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lightsaber.cpp
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/***************************************************************
* Garrick Brazil, Edward Cana, Devin Holland, Jeffrey Ring
* CS-420: Lightsaber Fight
* Dr. Giuseppe Turini
* Created on 8/28/2013
/****************************************************************/
#include <gl/glew.h>
#include <Windows.h>
#include <gl/freeglut.h>
#include <opencv/cvaux.h>
#include <opencv/highgui.h>
#include <stdio.h>
#include <stdlib.h>
#include <math.h>
#include <time.h>
#include "vector_3d.h"
#include "image_tga.h"
using namespace cv;
// Images and textures.
ImageTGA img1;
GLuint tex1;
cv::Size size = cv::Size(400,300);
char quote[8][80];
int numberOfQuotes=0,i;
double openTime = 24000;
int openerTime, lastOpenerTime;
bool opener = false;
// Saber 1 Settings
int saber1_h_Min = 45;
int saber1_s_Min = 84;
int saber1_v_Min = 75;
int saber1_h_Max = 65;
int saber1_s_Max = 167;
int saber1_v_Max = 255;
int saber1_color;
// Saber 1 Color
float saber1_r;
float saber1_g;
float saber1_b;
int saber1_time;
// Saber 2 Settings
int saber2_h_Min = 138;
int saber2_s_Min = 64;
int saber2_v_Min = 22;
int saber2_h_Max = 162;
int saber2_s_Max = 148;
int saber2_v_Max = 71;
int saber2_color;
// Saber 2 Color
float saber2_r;
float saber2_g;
float saber2_b;
int saber2_time;
// Window properties
int windowWidth = 800;
int windowHeight = 600;
int windowX = 100;
int windowY = 100;
// Animation timing
int lastTime_1 = 0.0;
int lastTime_2 = 0.0;
float aniTime = 280;
// Animation drawn 0.0 -> 1.0
float portionDrawn_1 = 0.0;
float portionDrawn_2 = 0.0;
// Time and FPS.
int lastFPSTime = 0;
int frameCount = 0;
float fps = 0.0f;
char fpsText[ 20 ];
// Sabers enabling
bool saber1 = false;
bool saber2 = false;
// Current sabers
float saber1_b1[3], saber1_b2[3];
float saber2_b1[3], saber2_b2[3];
// Misc
int minPoints = 5;
int cylinderLayers = 60;
const int blurCount = 6;
int camera;
// Settings pages
bool showThres1 = false;
bool showThres2 = false;
// Previous distances
double s1_b1_dX = 0, s1_b1_dY;
double s2_b1_dX = 0, s2_b1_dY;
// Previous sabers
float saber1_b1_past[3][3] = {0}, saber1_b2_past[3][3] = {0};
float saber2_b1_past[3][3] = {0}, saber2_b2_past[3][3] = {0};
// Interpolated sabers
float saber1_b1_inter[blurCount*blurCount][3] = {0}, saber1_b2_inter[blurCount*blurCount][3] = {0};
float saber2_b1_inter[blurCount*blurCount][3] = {0}, saber2_b2_inter[blurCount*blurCount][3] = {0};
// Images used for processing
VideoCapture capture;
GLuint videoTexture;
Mat frame, smallFrame;
IplImage *hsv_frame;
IplImage *thresholded_1, *thresholded_2;
// Containers and images.
std::vector<cv::Vec3f> circles_1, circles_2;
std::vector< std::vector<cv::Point> > contours_1, contours_2;
std::vector< std::vector<cv::Point> > contoursPoly_1, contoursPoly_2;
std::vector<cv::Rect> bb_1, bb_2;
std::vector<cv::Point2f> center_1, center_2;
std::vector<float> radius_1, radius_2;
/*********************************************************
* Method: trackbarChange
* Purpose: update the settings file when one of the trackbar changes
*********************************************************/
void trackbarChange( int , void* )
{
string filename = "Settings.xml";
FileStorage fs(filename, FileStorage::WRITE);
fs.open(filename, FileStorage::WRITE);
fs << "saber1_h_Min" << saber1_h_Min;
fs << "saber1_s_Min" << saber1_s_Min;
fs << "saber1_v_Min" << saber1_v_Min;
fs << "saber1_h_Max" << saber1_h_Max;
fs << "saber1_s_Max" << saber1_s_Max;
fs << "saber1_v_Max" << saber1_v_Max;
fs << "saber1_color" << saber1_color;
fs << "saber2_h_Min" << saber2_h_Min;
fs << "saber2_s_Min" << saber2_s_Min;
fs << "saber2_v_Min" << saber2_v_Min;
fs << "saber2_h_Max" << saber2_h_Max;
fs << "saber2_s_Max" << saber2_s_Max;
fs << "saber2_v_Max" << saber2_v_Max;
fs << "saber2_color" << saber2_color;
fs << "camera" << camera;
fs.release();
}
/*********************************************************
* Method: calculateFPS
* Purpose: calculates the FPS of the application
*********************************************************/
void calculateFPS()
{
// Increase frame count
frameCount++;
// Get the number of milliseconds in currentTime
int currTime = glutGet( GLUT_ELAPSED_TIME );
// Calculate time passed.
int timeInterval = currTime - lastFPSTime;
if( timeInterval > 1000 ){
// Compute the number of frames per second.
fps = (float) frameCount / ( (float) timeInterval / 1000.0f );
// Set time.
lastFPSTime = currTime;
// Reset frame count.
frameCount = 0;
// Store frames per second in a string.
sprintf_s( fpsText, 20, "%.3f fps", fps );
}
}
/*********************************************************
* Method: distance
* Purpose: calculates the distance between two points
*********************************************************/
double distance(float *p1, float x, float y){
// Distances in x & y
float dx = x - p1[0];
float dy = y - p1[1];
// Distance formula
return sqrt(pow(dx,2) + pow(dy,2));
}
/*********************************************************
* Method: updateColor1
* Purpose: updates color of saber1
*********************************************************/
void updateColor1(int color, void*nothing){
switch (color){
case 0:
saber1_r = 1;
saber1_g = 0;
saber1_b = 0;
break;
case 1:
saber1_r = 0;
saber1_g = 1;
saber1_b = 0;
break;
case 2:
saber1_r = 0;
saber1_g = 0;
saber1_b = 1;
break;
case 3:
saber1_r = 1;
saber1_g = 1;
saber1_b = 0;
break;
case 4:
saber1_r = 1;
saber1_g = 0;
saber1_b = 1;
break;
case 5:
saber1_r = 0;
saber1_g = 1;
saber1_b = 1;
break;
case 6:
saber1_r = 1;
saber1_g = .5;
saber1_b = 0;
break;
case 7:
saber1_r = 1;
saber1_g = 0;
saber1_b = 0.5;
break;
case 8:
saber1_r = 0;
saber1_g = 1;
saber1_b = .5;
break;
case 9:
saber1_r = .5;
saber1_g = 1;
saber1_b = 0;
break;
case 10:
saber1_r = .5;
saber1_g = 0;
saber1_b = 1;
break;
case 11:
saber1_r = 0;
saber1_g = .5;
saber1_b = 1;
break;
}
trackbarChange(color,nothing);
}
/*********************************************************
* Method: updateColor
* Purpose: updates color of saber2
*********************************************************/
void updateColor2(int color, void*nothing){
switch (color){
case 0:
saber2_r = 1;
saber2_g = 0;
saber2_b = 0;
break;
case 1:
saber2_r = 0;
saber2_g = 1;
saber2_b = 0;
break;
case 2:
saber2_r = 0;
saber2_g = 0;
saber2_b = 1;
break;
case 3:
saber2_r = 1;
saber2_g = 1;
saber2_b = 0;
break;
case 4:
saber2_r = 1;
saber2_g = 0;
saber2_b = 1;
break;
case 5:
saber2_r = 0;
saber2_g = 1;
saber2_b = 1;
break;
case 6:
saber2_r = 1;
saber2_g = .5;
saber2_b = 0;
break;
case 7:
saber2_r = 1;
saber2_g = 0;
saber2_b = 0.5;
break;
case 8:
saber2_r = 0;
saber2_g = 1;
saber2_b = .5;
break;
case 9:
saber2_r = .5;
saber2_g = 1;
saber2_b = 0;
break;
case 10:
saber2_r = .5;
saber2_g = 0;
saber2_b = 1;
break;
case 11:
saber2_r = 0;
saber2_g = .5;
saber2_b = 1;
break;
}
trackbarChange(color,nothing);
}
/*********************************************************
* Method: renderCylinder
* Purpose: renders a cylinder with a quad
*********************************************************/
void renderCylinder(float x1, float y1, float z1, float x2,float y2, float z2, float radius,int subdivisions){
// Temporary quadric
GLUquadricObj *quadric=gluNewQuadric();
gluQuadricNormals(quadric, GLU_SMOOTH);
// Distances in x, y, z
float vx = x2-x1;
float vy = y2-y1;
float vz = z2-z1;
// Handle the degenerate case of z1 == z2 with an approximation
if(vz == 0) vz = .0001;
// Calculate rotations
float v = sqrt( vx*vx + vy*vy + vz*vz );
float ax = 57.2957795*acos( vz/v );
if ( vz < 0.0 ) ax = -ax;
float rx = -vy*vz;
float ry = vx*vz;
glPushMatrix();
// Draw the cylinder body
glTranslatef( x1,y1,z1 );
glRotatef(ax, rx, ry, 0.0);
gluQuadricOrientation(quadric,GLU_OUTSIDE);
gluCylinder(quadric, radius, radius, v, subdivisions, 1);
// Draw the first cap
gluQuadricOrientation(quadric,GLU_INSIDE);
gluDisk( quadric, 0.0, radius, subdivisions, 1);
glTranslatef( 0,0,v );
// Draw the second cap
gluQuadricOrientation(quadric,GLU_OUTSIDE);
gluDisk( quadric, 0.0, radius, subdivisions, 1);
glPopMatrix();
// Delete quadric
gluDeleteQuadric(quadric);
}
/*********************************************************
* Method: drawSaber
* Purpose: draws the lightsaber in openGL
*********************************************************/
void drawSaber(float* po1, float* po2, float r, float g, float b, double trans, float portion){
// Grab proper width and height
int width = smallFrame.size().width;
int height = smallFrame.size().height;
float *p1; // smallest point
float *p2; // largest point
float ratio; // ratio of camera
double x, y; // something?
double aX,aY,aZ; // coordinates for p1
double bX,bY,bZ; // coordinates for p2
double rad; // radius for p1 & p2
// Adjust smallest and largest
if (po1[2] < po2[2]){ p1 = po1; p2 = po2; }
else{ p1 = po2; p2 = po1; }
ratio = width*1.0/height; // calculate ratio
x = ratio*p2[0]/width; // calculate x for p2
y = p2[1]/height; // calculate y for p2
aX = ratio*p1[0]/(width); // calculate aX
aY = (height - p1[1])/height; // calculate xY
aZ = 0; // start aZ off at 0
bZ = 1.2*(((p2[2]/width)/ // approximate bZ
(p1[2]/width))/
(p1[2]/width))/100;
// Move x and y closer to camera eye depending on bZ
bX = (ratio*p2[0]/width) - (x - ((.65 - x) * bZ + x));
bY = ((height - p2[1])/height) + (y - ((.5 - y) * bZ + y));
// If p1 is lower than p2
if(p1[1] > p2[1]){
// Only move bx,by,bz out by portion
bZ *= portion;
bX = (ratio*p2[0]/width -aX)*portion + aX - (x - ((.65 - x) * bZ + x));
bY = ((height - p2[1])/height - aY)*portion +aY + (y - ((.5 - y) * bZ + y));
}
// If p2 is lower than p1
else {
// Only move ax,ay,az out by portion
aX += (bX - aX)*(1 - portion);
aY += (bY - aY)*(1 - portion);
aZ = bZ*(1-portion);
}
glPushMatrix();
// Draw all cylinder layers
for (int i = 0; i < cylinderLayers; i++){
// Calculate radius
rad = (.28 + (1.1*i*i*i*i*i)/(1.0*cylinderLayers*cylinderLayers*cylinderLayers*cylinderLayers*cylinderLayers))*p1[2]/width;
// Solid white middle
if (i == 0) glColor4f(1*trans,1*trans,1*trans,1*trans);
// Saber color multiplied by transparency (white = transparent)
else glColor4f(r*(1-(1.0*i)/cylinderLayers)*trans, g*(1-(1.0*i)/cylinderLayers)*trans, b*(1-(1.0*i)/cylinderLayers)*trans, 1*trans);
// Render the cylinder
renderCylinder(aX,aY,aZ,bX,bY,bZ,rad,10);
}
glPopMatrix();
}
/*********************************************************
* Method: init
* Purpose: initialize basic elements of program
*********************************************************/
void init()
{
// Setup
glClearColor( 0.4f, 0.4f, 0.4f, 0.0f );
glShadeModel( GL_SMOOTH );
glEnable( GL_DEPTH_TEST );
// Texturing
glPixelStorei( GL_UNPACK_ALIGNMENT, 1 );
glGenTextures( 1, &tex1 );
glBindTexture(GL_TEXTURE_2D, tex1);
// See: http://www.opengl.org/sdk/docs/man/xhtml/glTexParameter.xml
glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT );
glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT );
glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER,GL_NEAREST );
glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST );
// See: http://www.opengl.org/sdk/docs/man2/xhtml/glTexEnv.xml
glTexEnvf( GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_DECAL );
// See: http://www.opengl.org/sdk/docs/man/xhtml/glTexImage2D.xml
glTexImage2D( GL_TEXTURE_2D, 0, img1.format(), img1.width(), img1.height(), 0, img1.format(), GL_UNSIGNED_BYTE, img1.data() );
glGenTextures( 1, &videoTexture );
glBindTexture( GL_TEXTURE_2D, videoTexture );
glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT );
glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT );
glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER,GL_NEAREST );
glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST );
glTexEnvf( GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_REPLACE );
glHint( GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST );
glColorMaterial( GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE );
glEnable( GL_DEPTH_TEST );
// Enabling blending (important for saber appearance)
glEnable( GL_BLEND );
glBlendFunc(GL_ONE, GL_ONE);
}
/*********************************************************
* Method: reshape
* Purpose: occures when window resizes
*********************************************************/
void reshape( int w, int h )
{
// Adjust window properties
windowWidth = w;
windowHeight = h;
}
/*********************************************************
* Method: keyboard
* Purpose: callback for keyboard keyboard
*********************************************************/
void keyboard( unsigned char key, int x, int y )
{
switch( key )
{
case ' ':{
openerTime = 50000;
capture.grab();
if( !capture.retrieve(frame) ){ fprintf( stderr, "ERROR: frame is null...\n" ); exit(-1); }
break;
}
case '1':{
// Store current time
lastTime_1 = glutGet( GLUT_ELAPSED_TIME );
if (!saber1 && (lastTime_1 - saber1_time) < 300){ saber1 = !saber1; PlaySound(TEXT("TurnOn.WAV"), NULL, SND_ASYNC); portionDrawn_1 = 0;}
else if((lastTime_1 - saber1_time) < 300){ saber1 = !saber1; PlaySound(TEXT("TurnOff.WAV"), NULL, SND_ASYNC); portionDrawn_1 = 1;}
break;
}
case '2':{
// Store current time
lastTime_2 = glutGet( GLUT_ELAPSED_TIME );
if (!saber2 && (lastTime_2 - saber2_time) < 300){ saber2 = !saber2; PlaySound(TEXT("TurnOn.WAV"), NULL, SND_ASYNC); portionDrawn_2 = 0;}
else if((lastTime_2 - saber2_time) < 300){ saber2 = !saber2; PlaySound(TEXT("TurnOff.WAV"), NULL, SND_ASYNC); portionDrawn_2 = 1;}
break;
}
case '!':{
if(!showThres1){
// Create a window
cv::namedWindow("Saber - 1", CV_WINDOW_NORMAL);
// Settings page
cv::createTrackbar("H Min", "Saber - 1", &saber1_h_Min, 255, trackbarChange);
cv::createTrackbar("S Min", "Saber - 1", &saber1_s_Min, 255, trackbarChange);
cv::createTrackbar("V Min", "Saber - 1", &saber1_v_Min, 255, trackbarChange);
cv::createTrackbar("H Max", "Saber - 1", &saber1_h_Max, 255, trackbarChange);
cv::createTrackbar("S Max", "Saber - 1", &saber1_s_Max, 255, trackbarChange);
cv::createTrackbar("V Max", "Saber - 1", &saber1_v_Max, 255, trackbarChange);
cv::createTrackbar("Color", "Saber - 1", &saber1_color,11, updateColor1);
}
else {
// Destroy windows
cvDestroyWindow("Saber - 1");
cvDestroyWindow("Threshold - 1");
}
showThres1 = !showThres1;
break;
}
case '@':{
if(!showThres2){
// Create window
cv::namedWindow("Saber - 2", CV_WINDOW_NORMAL);
// Settings page
cv::createTrackbar("H Min", "Saber - 2", &saber2_h_Min, 255, trackbarChange);
cv::createTrackbar("S Min", "Saber - 2", &saber2_s_Min, 255, trackbarChange);
cv::createTrackbar("V Min", "Saber - 2", &saber2_v_Min, 255, trackbarChange);
cv::createTrackbar("H Max", "Saber - 2", &saber2_h_Max, 255, trackbarChange);
cv::createTrackbar("S Max", "Saber - 2", &saber2_s_Max, 255, trackbarChange);
cv::createTrackbar("V Max", "Saber - 2", &saber2_v_Max, 255, trackbarChange);
cv::createTrackbar("Color", "Saber - 2", &saber2_color, 11, updateColor2);
}
else {
// Destory windows
cvDestroyWindow("Saber - 2");
cvDestroyWindow("Threshold - 2");
}
showThres2 = !showThres2;
break;
}
case 'q': case 27:{
// Quit
exit(1);
break;
}
default:
{
break;
}
}
glutPostRedisplay();
}
/*********************************************************
* Method: IntroText
* Purpose: displays opening text sequence
*********************************************************/
void IntroText()
{
int l,lenghOfQuote, i;
int UpwardsScrollVelocity = -400*(pow((openerTime - 10000),.9)/(pow((openTime - 10000),.9)));
glTranslatef(-20, -75, UpwardsScrollVelocity);
glRotatef(-80, 1.0, 0.0, 0.0);
glScalef(0.08, 0.12, 0.12);
for( l=0;l<numberOfQuotes;l++)
{
lenghOfQuote = (int)strlen(quote[l]);
glPushMatrix();
glTranslatef(-(30*30), -(l*200), 0.0);
int factor = 0;
for (i = 0; i < lenghOfQuote; i++)
{
glPushMatrix();
if(l != 5 && l != 7)glTranslatef((2.8*30*27.0*((i+factor)*1.0/lenghOfQuote)), 0, 0.0);
else if(l == 5) glTranslatef((2.8*35*(i+factor)), 0, 0.0);
else if(l == 7) glTranslatef((2.8*35*(i+factor)), 0, 0.0);
if(quote[l][i] == 'm') factor++;
glColor3f((UpwardsScrollVelocity/10)+300+(l*10),(UpwardsScrollVelocity/10)+300+(l*10),0.0);
glutStrokeCharacter(GLUT_STROKE_ROMAN, quote[l][i]);
glPopMatrix();
}
glPopMatrix();
}
}
/*********************************************************
* Method: display
* Purpose: function called for screen updating
*********************************************************/
void display()
{
if(openerTime < openTime){
glDisable(GL_DEPTH_TEST);
glLineWidth(3);
glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );
glViewport( 0, 0, (GLsizei) windowWidth, (GLsizei) windowHeight );
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective(60, 1.0, 1.0, 3200);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
gluLookAt(0.0, 30, 100.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0);
glClearColor(0.0, 0.0, 0.0, 1.0);
float logoSize = 35;
// From 0 -> 4000
if(openerTime <= 4000){
char opener[2][80];
strcpy(opener[0], "A couple days ago in room");
strcpy(opener[1], "number AB-3509...");
int l,lenghOfQuote, i;
int UpwardsScrollVelocity = -150;
glTranslatef(-10, 10 + 0*(openerTime)/2000.0, UpwardsScrollVelocity);
glScalef(0.085, 0.085, 0.085);
for( l=0; l < 2; l++)
{
lenghOfQuote = (int)strlen(opener[l]);
glPushMatrix();
glTranslatef(-(30*35), -(l*200), 0.0);
int factor = 0;
for (i = 0; i < lenghOfQuote; i++)
{
glPushMatrix();
if(l != 1) glTranslatef((2.8*30*30.0*((i + factor)*1.0/lenghOfQuote)), 0, 0.0);
else glTranslatef((2.8*42*(i + factor)), 0, 0.0);
if (opener[l][i] == 'm') factor++;
glColor3f((UpwardsScrollVelocity/10)+300+(l*10),(UpwardsScrollVelocity/10)+300+(l*10),0.0);
glutStrokeCharacter(GLUT_STROKE_ROMAN, opener[l][i]);
glPopMatrix();
}
glPopMatrix();
}
}
// From 4000 -> 10000
else if(openerTime <=10000){
if(!opener){
opener = true;
PlaySound(TEXT("Intro.WAV"), NULL, SND_ASYNC);
}
//Texture
glEnable( GL_TEXTURE_2D );
glBindTexture( GL_TEXTURE_2D, tex1 );
glColor3f( 1.0f, 0.0f, 0.0f );
glTexImage2D( GL_TEXTURE_2D, 0, img1.format(), img1.width(), img1.height(), 0, img1.format(), GL_UNSIGNED_BYTE, img1.data() );
glPushMatrix();
glTranslatef(0,-150*(openerTime-4000)/(6000.0),-750*(openerTime - 4000)/6000.0);
glBegin( GL_QUADS );
glTexCoord2f( 0.0f, 0.0f ); glVertex3f( -logoSize, -logoSize, 0.0f );
glTexCoord2f( 1.0f, 0.0f ); glVertex3f( logoSize, -logoSize, 0.0f );
glTexCoord2f( 1.0f, 1.0f ); glVertex3f( logoSize, logoSize, 0.0f );
glTexCoord2f( 0.0f, 1.0f ); glVertex3f( -logoSize, logoSize, 0.0f );
glEnd();
glPopMatrix();
glEnable(GL_DEPTH_TEST);
glDisable(GL_TEXTURE_2D);
}
else{
IntroText();
}
}
else{
calculateFPS();
// Clear buffers
glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );
// Viewport setup
glViewport( 0, 0, (GLsizei) windowWidth, (GLsizei) windowHeight );
glMatrixMode( GL_PROJECTION );
glLoadIdentity();
gluPerspective( 60.0, (GLfloat) windowWidth / (GLfloat) windowHeight, 0.1, 10.0 );
// Modelview setup
glMatrixMode( GL_MODELVIEW );
glLoadIdentity();
gluLookAt(.65, .5, 1, .65, .5, 0.0, 0.0, 1, 0 );
// Texturing
glEnable( GL_TEXTURE_2D );
glBindTexture( GL_TEXTURE_2D, videoTexture );
// Frame texture
if( frame.data) glTexImage2D( GL_TEXTURE_2D, 0, GL_RGB, frame.size().width, frame.size().height, 0, GL_BGR, GL_UNSIGNED_BYTE, frame.data );
glPushMatrix();
// Calculate frame aspect ratio
double ratio = frame.size().width*1.0/frame.size().height;
// Draw frame in OpenGL
glBegin( GL_QUADS );
glTexCoord2f( 0.0f, 1.0f ); glVertex3f( 0, 0.0f, 0.0f );
glTexCoord2f( 1.0f, 1.0f ); glVertex3f( ratio, 0.0f, 0.0f );
glTexCoord2f( 1.0f, 0.0f ); glVertex3f( ratio, 1.0f, 0.0f );
glTexCoord2f( 0.0f, 0.0f ); glVertex3f( 0, 1.0f, 0.0f );
glEnd();
glPopMatrix();
// Disable texturing & enable blending
glDisable( GL_TEXTURE_2D );
glEnable(GL_BLEND);
int currentTime = glutGet( GLUT_ELAPSED_TIME );
// Validation for saberss
bool saber1_Val = saber1_b1 != NULL && saber1_b2 != NULL && (saber1 ||(!saber1 && portionDrawn_1 != 0)) && portionDrawn_1 > .1 && (currentTime - saber1_time) < 300;
bool saber2_Val = saber2_b1 != NULL && saber2_b2 != NULL && (saber2 ||(!saber2 && portionDrawn_2 != 0)) && portionDrawn_2 > .1 && (currentTime - saber2_time) < 300;
// Bluring enabled for sabers?
bool saber1_Blur = saber1_Val && (abs(s1_b1_dX) > .75*fps/7.0 || abs(s1_b1_dY) > .75*fps/7.0);
bool saber2_Blur = saber2_Val && (abs(s2_b1_dX) > .75*fps/7.0 || abs(s2_b1_dY) > .75*fps/7.0);
// Draw saber 1 and 2
if(saber1_Val) drawSaber(saber1_b1, saber1_b2, saber1_r, saber1_g, saber1_b, 1, portionDrawn_1);
if(saber2_Val) drawSaber(saber2_b1, saber2_b2, saber2_r, saber2_g, saber2_b, 1, portionDrawn_2);
// Draw blur
for (int i = 0; i < blurCount*blurCount; i++)
{
// Only draw if change dx or dy is significant
if(saber1_Blur) drawSaber(saber1_b1_inter[i], saber1_b2_inter[i], saber1_r, saber1_g, saber1_b, (1-(i*1.0/(blurCount*blurCount)))*.04, portionDrawn_1);
if(saber2_Blur) drawSaber(saber2_b1_inter[i], saber2_b2_inter[i], saber2_r, saber2_g, saber2_b, (1-(i*1.0/(blurCount*blurCount)))*.04, portionDrawn_2);
}
// Show framerate
glPushMatrix();
glColor3ub(0,255,0);
glRasterPos2f(1.15,1.035);
for( size_t i = 0; i < 20; ++i ) glutBitmapCharacter(GLUT_BITMAP_HELVETICA_18, fpsText[i]);
glPopMatrix();
glDisable(GL_BLEND);
}
// Double buffering
glutSwapBuffers();
}
/*********************************************************
* Method: idle
* Purpose: callback for system idling (no events)
*********************************************************/
void idle()
{
if(openerTime < openTime){
openerTime = glutGet( GLUT_ELAPSED_TIME ) - lastOpenerTime;
//printf("%d\n", openerTime);
}
else if(opener){
capture.grab();
if( !capture.retrieve(frame) ){ fprintf( stderr, "ERROR: frame is null...\n" ); exit(-1); }
PlaySound(NULL, NULL, SND_ASYNC);
opener = false;
}
else{
capture.grab();
if( !capture.retrieve(frame) ){ fprintf( stderr, "ERROR: frame is null...\n" ); exit(-1); }
//pyrDown(frame, smallFrame);
resize(frame,smallFrame, size);
// Saber 1 Animation On
if(saber1 && portionDrawn_1 < 1){
// Calculate portion
int currTime = glutGet( GLUT_ELAPSED_TIME );
portionDrawn_1 = (currTime - lastTime_1)/aniTime;
// Portion max is 1
if(portionDrawn_1 > 1) portionDrawn_1 = 1;
}
else if(!saber1 && portionDrawn_1 > 0){
// Calculate portion
int currTime = glutGet( GLUT_ELAPSED_TIME );
portionDrawn_1 = 1 - (currTime - lastTime_1)/aniTime;
// Portion max is 1
if(portionDrawn_1 < 0) portionDrawn_1 = 0;
}
// Saber 2 Animation On
if(saber2 && portionDrawn_2 < 1){
// Calculate portion
int currTime = glutGet( GLUT_ELAPSED_TIME );
portionDrawn_2 = (currTime - lastTime_2)/aniTime;
// Portion max is 1
if (portionDrawn_2 > 1) portionDrawn_2 = 1;
}
else if(!saber2 && portionDrawn_2 > 0){
// Calculate portion
int currTime = glutGet( GLUT_ELAPSED_TIME );
portionDrawn_2 = 1 - (currTime - lastTime_2)/aniTime;
// Portion max is 1
if(portionDrawn_2 < 0) portionDrawn_2 = 0;
}
IplImage temp = smallFrame;
// Covert color space to HSV
cvCvtColor(&temp, hsv_frame, CV_BGR2HSV);
/******************************************
* Saber 1 Detection
*****************************************/
// Saber 1 ranges
CvScalar hsv_min = cvScalar(saber1_h_Min, saber1_s_Min, saber1_v_Min);
CvScalar hsv_max = cvScalar(saber1_h_Max, saber1_s_Max, saber1_v_Max);
// Filter out colors which are out of range
cvInRangeS(hsv_frame, hsv_min, hsv_max, thresholded_1);
// Smooth image
cvSmooth( thresholded_1, thresholded_1, CV_MEDIAN, 3,3 );
// Display smoothed image if window exist
if(showThres1) cvShowImage( "Threshold - 1", thresholded_1 );
// Erode -> Dilate -> Smooth
cvErode(thresholded_1,thresholded_1,NULL,1);
cvDilate( thresholded_1, thresholded_1, NULL, 9 );
cvSmooth( thresholded_1, thresholded_1, CV_MEDIAN, 9, 9 );
// Convert to material
cv::Mat thresholdImg = thresholded_1;
// Find contours
cv::findContours( thresholdImg, contours_1, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_TC89_L1 );
// Contours refinement
contoursPoly_1.resize( contours_1.size() );
center_1.resize( contours_1.size() );
radius_1.resize( contours_1.size() );
int count = 0; // start count at 0
int index1 = -1; // null index1
int index2 = -1; // null index2
// Refine contours and min enclosing circle.
for( size_t i = 0; i < contours_1.size() && count < 2; i++ ) {
// Approximates the contours
cv::approxPolyDP( cv::Mat( contours_1[i] ), contoursPoly_1[i], 3.0, true );
// Finds a circle with min area enclosing a 2D point set.
cv::minEnclosingCircle( cv::Mat( contoursPoly_1[i] ), center_1[i], radius_1[i] );
// Check valid points
if(contoursPoly_1[i].size() > minPoints){
if(count == 0){
index1 = i;
count++;
}
else if(count == 1){
index2 = i;
count++;
}
}
}
// If two circles are found
if(index1 >= 0 && index2 >= 0){
saber1_time = glutGet( GLUT_ELAPSED_TIME );
// Null sabers ?
if(saber1_b1 != NULL && saber1_b2 != NULL){
// Calculate all distances
double distance1_1 = distance(saber1_b1, center_1[index1].x, center_1[index1].y);
double distance2_1 = distance(saber1_b2, center_1[index1].x, center_1[index1].y);
double distance1_2 = distance(saber1_b1, center_1[index2].x, center_1[index2].y);
double distance2_2 = distance(saber1_b2, center_1[index2].x, center_1[index2].y);
// Determine if 1_2 or 2_1 are the min