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+ GNU GENERAL PUBLIC LICENSE
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+
+ END OF TERMS AND CONDITIONS
+
+ How to Apply These Terms to Your New Programs
+
+ If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+ To do so, attach the following notices to the program. It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+ <one line to give the program's name and a brief idea of what it does.>
+ Copyright (C) <year> <name of author>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+
+Also add information on how to contact you by electronic and paper mail.
+
+ If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+ <program> Copyright (C) <year> <name of author>
+ This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+ This is free software, and you are welcome to redistribute it
+ under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License. Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+ You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+<http://www.gnu.org/licenses/>.
+
+ The GNU General Public License does not permit incorporating your program
+into proprietary programs. If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library. If this is what you want to do, use the GNU Lesser General
+Public License instead of this License. But first, please read
+<http://www.gnu.org/philosophy/why-not-lgpl.html>.
--- /dev/null
+/*
+vkeyb - camera motion detection virtual keyboard
+Copyright (C) 2012 Eleni Maria Stea <elene.mst@gmail.com>
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include <assert.h>
+#include <pthread.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+
+#include <X11/Xlib.h>
+#include <GL/gl.h>
+#include <GL/glx.h>
+#include <GL/glut.h>
+
+#include <opencv2/opencv.hpp>
+
+#include <imago2.h>
+#include "vkeyb.h"
+#include "motion.h"
+
+int init(void);
+void shutdown(void);
+int create_window(int xsz, int ysz);
+void display(void);
+void show_frame(float frm_width);
+int handle_event(XEvent *xev);
+void reshape(int w, int h);
+void keyb(int key, int pressed);
+void send_key(KeySym key);
+void motion(int x, int y);
+void cam_motion(double orient);
+void button(int x, int y, int bn, int state);
+void activate(int enter);
+
+Display *dpy; /* X11 display structure (x server connection) */
+Window win; /* X window */
+GLXContext ctx; /* OpenGL context */
+
+unsigned int frm_tex;
+bool tex_created;
+
+double size = 0.1;
+VKeyb *vkeyb;
+
+int must_redraw;
+
+static double orient = 0.0;
+
+
+int main (int argc, char** argv)
+{
+ glutInit(&argc, argv);
+
+ if(init() == -1) {
+ return 1;
+ }
+ atexit(shutdown);
+
+ glEnable(GL_CULL_FACE);
+
+ for(;;) {
+ fd_set fdset;
+
+ FD_ZERO(&fdset);
+
+ //retreive the X server socket
+ int xsock = ConnectionNumber(dpy);
+ FD_SET(xsock, &fdset);
+ FD_SET(pipefd[0], &fdset);
+
+ int maxfd = (xsock > pipefd[0] ? xsock : pipefd[0]) + 1;
+ select(maxfd, &fdset, 0, 0, 0);
+
+ if(FD_ISSET(pipefd[0], &fdset)) {
+ // process all pending events ...
+ while(XPending(dpy)) {
+ XEvent xev;
+ XNextEvent(dpy, &xev);
+ handle_event(&xev);
+ }
+ }
+
+ if(FD_ISSET(pipefd[0], &fdset)) {
+ if(read(pipefd[0], &orient, sizeof orient) < (int)sizeof orient) {
+ fprintf(stderr, "read from pipe failed\n");
+ }
+ else {
+ glBindTexture(GL_TEXTURE_2D, frm_tex);
+ if(!tex_created) {
+ glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, frm.cols, frm.rows, 0, GL_BGR, GL_UNSIGNED_BYTE, frm.data);
+ tex_created = true;
+ }
+ else {
+ glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, frm.cols, frm.rows, GL_BGR, GL_UNSIGNED_BYTE, frm.data);
+ }
+
+ cam_motion(orient);
+ must_redraw = true;
+ }
+ }
+
+ // ... and then do a single redisplay if needed
+ if(must_redraw) {
+ display();
+ }
+
+ }
+
+ shutdown();
+ return 0;
+}
+
+int init(void)
+{
+ Screen *scr;
+ int width, height;
+
+ if(!(dpy = XOpenDisplay(0))) {
+ fprintf(stderr, "failed to connect to the X server\n");
+ return -1;
+ }
+ scr = ScreenOfDisplay(dpy, DefaultScreen(dpy));
+
+ width = WidthOfScreen(scr);
+ height = width / 16;
+
+ if(create_window(width, height) == -1) {
+ XCloseDisplay(dpy);
+ return -1;
+ }
+ XMoveWindow(dpy, win, 0, HeightOfScreen(scr) - height);
+
+ try {
+ vkeyb = new VKeyb;
+ }
+ catch(...) {
+ fprintf(stderr, "failed to initialize virtual keyboard\n");
+ return -1;
+ }
+
+ // register a passive grab
+ Window root = RootWindow(dpy, DefaultScreen(dpy));
+ XGrabKey(dpy, XKeysymToKeycode(dpy, 'e'), ControlMask, root, False, GrabModeAsync, GrabModeAsync);
+
+ // create texture
+ glGenTextures(1, &frm_tex);
+ glBindTexture(GL_TEXTURE_2D, frm_tex);
+ glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
+ glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
+ glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP);
+ glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP);
+
+ // start the capturing thread
+ if(!start_capture())
+ return -1;
+
+ return 0;
+}
+
+void shutdown(void)
+{
+ glXMakeCurrent(dpy, None, 0);
+ glXDestroyContext(dpy, ctx);
+ XDestroyWindow(dpy, win);
+ XCloseDisplay(dpy);
+}
+
+int create_window(int xsz, int ysz)
+{
+ int scr;
+ Window root;
+ XSetWindowAttributes xattr;
+ XVisualInfo *vis;
+ unsigned int attr_valid;
+ long evmask;
+
+ int glattr[] = {
+ GLX_RGBA,
+ GLX_RED_SIZE, 8,
+ GLX_GREEN_SIZE, 8,
+ GLX_BLUE_SIZE, 8,
+ GLX_DEPTH_SIZE, 24,
+ GLX_DOUBLEBUFFER,
+ None
+ };
+
+ scr = DefaultScreen(dpy);
+ root = RootWindow(dpy, scr);
+
+ if(!(vis = glXChooseVisual(dpy, scr, glattr))) {
+ fprintf(stderr, "failed to find a suitable visual\n");
+ return -1;
+ }
+
+ if(!(ctx = glXCreateContext(dpy, vis, 0, True))) {
+ fprintf(stderr, "failed to create OpenGL context\n");
+ XFree(vis);
+ return -1;
+ }
+
+ xattr.background_pixel = xattr.border_pixel = BlackPixel(dpy, scr);
+ xattr.colormap = XCreateColormap(dpy, root, vis->visual, AllocNone);
+ xattr.override_redirect = True;
+ attr_valid = CWColormap | CWBackPixel | CWBorderPixel | CWOverrideRedirect;
+
+ if(!(win = XCreateWindow(dpy, root, 0, 0, xsz, ysz, 0, vis->depth, InputOutput,
+ vis->visual, attr_valid, &xattr))) {
+ fprintf(stderr, "failed to create X window\n");
+ glXDestroyContext(dpy, ctx);
+ XFree(vis);
+ return -1;
+ }
+ XFree(vis);
+
+ evmask = StructureNotifyMask | VisibilityChangeMask | KeyPressMask | PointerMotionMask |
+ ButtonPressMask | ButtonReleaseMask | ExposureMask | EnterWindowMask | LeaveWindowMask;
+ XSelectInput(dpy, win, evmask);
+
+ XMapWindow(dpy, win);
+
+ glXMakeCurrent(dpy, win, ctx);
+ return 0;
+}
+
+
+void display(void)
+{
+ glClearColor(1, 0, 0, 0);
+ glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+ glMatrixMode(GL_MODELVIEW);
+ glLoadIdentity();
+
+ vkeyb->show();
+ show_frame(0.1);
+
+ glRasterPos2i(-1, -1);
+
+ char buf[64];
+ snprintf(buf, sizeof buf, "%f %s", orient, orient > 0 ? "->" : orient < 0 ? "<-" : " ");
+ char *ptr = buf;
+ while(*ptr) {
+ glutBitmapCharacter(GLUT_BITMAP_HELVETICA_18, *ptr++);
+ }
+
+ glXSwapBuffers(dpy, win);
+
+ must_redraw = 0;
+ assert(glGetError() == GL_NO_ERROR);
+}
+
+void show_frame(float frm_width)
+{
+ frm_width *= 2;
+
+ glEnable(GL_TEXTURE_2D);
+ glBindTexture(GL_TEXTURE_2D, frm_tex);
+
+ glBegin(GL_QUADS);
+ glColor3f(1.0, 1.0, 1.0);
+ glTexCoord2f(0, 1); glVertex2f(-1, -1);
+ glTexCoord2f(1, 1); glVertex2f(frm_width - 1, -1);
+ glTexCoord2f(1, 0); glVertex2f(frm_width - 1, 1);
+ glTexCoord2f(0, 0); glVertex2f(-1, 1);
+ glEnd();
+
+ glDisable(GL_TEXTURE_2D);
+}
+
+
+int handle_event(XEvent *xev)
+{
+ static int mapped;
+ KeySym sym;
+
+ switch(xev->type) {
+ case ConfigureNotify:
+ reshape(xev->xconfigure.width, xev->xconfigure.height);
+ break;
+
+ case MapNotify:
+ mapped = 1;
+ break;
+ case UnmapNotify:
+ mapped = 0;
+ break;
+
+ case Expose:
+ if(mapped && xev->xexpose.count == 0) {
+ display();
+ }
+ break;
+
+ case KeyPress:
+ sym = XLookupKeysym(&xev->xkey, 0);
+ keyb(sym, 1);
+ break;
+
+ case MotionNotify:
+ motion(xev->xmotion.x, xev->xmotion.y);
+ break;
+
+ case ButtonPress:
+ button(xev->xbutton.x, xev->xbutton.y, xev->xbutton.button, 1);
+ break;
+ case ButtonRelease:
+ button(xev->xbutton.x, xev->xbutton.y, xev->xbutton.button, 0);
+ break;
+
+ case EnterNotify:
+ activate(1);
+ break;
+ case LeaveNotify:
+ activate(0);
+ break;
+
+ default:
+ break;
+ }
+
+ return 0;
+}
+
+
+void reshape(int w, int h)
+{
+ glViewport(0, 0, w, h);
+}
+
+void keyb(int key, int pressed)
+{
+ if(!pressed) {
+ return;
+ }
+
+ switch (key) {
+ case XK_Escape:
+ exit(0);
+
+ case 'e':
+ printf("sending key: %c\n", (char)vkeyb->active_key());
+ send_key(vkeyb->active_key());
+ break;
+
+ }
+}
+
+void send_key(KeySym key)
+{
+ Window win;
+ XEvent ev;
+ int junk;
+
+ XGetInputFocus(dpy, &win, &junk);
+
+ memset(&ev, 0, sizeof ev);
+ ev.type = KeyPress;
+ ev.xkey.window = win;
+ ev.xkey.keycode = XKeysymToKeycode(dpy, key);
+ ev.xkey.state = 0;
+ ev.xkey.time = CurrentTime;
+
+ XSendEvent(dpy, InputFocus, False, NoEventMask, &ev);
+}
+
+static int prev_x = -1;
+
+void motion(int x, int y)
+{
+ if(prev_x == -1) {
+ prev_x = x;
+ }
+
+ vkeyb->move((x - prev_x) / 25.0);
+ prev_x = x;
+
+ must_redraw = 1;
+}
+
+void cam_motion(double orient)
+{
+ if(orient > 0) {
+ vkeyb->move(1);
+ }
+
+ if(orient < 0) {
+ vkeyb->move(-1);
+ }
+
+ must_redraw = 1;
+}
+
+void button(int x, int y, int bn, int state)
+{
+ if(bn == 3 && state) {
+ exit(0);
+ }
+}
+
+
+void activate(int enter)
+{
+ prev_x = -1;
+}
--- /dev/null
+/*
+vkeyb - camera motion detection virtual keyboard
+Copyright (C) 2012 Eleni Maria Stea <elene.mst@gmail.com>
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include <unistd.h>
+#include <stdio.h>
+#include <sys/time.h>
+#include "motion.h"
+
+#define NUM_FEATURES 400
+#define MHI_DURATION 1000
+#define OFFSET 30
+
+static unsigned long get_msec();
+
+bool stop_capture = false;
+int pipefd[2];
+cv::Mat frm;
+pthread_t ptd;
+
+bool start_capture()
+{
+ if(pipe(pipefd) == -1) {
+ perror("failed to create synchronization pipe");
+ return false;
+ }
+
+ int res = pthread_create(&ptd, 0, capture_thread, 0);
+ if(res != 0) {
+ fprintf(stderr, "Failed to create capturing thread: %s\n", strerror(res));
+ return false;
+ }
+ return true;
+}
+
+void *capture_thread(void *arg)
+{
+ cv::VideoCapture cap(0);
+ if(!cap.isOpened()) {
+ fprintf(stderr, "failed to open video capture device\n");
+ }
+
+ cv::Mat next_frm, prev_frm, frm8b, prev_frm8b, colimg;
+
+ cap >> next_frm;
+ cv::flip(next_frm, next_frm, 1);
+ colimg = next_frm.clone();
+ cv::cvtColor(next_frm, next_frm, CV_RGB2GRAY);
+ next_frm.convertTo(frm8b, CV_8UC1);
+
+ while(!stop_capture) {
+ prev_frm = next_frm.clone();
+ prev_frm.convertTo(prev_frm8b, CV_8UC1);
+
+ cap >> next_frm;
+ cv::flip(next_frm, next_frm, 1);
+ colimg = next_frm.clone();
+ cv::cvtColor(next_frm, next_frm, CV_RGB2GRAY);
+ next_frm.convertTo(frm8b, CV_8UC1);
+
+ double direction = calculate_motion_dir(frm8b, prev_frm8b, colimg);
+ write(pipefd[1], &direction, sizeof direction);
+ frm = colimg.clone();
+ }
+ return 0;
+}
+
+double calculate_motion_dir(cv::Mat &frm8b, cv::Mat &prev_frm8b, cv::Mat &colimg)
+{
+ std::vector<cv::Point2f> prev_corners;
+ std::vector<cv::Point2f> corners;
+ std::vector<unsigned char> status;
+ std::vector<float> err;
+
+ cv::goodFeaturesToTrack(prev_frm8b, prev_corners, (float)NUM_FEATURES, 0.01, 3.0);
+ cv::goodFeaturesToTrack(frm8b, corners, (float)NUM_FEATURES, 0.01, 3.0);
+ cv::calcOpticalFlowPyrLK(prev_frm8b, frm8b, prev_corners, corners, status, err);
+
+ cv::Point motion_vector = cv::Point((int)((double)colimg.cols / 2.0), (int)((double)colimg.rows / 2.0));
+
+ for(size_t i=0; i<status.size(); i++) {
+ if(!status[i])
+ continue;
+
+ cv::Point p, q;
+ p.x = prev_corners[i].x;
+ p.y = prev_corners[i].y;
+
+ q.x = corners[i].x;
+ q.y = corners[i].y;
+
+ double angle = atan2((double)(q.y - p.y), (double)(q.x - p.x));
+ double hypotenuse = sqrt(pow((double)(q.y - p.y), 2.0) + pow((double)(q.x - p.x), 2.0));
+
+ p.x = (int)(q.x - hypotenuse * cos(angle));
+ p.y = (int)(q.y - hypotenuse * sin(angle));
+
+ cv::line(colimg, q, p, cv::Scalar(255, 255, 0), 1, CV_AA, 0);
+
+ if(hypotenuse > 3) {
+ cv::Point vec2d = cv::Point(q.x - p.x, q.y - p.y);
+ motion_vector = cv::Point(motion_vector.x + vec2d.x, motion_vector.y + vec2d.y);
+ }
+
+/*
+ q.x = (int)(p.x + cos(angle) + M_PI / 4.0);
+ q.y = (int)(p.y + sin(angle) + M_PI / 4.0);
+
+ cv::line(colimg, q, p, cv::Scalar(0, 0, 255), 1, CV_AA, 0);
+
+ q.x = (int)(p.x + cos(angle) - M_PI / 4.0);
+ q.y = (int)(p.y + sin(angle) - M_PI / 4.0);
+
+ cv::line(colimg, q, p, cv::Scalar(255, 0, 0), 1, CV_AA, 0);*/
+
+ }
+
+ cv::Point ctr = cv::Point((int)((double)colimg.cols / 2.0), (int)((double)colimg.rows / 2.0));
+ cv::Point xproj = cv::Point(motion_vector.x, ctr.y);
+
+ cv::line(colimg, motion_vector, ctr, cv::Scalar(255, 0, 0), 3, CV_AA, 0);
+ cv::line(colimg, xproj, ctr, cv::Scalar(0, 0, 255), 3, CV_AA, 0);
+
+ return (xproj.x - ctr.x);
+}
+
+double calculate_orientation(cv::Mat &frm, cv::Mat &prev_frm)
+{
+ cv::Mat silhouette;
+ cv::absdiff(frm, prev_frm, silhouette);
+
+ cv::Mat sil8;
+ cv::cvtColor(silhouette, silhouette, CV_RGB2GRAY);
+ silhouette.convertTo(sil8, CV_8UC1);
+
+ double max_val, min_val;
+ cv::minMaxLoc(sil8, &min_val, &max_val);
+
+ cv::threshold(sil8, sil8, 119, max_val, CV_THRESH_BINARY);
+
+ cv::Mat mhi;
+ sil8.convertTo(mhi, CV_32FC1, 1.0 / (float)UCHAR_MAX);
+
+ cv::Mat mask = cv::Mat(mhi.size().width, mhi.size().height, CV_8UC1);
+ cv::Mat orientation = mhi.clone();
+
+ double duration = MHI_DURATION;
+ unsigned long timestamp = get_msec() + duration;
+
+ double min_delta = abs(timestamp);
+ double max_delta = abs(timestamp) + 500.0;
+
+ cv::updateMotionHistory(sil8, mhi, timestamp, duration);
+ cv::calcMotionGradient(mhi, mask, orientation, min_delta, max_delta, 3);
+
+ double global_orientation = cv::calcGlobalOrientation(orientation, mask, mhi, timestamp, duration);
+
+ return global_orientation;
+}
+
+
+static unsigned long get_msec()
+{
+ static struct timeval tv0;
+ struct timeval tv;
+
+ gettimeofday(&tv, 0);
+ if(tv0.tv_sec == 0 && tv0.tv_usec == 0) {
+ tv0 = tv;
+ return 0;
+ }
+ return (tv.tv_sec - tv0.tv_sec) * 1000 + (tv.tv_usec - tv0.tv_usec) / 1000;
+}
projects / vkeyb / commitdiff
