?? lktrack.cpp
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#ifdef _CH_
#pragma package <opencv>
#endif
#ifndef _EiC
#include "cv.h"
#include "highgui.h"
#include <stdio.h>
#include <ctype.h>
#include "skelecton.h"
#include "skeletons.h"
#include "kalman.h"
#include "OpenGL.h"
#include <GL/gl.h>
#include <GL/glu.h>
#include <GL/glaux.h>
#endif
IplImage *image = 0, *grey = 0, *prev_grey = 0,
*pyramid = 0, *prev_pyramid = 0,*motion_track_img = 0, *swap_temp;
int win_size = 10;
const int MAX_COUNT = 13; //骨架節(jié)點數
CvPoint2D32f* points[2] = {0,0}, *swap_points;
char* status = 0;
int count = 0;
int need_to_init = 0;
int night_mode = 0;
int flags = 0;
int add_remove_pt = 0;
int pause = 0;
CvPoint pt;
OpenGL *pgl;
Vector3f vt1,vt2;
void CALLBACK display3()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glLoadIdentity();
pgl->clear ();
glColor3f(0.4f,0.5f,0.7f);
//auxSolidCylinder(0.2,1.0);
//pgl->draw2point (vt1,vt2);
pgl->display ();
//glFlush();
}
void opengl_test()
{
pgl = new OpenGL();
pgl->Init();
vt1.x = 200;
vt1.y = 200;
vt1.z = 200;
vt2.x = 0;
vt2.y = 0;
vt2.z = 0;
// auxMainLoop(display3);
for(;;) display3();
delete pgl;
}
void on_mouse( int event, int x, int y, int flags )
{
if( !image )
return;
if( image->origin )
y = image->height - y;
if( event == CV_EVENT_LBUTTONDOWN )
{
pt = cvPoint(x,y);
add_remove_pt = 1;
}
}
int cvmain( int argc, char** argv )
{
//opengl_test();
//exit(0);
skelecton *ske = new skelecton();
skelectons *skes = new skelectons();
kalman *bone_kalmans = new kalman[MAX_COUNT];
CvCapture* capture = 0;
if( argc == 1 || (argc == 2 && strlen(argv[1]) == 1 && isdigit(argv[1][0])))
//capture = cvCaptureFromCAM( argc == 2 ? argv[1][0] - '0' : 0 );
capture = cvCaptureFromFile("e:\\MyFirstPoser.AVI");
else if( argc == 2 )
capture = cvCaptureFromAVI( argv[1] );
if( !capture )
{
fprintf(stderr,"Could not initialize capturing...\n");
return -1;
}
printf( "Hot keys: \n"
"\tESC - quit the program\n"
"\tr - auto-initialize tracking\n"
"\tc - delete all the points\n"
"\tn - switch the \"night\" mode on/off\n"
"\tp - pause on/off\n"
"\n" );
cvNamedWindow( "LkDemo", 1 );
cvNamedWindow( "MotionTrackDemo", 0 );
cvSetMouseCallback( "LkDemo", on_mouse );
for(;;)
{
IplImage* frame = 0;
int i, k, c;
if(pause)
frame = image ;
else
frame = cvQueryFrame( capture );
if( !frame ) break;
if( !image )
{
/* allocate all the buffers */
image = cvCreateImage( cvGetSize(frame), 8, 3 );
image->origin = frame->origin;
motion_track_img = cvCreateImage( cvGetSize(frame), 8, 3 );
motion_track_img->origin = frame->origin;
grey = cvCreateImage( cvGetSize(frame), 8, 1 );
prev_grey = cvCreateImage( cvGetSize(frame), 8, 1 );
pyramid = cvCreateImage( cvGetSize(frame), 8, 1 );
prev_pyramid = cvCreateImage( cvGetSize(frame), 8, 1 );
points[0] = (CvPoint2D32f*)cvAlloc(MAX_COUNT*sizeof(points[0][0]));
points[1] = (CvPoint2D32f*)cvAlloc(MAX_COUNT*sizeof(points[0][0]));
status = (char*)cvAlloc(MAX_COUNT);
flags = 0;
}
cvCopy( frame, image, 0 );
cvCvtColor( image, grey, CV_BGR2GRAY );
cvZero( motion_track_img );
if( night_mode )
cvZero( image );
if( need_to_init )
{
/* automatic initialization */
IplImage* eig = cvCreateImage( cvGetSize(grey), 32, 1 );
IplImage* temp = cvCreateImage( cvGetSize(grey), 32, 1 );
double quality = 0.01;
double min_distance = 10;
count = MAX_COUNT;
cvGoodFeaturesToTrack( grey, eig, temp, points[1], &count,
quality, min_distance, 0 );
cvFindCornerSubPix( grey, points[1], count,
cvSize(win_size,win_size), cvSize(-1,-1),
cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,20,0.03));
cvReleaseImage( &eig );
cvReleaseImage( &temp );
add_remove_pt = 0;
}
else if( count > 0 )
{
cvCalcOpticalFlowPyrLK( prev_grey, grey, prev_pyramid, pyramid,
points[0], points[1], count, cvSize(win_size,win_size), 3, status, 0,
cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,20,0.03), flags );
flags |= CV_LKFLOW_PYR_A_READY;
for( i = k = 0; i < count; i++ )
{
if( add_remove_pt )
{
double dx = pt.x - points[1][i].x;
double dy = pt.y - points[1][i].y;
if( dx*dx + dy*dy <= 25 )
{
add_remove_pt = 0;
continue;
}
}
if( !status[i] )
continue;
points[1][k++] = points[1][i];
switch(i)
{
case 0:
ske->CorrectPosition ("neck",points[1][i],bone_kalmans[i]);
break;
case 1:
ske->CorrectPosition ("head",points[1][i],bone_kalmans[i]);
break;
case 2:
ske->CorrectPosition ("rShoulder",points[1][i],bone_kalmans[i]);
break;
case 3:
ske->CorrectPosition ("lShoulder",points[1][i],bone_kalmans[i]);
break;
case 4:
ske->CorrectPosition ("rElbow",points[1][i],bone_kalmans[i]);
break;
case 5:
ske->CorrectPosition ("lElbow",points[1][i],bone_kalmans[i]);
break;
case 6:
ske->CorrectPosition ("rWrist",points[1][i],bone_kalmans[i]);
break;
case 7:
ske->CorrectPosition ("lWrist",points[1][i],bone_kalmans[i]);
break;
case 8:
ske->CorrectPosition ("Waist",points[1][i],bone_kalmans[i]);
break;
case 9:
ske->CorrectPosition ("rKnee",points[1][i],bone_kalmans[i]);
break;
case 10:
ske->CorrectPosition ("lKnee",points[1][i],bone_kalmans[i]);
break;
case 11:
ske->CorrectPosition ("rAnkle",points[1][i],bone_kalmans[i]);
break;
case 12:
ske->CorrectPosition ("lAnkle",points[1][i],bone_kalmans[i]);
break;
}
cvCircle( image, cvPointFrom32f(points[1][i]), 3, CV_RGB(0,255,0), -1, 8,0);
}
count = k;
}
//
skelecton *pske;
pske = skes->get_previous_skelecton ();
if(pske!=NULL) ske->set_previous_skelecton (pske);
//ske->draw3D(motion_track_img);
ske->drawOpenGL3D(image);
skes->add (ske); //不需要每次都保存，應該隔單位時間保存一次
//skes->test ();
if( add_remove_pt && count < MAX_COUNT )
{
points[1][count++] = cvPointTo32f(pt);
cvFindCornerSubPix( grey, points[1] + count - 1, 1,
cvSize(win_size,win_size), cvSize(-1,-1),
cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,20,0.03));
add_remove_pt = 0;
bone_kalmans[count-1].init_kalman (points[1][count-1].x,0,points[1][count-1].y,0);
ske->CalcLengthRatio (count,points[1][count-1]);
}
CV_SWAP( prev_grey, grey, swap_temp );
CV_SWAP( prev_pyramid, pyramid, swap_temp );
CV_SWAP( points[0], points[1], swap_points );
need_to_init = 0;
cvShowImage( "LkDemo", image );
cvShowImage( "MotionTrackDemo", motion_track_img );
c = cvWaitKey(10);
//printf("%c,%d",c,c);
if( c == 'q' )
break;
switch( c )
{
case 'r':
need_to_init = 1;
break;
case 'c':
count = 0;
ske->reset();
break;
case 'n':
night_mode ^= 1;
break;
case 'p':
pause ^= 1;
break;
case 'o':
if(ske->ske_pause) ske->ske_pause= false;
else ske->ske_pause= true;
break;
case 'i':
ske->view_up();
break;
case 'k':
ske->view_down();
break;
case 'j':
ske->view_left();
break;
case 'l':
ske->view_right();
break;
default:
;
}
}
cvReleaseCapture( &capture );
cvDestroyWindow("LkDemo");
delete ske;
ske = NULL;
delete skes;
skes = NULL;
delete []bone_kalmans;
return 0;
}
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