有哪位大神可以帮我解释一下这段代码吗？
//============================================================================
// Name : KinectTouch.cpp
// Author : github.com/robbeofficial
// Version : 0.something
// Description : recognizes touch points on arbitrary surfaces using kinect
// and maps them to TUIO cursors
// (turns any surface into a touchpad)
//============================================================================
*
* 1. point your kinect from a higher place down to your table
* 2. start the program (keep your hands off the table for the beginning)
* 3. use your table as a giant touchpad
*/
#include <iostream>
#include <vector>
#include <map>
using namespace std;
// openCV
#include <opencv/highgui.h>
#include <opencv/cv.h>
using namespace cv;
// openNI
#include <XnOpenNI.h>
#include <XnCppWrapper.h>
using namespace xn;
#define CHECK_RC(rc, what)\
if (rc != XN_STATUS_OK)\
{\
printf("%s failed: %s\n", what, xnGetStatusString(rc));\
return rc;\
}
// TUIO
#include "TUIO/TuioServer.h"
using namespace TUIO;
// TODO smoothing using kalman filter
//---------------------------------------------------------------------------
// Globals
//---------------------------------------------------------------------------
// OpenNI
xn::Context xnContext;
xn::DepthGenerator xnDepthGenerator;
xn::ImageGenerator xnImgeGenertor;
bool mousePressed = false;
//---------------------------------------------------------------------------
// Functions
//---------------------------------------------------------------------------
int initOpenNI(const XnChar* fname) {
XnStatus nRetVal = XN_STATUS_OK;
// initialize context
nRetVal = xnContext.InitFromXmlFile(fname);
CHECK_RC(nRetVal, "InitFromXmlFile");
// initialize depth generator
nRetVal = xnContext.FindExistingNode(XN_NODE_TYPE_DEPTH, xnDepthGenerator);
CHECK_RC(nRetVal, "FindExistingNode(XN_NODE_TYPE_DEPTH)");
// initialize image generator
nRetVal = xnContext.FindExistingNode(XN_NODE_TYPE_IMAGE, xnImgeGenertor);
CHECK_RC(nRetVal, "FindExistingNode(XN_NODE_TYPE_IMAGE)");
return 0;
}
void average(vector<Mat1s>& frames, Mat1s& mean) {
Mat1d acc(mean.size());
Mat1d frame(mean.size());
for (unsigned int i=0; i<frames.size(); i++) {
frames[i].convertTo(frame, CV_64FC1);
acc = acc + frame;
}
acc = acc / frames.size();
acc.convertTo(mean, CV_16SC1);
}
int main() {
const unsigned int nBackgroundTrain = 30;
const unsigned short touchDepthMin = 10;
const unsigned short touchDepthMax = 20;
const unsigned int touchMinArea = 50;
const bool localClientMode = true; // connect to a local client
const double debugFrameMaxDepth = 4000; // maximal distance (in millimeters) for 8 bit debug depth frame quantization
const char* windowName = "Debug";
const Scalar debugColor0(0,0,128);
const Scalar debugColor1(255,0,0);
const Scalar debugColor2(255,255,255);
int xMin = 110;
int xMax = 560;
int yMin = 120;
int yMax = 320;
Mat1s depth(480, 640); // 16 bit depth (in millimeters) // typedef Mat_<short> Mat1s;
Mat1b depth8(480, 640); // 8 bit depth // typedef Mat_<uchar> Mat1b;
//Mat3b rgb(480, 640); // 8 bit depth // typedef Mat_<Vec3b> Mat3b;
Mat3b debug(480, 640); // debug visualization //
Mat1s foreground(640, 480);
Mat1b foreground8(640, 480);
Mat1b touch(640, 480); // touch mask
Mat1s background(480, 640);
vector<Mat1s> buffer(nBackgroundTrain);
initOpenNI("niConfig.xml");
//// TUIO server object
//TuioServer* tuio;
//if (localClientMode) {
//tuio = new TuioServer();
//} else {
//tuio = new TuioServer("192.168.0.2",3333,false);
//}
//TuioTime time;
// create some sliders
/*namedWindow(windowName);
createTrackbar("xMin", windowName, &xMin, 640);
createTrackbar("xMax", windowName, &xMax, 640);
createTrackbar("yMin", windowName, &yMin, 480);
createTrackbar("yMax", windowName, &yMax, 480);*/
// create background model (average depth)
for (unsigned int i=0; i<nBackgroundTrain; i++) {
xnContext.WaitAndUpdateAll();
depth.data = (uchar*) xnDepthGenerator.GetDepthMap();
buffer[i] = depth;
}
average(buffer, background);
while ( waitKey(1) != 27 ) {
// read available data
xnContext.WaitAndUpdateAll();
// update 16 bit depth matrix
depth.data = (uchar*) xnDepthGenerator.GetDepthMap();
//xnImgeGenertor.GetGrayscale8ImageMap()
// update rgb image
//rgb.data = (uchar*) xnImgeGenertor.GetRGB24ImageMap(); // segmentation fault here
//cvtColor(rgb, rgb, CV_RGB2BGR);
// extract foreground by simple subtraction of very basic background model
foreground = background - depth;
// find touch mask by thresholding (points that are close to background = touch points)
touch = (foreground > touchDepthMin) & (foreground < touchDepthMax);
// extract ROI
Rect roi(xMin, yMin, xMax - xMin, yMax - yMin);
Mat touchRoi = touch(roi);
// find touch points
vector< vector<Point2i> > contours;
vector<Point2f> touchPoints;
findContours(touchRoi, contours, CV_RETR_LIST, CV_CHAIN_APPROX_SIMPLE, Point2i(xMin, yMin));
for (unsigned int i=0; i<contours.size(); i++) {
Mat contourMat(contours[i]);
// find touch points by area thresholding
if ( contourArea(contourMat) > touchMinArea ) {
Scalar center = mean(contourMat);
Point2i touchPoint(center[0], center[1]);
touchPoints.push_back(touchPoint);
}
}
// send TUIO cursors
time = TuioTime::getSessionTime();
tuio->initFrame(time);
for (unsigned int i=0; i<touchPoints.size(); i++) { // touch points
float cursorX = (touchPoints[i].x - xMin) / (xMax - xMin);
float cursorY = 1 - (touchPoints[i].y - yMin)/(yMax - yMin);
TuioCursor* cursor = tuio->getClosestTuioCursor(cursorX,cursorY);
// TODO improve tracking (don't move cursors away, that might be closer to another touch point)
if (cursor == NULL || cursor->getTuioTime() == time) {
tuio->addTuioCursor(cursorX,cursorY);
} else {
tuio->updateTuioCursor(cursor, cursorX, cursorY);
}
}
tuio->stopUntouchedMovingCursors();
tuio->removeUntouchedStoppedCursors();
tuio->commitFrame();
// draw debug frame
depth.convertTo(depth8, CV_8U, 255 / debugFrameMaxDepth); // render depth to debug frame
cvtColor(depth8, debug, CV_GRAY2BGR);
debug.setTo(debugColor0, touch); // touch mask
rectangle(debug, roi, debugColor1, 2); // surface boundaries
for (unsigned int i=0; i<touchPoints.size(); i++) { // touch points
circle(debug, touchPoints[i], 5, debugColor2, CV_FILLED);
}
// render debug frame (with sliders)
imshow(windowName, debug);
//imshow("image", rgb);
}
return 0;
}
我觉得应该是没人给你解释的
[解决办法]
注释已经写的很清楚了：
// Description : recognizes touch points on arbitrary surfaces using kinect
// and maps them to TUIO cursors
// (turns any surface into a touchpad)
