Device mDevice;
mDevice.open( ANY_DEVICE );
// o4. create depth stream
VideoStream mDepthStream;
mDepthStream.create( mDevice, SENSOR_DEPTH );
// o4a. set video mode
VideoMode mDMode;
mDMode.setResolution( 640, 480 );
mDMode.setFps( 30 );
mDMode.setPixelFormat( PIXEL_FORMAT_DEPTH_1_MM );
mDepthStream.setVideoMode( mDMode);
// o5. Create color stream
VideoStream mColorStream;
mColorStream.create( mDevice, SENSOR_COLOR );
// o5a. set video mode
VideoMode mCMode;
mCMode.setResolution( 640, 480 );
mCMode.setFps( 30 );
mCMode.setPixelFormat( PIXEL_FORMAT_RGB888 );
mColorStream.setVideoMode( mCMode);
// o6. image registration
mDevice.setImageRegistrationMode( IMAGE_REGISTRATION_DEPTH_TO_COLOR );
// n2. Initial NiTE
NiTE::initialize();
// n3. create user tracker
UserTracker mUserTracker;
mUserTracker.create( &mDevice );
mUserTracker.setSkeletonSmoothingFactor( 0.1f );
//set ROI
cv::Rect ROI;
ROI.width = ROI_OFFSET * 2;
ROI.height = ROI_OFFSET * 2;
// create OpenCV Window
cv::namedWindow( "User Image", CV_WINDOW_AUTOSIZE );
cv::namedWindow( "Depth Image", CV_WINDOW_AUTOSIZE );
cv::namedWindow( "leftHandFrame Image", CV_WINDOW_AUTOSIZE );
cv::namedWindow( "rightHandFrame Image", CV_WINDOW_AUTOSIZE );
// p1. start
mColorStream.start();
mDepthStream.start();
int iMaxDepth = mDepthStream.getMaxPixelValue();
while( true )
{
// main loop
cv::Mat cImageBGR;
cv::Mat cImageDepth;
cv::Mat handDebug;
vector< cv::Mat > debugFrames;
// p2a. get color frame
VideoFrameRef mColorFrame;
VideoFrameRef mDepthFrame;
mColorStream.readFrame( &mColorFrame );
mDepthStream.readFrame( &mDepthFrame );
// p2b. convert data to OpenCV format
const cv::Mat mImageRGB( mColorFrame.getHeight(), mColorFrame.getWidth(), CV_8UC3, (void*)mColorFrame.getData() );
// p2c. convert form RGB to BGR
cv::cvtColor( mImageRGB, cImageBGR, CV_RGB2BGR );
// now we do same thing to the depth
const cv::Mat mImageDepth( mDepthFrame.getHeight(), mDepthFrame.getWidth(), CV_16UC1, (void*)mDepthFrame.getData() );
// 8c. re-map depth data [0,Max] to [0,255]
mImageDepth.convertTo( cImageDepth, CV_8U, 255.0 / iMaxDepth );
// p3. get user frame
UserTrackerFrameRef mUserFrame;
mUserTracker.readFrame( &mUserFrame );
// p4. get users data
const nite::Array<UserData>& aUsers = mUserFrame.getUsers();
for( int i = 0; i < aUsers.getSize(); ++ i )
{
const UserData& rUser = aUsers[i];
// p4a. check user status
if( rUser.isNew() )
{
// start tracking for new user
mUserTracker.startSkeletonTracking( rUser.getId() );
}
if( rUser.isVisible() )
{
// p4b. get user skeleton
const Skeleton& rSkeleton = rUser.getSkeleton();
int handDepth = -1;
if ( rSkeleton.getState() == SKELETON_TRACKED )
{
for ( int handI = 0; handI < 2; handI++)
{
//get the position of the hand
//struct SkeletonJoint
//{
// float x, y, z, confidence;
//};
SkeletonJoint hand;
if ( handI == 0)
{
hand = rSkeleton.getJoint( JOINT_RIGHT_HAND );
}
else
{
hand = rSkeleton.getJoint( JOINT_LEFT_HAND );
}
if ( hand.getPositionConfidence() >= 0.5 )
{
const Point3f& handPosition = hand.getPosition();
//change to 8 bites image
handDepth = handPosition.z * 255.0 / iMaxDepth;
//get the roi
if(!handApproachingDisplayPerimeter(handPosition.x, handPosition.y))
{
ROI.x = handPosition.x - ROI_OFFSET;
ROI.y = handPosition.y - ROI_OFFSET;
}
}
// set the ROI in depth image
cv::Mat handCpy( cImageDepth, ROI );
cv::Mat handMat = handCpy.clone ();
//binary threshold
if ( handDepth != -1)
handMat = (handMat > (handDepth - BIN_THRESH_OFFSET)) & (handMat < (handDepth + BIN_THRESH_OFFSET));
//median blur
medianBlur(handMat, handMat, MEDIAN_BLUR_K);
handDebug = handMat.clone();
debugFrames.push_back(handDebug);
cvtColor(debugFrames[handI], debugFrames[handI], CV_GRAY2RGB);
std::vector< std::vector < cv::Point >> contours;
std::vector<cv::Vec4i> hierarchy;
findContours(handMat, contours, hierarchy, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_SIMPLE);
if (contours.size())
{
for (int i = 0; i < contours.size(); i++)
{
vector<cv::Point> contour = contours[i];
//将vector转换成Mat型，此时的Mat还是列向量，只不过是2个通道的列向量而已
cv::Mat contourMat = cv::Mat(contour);
//返回轮廓的面积
double cArea = contourArea(contourMat);
if(cArea > 2000)
{
cv::Scalar center = mean(contourMat);
cv::Point centerPoint = cv::Point(center.val[0], center.val[1]);
// approximate the contour by a simple curve
vector<cv::Point> approxCurve;
//求出轮廓的封闭的曲线，保存在approxCurve，轮廓和封闭曲线直接的最大距离为10
approxPolyDP(contourMat, approxCurve, 10, true);
vector< vector<cv::Point> > debugContourV;
debugContourV.push_back(approxCurve);
//在参数1中画出轮廓参数2，参数2必须是轮廓的集合，所以参数2是
//vector< vector<Point> >类型
//深绿色代表近似多边形
drawContours(debugFrames[handI], debugContourV, 0, COLOR_DARK_GREEN , 3);
vector<int> hull;
//找出近似曲线的凸包集合，集合hull中存储的是轮廓中凸包点的下标
convexHull(cv::Mat(approxCurve), hull, false, false);
// draw the hull points
for(int j = 0; j < hull.size(); j++)
{
int index = hull[j];
//凸顶点用黄色表示
circle(debugFrames[handI], approxCurve[index], 3, COLOR_YELLOW, 2);
}
// find convexity defects
vector<cv::Vec4i> convexDefects;
cv::convexityDefects(cv::Mat(approxCurve), hull, convexDefects);
printf("Number of defects: %d.\n", (int) convexDefects.size());
for(int j = 0; j < convexDefects.size(); j++)
{
//缺陷点用蓝色表示
circle(debugFrames[handI], approxCurve[convexDefects[j][2]], 3, COLOR_BLUE, 2);
}
// assemble point set of convex hull
//将凸包集以点的坐标形式保存下来
vector<cv::Point> hullPoints;
for(int k = 0; k < hull.size(); k++)
{
int curveIndex = hull[k];
cv::Point p = approxCurve[curveIndex];
hullPoints.push_back(p);
}
// area of hull and curve
double hullArea = contourArea(cv::Mat(hullPoints));
double curveArea = contourArea(cv::Mat(approxCurve));
double handRatio = curveArea/hullArea;
// hand is grasping
//GRASPING_THRESH == 0.9
if(handRatio > GRASPING_THRESH)
//握拳表示绿色
circle(debugFrames[handI], centerPoint, 5, COLOR_LIGHT_GREEN, 5);
else
//一般情况下手张开其中心点是显示红色
circle(debugFrames[handI], centerPoint, 5, COLOR_RED, 5);
}
}
}
}
}
}
}
// p5. show image
cv::imshow( "User Image", cImageBGR );
cv::imshow( "Depth Image", cImageDepth );
//debugFrames只保存2帧图像
if(debugFrames.size() >= 2 )
{
//长和宽的尺寸都扩大3倍
resize(debugFrames[0], debugFrames[0], cv::Size(), 3, 3);
resize(debugFrames[1], debugFrames[1], cv::Size(), 3, 3);
imshow("leftHandFrame Image", debugFrames[0]);
imshow("rightHandFrame Image", debugFrames[1]);
debugFrames.clear();
}
cv::waitKey (20);
// p6. check keyboard
if( cv::waitKey( 1 ) == 'q' )
break;
}
// p7. stop
mUserTracker.destroy();
mColorStream.destroy();
mDepthStream.destroy();
mDevice.close();
NiTE::shutdown();
OpenNI::shutdown();
return 0;
}
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