git.maemo.org Git - opencv/blob - apps/StereoGR/StereoGR.cpp

   1 /*M///////////////////////////////////////////////////////////////////////////////////////\r
   2 //\r
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   4 //\r
   5 //  By downloading, copying, installing or using the software you agree to this license.\r
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   7 //  copy or use the software.\r
   8 //\r
   9 //\r
  10 //                        Intel License Agreement\r
  11 //                For Open Source Computer Vision Library\r
  12 //\r
  13 // Copyright (C) 2000, Intel Corporation, all rights reserved.\r
  14 // Third party copyrights are property of their respective owners.\r
  15 //\r
  16 // Redistribution and use in source and binary forms, with or without modification,\r
  17 // are permitted provided that the following conditions are met:\r
  18 //\r
  19 //   * Redistribution's of source code must retain the above copyright notice,\r
  20 //     this list of conditions and the following disclaimer.\r
  21 //\r
  22 //   * Redistribution's in binary form must reproduce the above copyright notice,\r
  23 //     this list of conditions and the following disclaimer in the documentation\r
  24 //     and/or other materials provided with the distribution.\r
  25 //\r
  26 //   * The name of Intel Corporation may not be used to endorse or promote products\r
  27 //     derived from this software without specific prior written permission.\r
  28 //\r
  29 // This software is provided by the copyright holders and contributors "as is" and\r
  30 // any express or implied warranties, including, but not limited to, the implied\r
  31 // warranties of merchantability and fitness for a particular purpose are disclaimed.\r
  32 // In no event shall the Intel Corporation or contributors be liable for any direct,\r
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  34 // (including, but not limited to, procurement of substitute goods or services;\r
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  38 // the use of this software, even if advised of the possibility of such damage.\r
  39 //\r
  40 //M*/// StereoGR.cpp : Defines the class behaviors for the application.\r
  41 //\r
  42 \r
  43 #include "stdafx.h"\r
  44 #include "StereoGR.h"\r
  45 \r
  46 #include "MainFrm.h"\r
  47 #include "ChildFrm.h"\r
  48 #include "StereoGRDoc.h"\r
  49 #include "StereoGRView.h"\r
  50 #include "PTOffline.h"\r
  51 #include "PTOptions.h"\r
  52 #include "HMMParams.h" \r
  53 #include "float.h"\r
  54 #include "direct.h"\r
  55 #include <io.h>\r
  56 \r
  57 #include <digiclops.h>\r
  58 #include <triclops.h>\r
  59 #include "PGControl.h"\r
  60 \r
  61 \r
  62 #ifdef _DEBUG\r
  63 #define new DEBUG_NEW\r
  64 #undef THIS_FILE\r
  65 static char THIS_FILE[] = __FILE__;\r
  66 #endif\r
  67 \r
  68 /////////////////////////////////////////////////////////////////////////////\r
  69 // CStereoGRApp\r
  70 \r
  71 BEGIN_MESSAGE_MAP(CStereoGRApp, CWinApp)\r
  72         //{{AFX_MSG_MAP(CStereoGRApp)\r
  73         ON_COMMAND(ID_APP_ABOUT, OnAppAbout)\r
  74         ON_COMMAND(ID_FILE_NEW, OnFileNew)\r
  75         ON_UPDATE_COMMAND_UI(ID_FILE_NEW, OnUpdateFileNew)\r
  76         ON_COMMAND(ID_PT_PROP, OnPtProp)\r
  77         ON_COMMAND(ID_PT_WHITEBALANCE, OnPtWhitebalance)\r
  78         ON_COMMAND(ID_PTOFFLINE, OnPtoffline)\r
  79         ON_COMMAND(ID_CAPTURE_BACK, OnCaptureBack)\r
  80         ON_COMMAND(ID_RUNGESTREC, OnRungestrec)\r
  81         ON_COMMAND(ID_SETTINGS, OnSettings)\r
  82         ON_COMMAND(ID_TRAIN, OnTrain)\r
  83         ON_COMMAND(ID_SAVE_DGPARAMS, OnSaveDynamicGestures)\r
  84         ON_COMMAND(ID_LOAD_DGPARAMS, OnLoadDynamicGestures)\r
  85         ON_COMMAND(ID_SAVE_BASE, OnSaveBase)\r
  86         ON_COMMAND(ID_LOAD_BASE, OnLoadBase)\r
  87         ON_COMMAND(ID_RECOG_FILE_DG, OnRecogFileDg)\r
  88         ON_COMMAND(ID_DELETE_HMM, OnDeleteHmm)\r
  89         ON_COMMAND(ID_REMOVE_ALL_DG, OnRemoveAllDg)\r
  90         ON_UPDATE_COMMAND_UI(ID_RUNGESTREC, OnUpdateRungestrec)\r
  91         //}}AFX_MSG_MAP\r
  92         // Standard file based document commands\r
  93         ON_COMMAND(ID_FILE_NEW, CWinApp::OnFileNew)\r
  94         ON_COMMAND(ID_FILE_OPEN, CWinApp::OnFileOpen)\r
  95         // Standard print setup command\r
  96         ON_COMMAND(ID_FILE_PRINT_SETUP, CWinApp::OnFilePrintSetup)\r
  97 END_MESSAGE_MAP()\r
  98 \r
  99 IPLStatus __stdcall _iplErrorHandler(IPLStatus status, const char* func, const char* context, \r
 100                             const char* file, int line);\r
 101 \r
 102 /////////////////////////////////////////////////////////////////////////////\r
 103 // CStereoGRApp construction\r
 104 \r
 105 CStereoGRApp::CStereoGRApp()\r
 106 {\r
 107     InitModulePath();\r
 108     memset(m_viewIds, 0, sizeof(m_viewIds));\r
 109     memset(m_views, 0, sizeof(m_viewIds));\r
 110 \r
 111     // Initialize IPL\r
 112     iplRedirectError(_iplErrorHandler);\r
 113 \r
 114    \r
 115     m_findHand.m_dynamicGesture = 0;//m_dgProp->IsSaveToFile();\r
 116     m_findHand.m_path = m_modulePath;\r
 117     m_findHand.m_dGestureName = "";//m_dgProp->GetGestureName();\r
 118 \r
 119     m_ptOptions = 0;\r
 120     m_grOptions = 0;\r
 121     m_hmmParams = 0;\r
 122     m_dgStat    = 0;\r
 123 \r
 124     m_doRecog = FALSE;\r
 125 \r
 126         POINT p = {-1, -1};\r
 127         for(int i = 0; i < VIEWS_COUNT; i++)\r
 128         {\r
 129                 m_TopLefts.push_back(p);\r
 130                 m_TopLefts3D.push_back(p);\r
 131         }\r
 132 \r
 133         m_isClosingView = FALSE;        \r
 134 }\r
 135 \r
 136 CStereoGRApp::~CStereoGRApp()\r
 137 {\r
 138     delete m_ptOptions;\r
 139     delete m_grOptions;\r
 140     delete m_hmmParams;\r
 141     delete m_dgStat;\r
 142         delete m_dgProp;\r
 143 }\r
 144 \r
 145 /////////////////////////////////////////////////////////////////////////////\r
 146 // The one and only CStereoGRApp object\r
 147 \r
 148 CStereoGRApp theApp;\r
 149 \r
 150 /////////////////////////////////////////////////////////////////////////////\r
 151 // CStereoGRApp initialization\r
 152 \r
 153 BOOL CStereoGRApp::InitInstance()\r
 154 {\r
 155         AfxEnableControlContainer();\r
 156 \r
 157         // Standard initialization\r
 158         // If you are not using these features and wish to reduce the size\r
 159         //  of your final executable, you should remove from the following\r
 160         //  the specific initialization routines you do not need.\r
 161 \r
 162 #ifdef _AFXDLL\r
 163         Enable3dControls();                     // Call this when using MFC in a shared DLL\r
 164 #else\r
 165         Enable3dControlsStatic();       // Call this when linking to MFC statically\r
 166 #endif\r
 167 \r
 168         // Change the registry key under which our settings are stored.\r
 169         // TODO: You should modify this string to be something appropriate\r
 170         // such as the name of your company or organization.\r
 171         SetRegistryKey(_T("Local AppWizard-Generated Applications"));\r
 172 \r
 173         LoadStdProfileSettings();  // Load standard INI file options (including MRU)\r
 174 \r
 175         // Register the application's document templates.  Document templates\r
 176         //  serve as the connection between documents, frame windows and views.\r
 177 \r
 178         CMultiDocTemplate* pDocTemplate;\r
 179         pDocTemplate = new CMultiDocTemplate(\r
 180                 IDR_STEREOTYPE,\r
 181                 RUNTIME_CLASS(CStereoGRDoc),\r
 182                 RUNTIME_CLASS(CChildFrame), // custom MDI child frame\r
 183                 RUNTIME_CLASS(CStereoGRView));\r
 184         AddDocTemplate(pDocTemplate);\r
 185 \r
 186         // create main MDI Frame window\r
 187         CMainFrame* pMainFrame = new CMainFrame;\r
 188         if (!pMainFrame->LoadFrame(IDR_MAINFRAME))\r
 189                 return FALSE;\r
 190         m_pMainWnd = pMainFrame;\r
 191 \r
 192         // The main window has been initialized, so show and update it.\r
 193         pMainFrame->ShowWindow(m_nCmdShow);\r
 194         pMainFrame->UpdateWindow();\r
 195 \r
 196     CStatusBar* bar = pMainFrame->GetStatusBar();\r
 197     bar->SetPaneText(0, "Initializing the camera...");\r
 198     // Initialize the camera\r
 199         CString config;\r
 200         while(1)\r
 201         {\r
 202                 config = GetProfileString("Settings\\PTGrey", "Config");\r
 203                 _finddata_t filedata;\r
 204                 if(config.IsEmpty() || _findfirst(LPCTSTR(config), &filedata) == -1)\r
 205                 {\r
 206                         CFileDialog dlg(TRUE, "", "config");\r
 207                         AfxMessageBox("For the first run please enter the name of \nthe configuration file of your PointGrey camera.");\r
 208                         if(dlg.DoModal() != IDOK)\r
 209                         {\r
 210                                 AfxMessageBox("The configuration file is required for stereo processing.\nPlease contact your camera supplier to obtain the file for your camera.");\r
 211                                 return FALSE;\r
 212                         }\r
 213 \r
 214                         WriteProfileString("Settings\\PTGrey", "Config", LPCTSTR(dlg.GetPathName()));\r
 215                 }\r
 216                 else\r
 217                 {\r
 218                         break;\r
 219                 }\r
 220         }\r
 221         PTGreySetConfigFileName(LPCTSTR(config));\r
 222         \r
 223     int rawres = 0, stereores = 0;\r
 224     rawres = GetProfileInt("Settings\\PTGrey", "Raw resolution", rawres);\r
 225     PTGreySetProperty("RawResolution", &rawres);\r
 226     stereores = GetProfileInt("Settings\\PTGrey", "Stereo resolution", stereores);\r
 227     PTGreySetProperty("StereoResolution", &stereores);\r
 228     BOOL ret = PTGreyInitCamera();\r
 229     if(!ret)\r
 230     {\r
 231         AfxMessageBox(PTGreyGetErrorMessage());\r
 232                 return FALSE;\r
 233     }\r
 234     else\r
 235         {\r
 236                 // Load camera and application settings\r
 237         LoadSettings();\r
 238         }\r
 239 \r
 240         // Automatically capture background\r
 241         OnCaptureBack();\r
 242 \r
 243     //set hmm parameters \r
 244     m_dgServer.SetHMMParams( m_hmmParams->m_num_states, m_hmmParams->m_num_mix );\r
 245 \r
 246         // Assign an affinity mask to the current thread\r
 247     int e = SetThreadAffinityMask(GetCurrentThread(), 1);\r
 248 \r
 249     bar->SetPaneText(0, "Ready");\r
 250     return TRUE;\r
 251 }\r
 252 \r
 253 \r
 254 /////////////////////////////////////////////////////////////////////////////\r
 255 // CAboutDlg dialog used for App About\r
 256 \r
 257 class CAboutDlg : public CDialog\r
 258 {\r
 259 public:\r
 260         CAboutDlg();\r
 261 \r
 262 // Dialog Data\r
 263         //{{AFX_DATA(CAboutDlg)\r
 264         enum { IDD = IDD_ABOUTBOX };\r
 265         //}}AFX_DATA\r
 266 \r
 267         // ClassWizard generated virtual function overrides\r
 268         //{{AFX_VIRTUAL(CAboutDlg)\r
 269         protected:\r
 270         virtual void DoDataExchange(CDataExchange* pDX);    // DDX/DDV support\r
 271         //}}AFX_VIRTUAL\r
 272 \r
 273 // Implementation\r
 274 protected:\r
 275         //{{AFX_MSG(CAboutDlg)\r
 276                 // No message handlers\r
 277         //}}AFX_MSG\r
 278         DECLARE_MESSAGE_MAP()\r
 279 };\r
 280 \r
 281 CAboutDlg::CAboutDlg() : CDialog(CAboutDlg::IDD)\r
 282 {\r
 283         //{{AFX_DATA_INIT(CAboutDlg)\r
 284         //}}AFX_DATA_INIT\r
 285 }\r
 286 \r
 287 void CAboutDlg::DoDataExchange(CDataExchange* pDX)\r
 288 {\r
 289         CDialog::DoDataExchange(pDX);\r
 290         //{{AFX_DATA_MAP(CAboutDlg)\r
 291         //}}AFX_DATA_MAP\r
 292 }\r
 293 \r
 294 BEGIN_MESSAGE_MAP(CAboutDlg, CDialog)\r
 295         //{{AFX_MSG_MAP(CAboutDlg)\r
 296                 // No message handlers\r
 297         //}}AFX_MSG_MAP\r
 298 END_MESSAGE_MAP()\r
 299 \r
 300 // App command to run the dialog\r
 301 void CStereoGRApp::OnAppAbout()\r
 302 {\r
 303         CAboutDlg aboutDlg;\r
 304         aboutDlg.DoModal();\r
 305 }\r
 306 \r
 307 /////////////////////////////////////////////////////////////////////////////\r
 308 // CStereoGRApp message handlers\r
 309 \r
 310 \r
 311 int CStereoGRApp::GetDocType()\r
 312 {\r
 313     return m_docType;\r
 314 }\r
 315 \r
 316 void CStereoGRApp::OnFileNew() \r
 317 {\r
 318     if(m_docType >= VIEWS_COUNT)\r
 319         return;\r
 320     \r
 321     CWinApp::OnFileNew();\r
 322     m_docType++;\r
 323 }\r
 324 \r
 325 void CStereoGRApp::OnUpdateFileNew(CCmdUI* pCmdUI) \r
 326 {\r
 327     pCmdUI->Enable(m_docType < PG_IMAGE_MAX);   \r
 328 }\r
 329 \r
 330 void CStereoGRApp::SetDocType(int docType)\r
 331 {\r
 332     m_docType = docType;\r
 333 }\r
 334 \r
 335 void CStereoGRApp::OnPtProp() \r
 336 {\r
 337     PTGreyShowPropertyPage();\r
 338 }\r
 339 \r
 340 void CStereoGRApp::OnPtWhitebalance() \r
 341 {\r
 342     PTGreyShowWhiteBalance();\r
 343 }\r
 344 \r
 345 void CStereoGRApp::OnPtoffline() \r
 346 {\r
 347     CStatusBar* bar = ((CMainFrame*)AfxGetMainWnd())->GetStatusBar();\r
 348     CPTOffline dlg;\r
 349     dlg.m_strSaveFile = m_modulePath;\r
 350     dlg.SetFramesCount(30);\r
 351     if(dlg.DoModal() == IDOK)\r
 352     {\r
 353         int framesCount = dlg.GetFrameCount();\r
 354         // Start collecting frames...\r
 355         PTGreySetTriclopsInputBuffer(framesCount);\r
 356         while(1)\r
 357         {\r
 358             int count = PTGreyGetFrameNumber();\r
 359             if(count < 0)\r
 360                 // Finished collecting frames\r
 361                 break;\r
 362 \r
 363             CString str;\r
 364             str.Format("Collected frame %d of %d...", count, framesCount);\r
 365             bar->SetPaneText(0, str);\r
 366             Sleep(10);\r
 367         }\r
 368         TriclopsInput* buffer = (TriclopsInput*)PTGreyGetTriclopsBuffer();\r
 369 \r
 370         // Process the frames...\r
 371         PTGreyFreezeData(INFINITE);\r
 372         bar->SetPaneText(0, "Processing the frames...");\r
 373         PTGreyProcessFrames(PTGreyGetTriclopsBuffer(), framesCount, dlg.m_strSaveFile);\r
 374         bar->SetPaneText(0, "Ready");\r
 375         PTGreyUnFreezeData();\r
 376 \r
 377         // Freeing the memory...\r
 378         PTGreySetTriclopsInputBuffer(0);\r
 379     }\r
 380 }\r
 381 \r
 382 void CStereoGRApp::InitModulePath()\r
 383 {\r
 384     char buffer[_MAX_PATH];\r
 385     char drive[_MAX_DRIVE];\r
 386     char path[_MAX_PATH];\r
 387     GetModuleFileName(0, buffer, _MAX_PATH);\r
 388 \r
 389     _splitpath(buffer, drive, path, 0, 0);\r
 390     m_modulePath = CString(drive) + path;\r
 391 }\r
 392 \r
 393 \r
 394 void CStereoGRApp::OnCaptureBack() \r
 395 {\r
 396     PTGreySelectDataType(PT_BACKGROUND_IMAGE, 1);       \r
 397 }\r
 398 \r
 399 void CStereoGRApp::Process()\r
 400 {\r
 401     ASSERT(iplGetErrStatus() >= 0);\r
 402     ValidateData();\r
 403     // Lock the data\r
 404     PTGreyFreezeData(INFINITE);\r
 405 \r
 406     if(!m_viewIds[PT_POINTCLOUD_IMAGE])\r
 407     {\r
 408         PTGreyUnFreezeData();\r
 409         return; // Do not run the algorithm\r
 410     }\r
 411     \r
 412     // Set FindHand object properties\r
 413         m_findHand.m_dGestureName = m_dgProp->GetGestureName();\r
 414         m_findHand.m_dynamicGesture = m_dgProp->IsCollectGesture();\r
 415     m_findHand.SetPointBuffer((CvPoint3D32f*)PTGreyGetDataPointer(PT_POINTCLOUD_IMAGE));\r
 416     m_findHand.m_pointCount = PTGreyGetPointCount();\r
 417         TRACE("\n%d", m_findHand.m_pointCount);\r
 418     m_findHand.m_inputImage = GetImage(PT_RIGHT_RAW_IMAGE);\r
 419     iplDeallocate(m_findHand.m_disparityImage, IPL_IMAGE_ALL);\r
 420     m_findHand.m_disparityImage = iplCloneImage(GetView(PT_DISPARITY_OBJ_IMAGE)->GetRecipient());\r
 421         iplCopy(GetView(PT_DISPARITY_IMAGE)->GetRecipient(), m_findHand.m_disparityImage);\r
 422 \r
 423     if(m_findHand.m_outputImage)\r
 424     {\r
 425         m_findHand.m_outputImage->roi = 0;\r
 426         cvReleaseImage(&m_findHand.m_outputImage); // Release and null it.\r
 427     }\r
 428     BOOL ret = m_findHand.FitLine();\r
 429     ASSERT(iplGetErrStatus() >= 0);\r
 430     if(ret)\r
 431         {\r
 432         //if all ok with finding hand increase hand sequence size\r
 433         if(m_findHand.m_dynamicGesture) m_findHand.m_dgFrameFound = TRUE;  \r
 434                 m_findHand.StoreDynGesture(0, PTGreyGetTime());\r
 435 //              m_findHand.FindHand(FALSE);\r
 436         }        \r
 437     // Use output image as a mask to the right raw image\r
 438     IplImage* image = m_findHand.m_outputImage;\r
 439         CMainFrame* frame = (CMainFrame*)AfxGetMainWnd();\r
 440         frame->GetStatusBar()->SetPaneText(1, "");\r
 441     IplImage* srcImage = GetImage(PT_RIGHT_RAW_IMAGE);\r
 442         int width = PTGreyGetWidth(PT_RIGHT_RAW_IMAGE);\r
 443         int height = PTGreyGetHeight(PT_RIGHT_RAW_IMAGE);\r
 444         int swidth = PTGreyGetWidth(PT_DISPARITY_IMAGE);\r
 445         int sheight = PTGreyGetHeight(PT_DISPARITY_IMAGE);\r
 446         int maxdisp;\r
 447         PTGreyGetProperty("MaxDisparity", &maxdisp);\r
 448 \r
 449         CvPoint valid_size = cvPoint(width*(swidth - maxdisp/2)/swidth,\r
 450                         height*(sheight - maxdisp/2)/sheight);\r
 451 \r
 452 //    Segment();\r
 453     if(!ret/*!image*/)\r
 454         {\r
 455         ValidateData(FALSE);\r
 456                 cvRectangle(srcImage, cvPoint(0, 0), valid_size, CV_RGB(255, 0, 0), 1);\r
 457         }\r
 458         else\r
 459     {\r
 460         ValidateData(FALSE);\r
 461                 cvRectangle(srcImage, cvPoint(0, 0), valid_size, CV_RGB(0, 255, 0), 1);\r
 462 /*        iplThreshold(image, image, 1);\r
 463         if(srcImage)\r
 464         {\r
 465             srcImage->roi = iplCreateROI(0, 0, 0, image->width, image->height);\r
 466             image->roi = iplCreateROI(1, 0, 0, image->width, image->height);\r
 467             \r
 468             for(int i = 0; i < 3; i++)\r
 469             {\r
 470                 srcImage->roi->coi = i + 1;\r
 471                 iplAnd(srcImage, image, srcImage);\r
 472             }\r
 473             iplDeleteROI(srcImage->roi);\r
 474             iplDeleteROI(image->roi);\r
 475         }\r
 476                 CString str;\r
 477                 str.Format("%d", m_findHand.m_DefectsDepth.size());\r
 478 \r
 479                 if(m_findHand.m_convexDefCount !=0 )\r
 480                 {\r
 481                         CString def;\r
 482                         for (int i=0;i<m_findHand.m_DefectsDepth.size();i++)\r
 483                         {\r
 484                                 def.Format(" %4.1f", m_findHand.m_DefectsDepth[i]);\r
 485                                 str+=def;\r
 486                         }\r
 487 \r
 488                 }\r
 489                 frame->GetStatusBar()->SetPaneText(1, LPCTSTR(str));*/\r
 490     }\r
 491 \r
 492     //********************Dynamic gestures section*********************** /\r
 493     \r
 494     //ask findHandCtl if it has collected gesture\r
 495     if ( m_findHand.IsGestureFixed() && m_findHand.m_dynamicGesture )\r
 496     {\r
 497                 CDynGesture  local_gesture(m_hmmParams->m_num_states, m_hmmParams->m_num_mix);\r
 498                 CDynGesture* gesture = NULL;\r
 499 \r
 500                 if (!m_doRecog) //collecting gestures\r
 501         {\r
 502                         //training stage \r
 503             gesture = m_dgServer.FindGesture( m_findHand.m_dGestureName.c_str() );\r
 504         \r
 505             if ( !gesture )  //add new gesture to server\r
 506             {\r
 507                 gesture = m_dgServer.AddGesture( m_findHand.m_dGestureName.c_str() );\r
 508             }\r
 509                 }\r
 510                 else\r
 511                 {\r
 512                         gesture = &local_gesture;\r
 513                 }\r
 514 \r
 515         //add collected params to gesture\r
 516                 gesture->AddParams( m_findHand.m_geomParams );\r
 517 \r
 518         if (m_doRecog) //recognizing gestures\r
 519         {       \r
 520                         float likelihood[10] = { -FLT_MAX,-FLT_MAX,-FLT_MAX,-FLT_MAX,-FLT_MAX,\r
 521                                      -FLT_MAX,-FLT_MAX,-FLT_MAX,-FLT_MAX,-FLT_MAX };\r
 522             \r
 523             //convert params to observations form\r
 524             gesture->ExtractObservations();  \r
 525             \r
 526             //recognize\r
 527             int recognized_gesture = m_dgServer.RecognizeDynGesture( gesture, likelihood );\r
 528                         if(recognized_gesture >= 0)\r
 529                         {\r
 530                                 CString gesture_name = m_dgServer.GetGesture( recognized_gesture )->GetName();\r
 531                                 CStereoGRView* pView = GetView(GR_MAGICCUBE);\r
 532                                 \r
 533                                 if(gesture_name.CompareNoCase("rotate_left") == 0)\r
 534                                 {\r
 535                                         pView->RotateAzim(-1);\r
 536                                 }\r
 537                                 else if(gesture_name.CompareNoCase("rotate_right") == 0)\r
 538                                 {\r
 539                                         pView->RotateAzim(+1);\r
 540                                 }\r
 541                                 else if(gesture_name.CompareNoCase("rotate_counterclockwise") == 0)\r
 542                                 {\r
 543                                         pView->RotateIncl(-1);\r
 544                                 }\r
 545                                 else if(gesture_name.CompareNoCase("rotate_clockwise") == 0)\r
 546                                 {\r
 547                                         pView->RotateIncl(+1);\r
 548                                 }\r
 549                                 else if(gesture_name.CompareNoCase("zoom_in") == 0)\r
 550                                 {\r
 551                                         pView->Translate(-0.1f);\r
 552                                 }\r
 553                                 else if(gesture_name.CompareNoCase("zoom_out") == 0)\r
 554                                 {\r
 555                                         pView->Translate(+0.1f);\r
 556                                 }\r
 557                                 else if(gesture_name.CompareNoCase("close") == 0)\r
 558                                 {\r
 559                                         CloseView(GR_MAGICCUBE);\r
 560                                 }\r
 561                                 else if(gesture_name.CompareNoCase("reset") == 0)\r
 562                                 {\r
 563                                         pView->InitModel();\r
 564                                 }\r
 565                                 \r
 566 \r
 567                                 //ASSERT( likelihood[0] <= 0 );\r
 568             \r
 569                                 //write result to status bar\r
 570                                 CMainFrame* frame = (CMainFrame*)AfxGetMainWnd();\r
 571                                 frame->GetStatusBar()->SetPaneText(2, "");\r
 572                                 CString RecogResult;\r
 573                                 RecogResult.Format("Recognized %s, likelihood %f",\r
 574                                         m_dgServer.GetGesture( recognized_gesture )->GetName(), likelihood[0] );                                \r
 575                                 frame->GetStatusBar()->SetPaneText(2, RecogResult);     \r
 576                         }\r
 577         }\r
 578         \r
 579         m_findHand.ReleaseFixedGesture();\r
 580     }\r
 581     /*****************************************************************/\r
 582 \r
 583 \r
 584     ASSERT(iplGetErrStatus() >= 0);\r
 585     if(::IsWindow(m_gestRec.m_hWnd))\r
 586     {\r
 587         m_gestRec.UpdateStatus();\r
 588     }\r
 589     ASSERT(iplGetErrStatus() >= 0);\r
 590 \r
 591     PTGreyUnFreezeData();    \r
 592 }\r
 593 \r
 594 void CStereoGRApp::OpenView(int dataType)\r
 595 {\r
 596     // Check if the view alredy exists...\r
 597     if(m_views[dataType])\r
 598         return;\r
 599 \r
 600     SetDocType(dataType);\r
 601     OnFileNew();\r
 602     switch(dataType)\r
 603     {\r
 604     case PT_DISPARITY_OBJ_IMAGE:\r
 605         OpenView(PT_RIGHT_RAW_IMAGE);\r
 606         OpenView(PT_DISPARITY_IMAGE);\r
 607         break;\r
 608 \r
 609     case PT_POINTCLOUD_IMAGE:\r
 610         OpenView(PT_DISPARITY_OBJ_IMAGE);\r
 611         break;\r
 612 \r
 613         case GR_MAGICCUBE:\r
 614                 OpenView(PT_POINTCLOUD_IMAGE);\r
 615                 OpenView(PT_LEFT_RAW_IMAGE);\r
 616                 OpenView(PT_TOP_RAW_IMAGE);\r
 617                 break;\r
 618     }\r
 619 }\r
 620 \r
 621 void CStereoGRApp::SetView(int dataType, CStereoGRView *pView)\r
 622 {\r
 623     m_views[dataType] = pView;\r
 624     m_viewIds[dataType] = 1;\r
 625 }\r
 626 \r
 627 void CStereoGRApp::CloseView(int dataType)\r
 628 {\r
 629         PTGreyFreezeData(INFINITE);\r
 630         m_isClosingView++;\r
 631         switch(dataType)\r
 632         {\r
 633         case PT_POINTCLOUD_IMAGE:\r
 634         case PT_LEFT_RAW_IMAGE:\r
 635         case PT_TOP_RAW_IMAGE:\r
 636                 CloseView(GR_MAGICCUBE);\r
 637                 break;\r
 638 \r
 639         case PT_DISPARITY_OBJ_IMAGE:\r
 640                 CloseView(PT_POINTCLOUD_IMAGE);\r
 641                 break;\r
 642 \r
 643         case PT_RIGHT_RAW_IMAGE:\r
 644         case PT_DISPARITY_IMAGE:\r
 645                 CloseView(PT_DISPARITY_OBJ_IMAGE);\r
 646                 break;\r
 647         }\r
 648 \r
 649     ASSERT(dataType >= 0 && dataType < VIEWS_COUNT);\r
 650     if(m_views[dataType])\r
 651     {\r
 652         m_views[dataType]->GetParent()->DestroyWindow();\r
 653         m_viewIds[dataType] = 0;\r
 654     }\r
 655         m_isClosingView--;\r
 656     PTGreyUnFreezeData();\r
 657 }\r
 658 \r
 659 IPLStatus __stdcall _iplErrorHandler(IPLStatus status, const char* func, const char* context, \r
 660                             const char* file, int line)\r
 661 {\r
 662     if(status != -10)\r
 663         ASSERT(0);\r
 664     return IPL_StsOk;\r
 665 }\r
 666 \r
 667 void CStereoGRApp::Update()\r
 668 {\r
 669     if(!PTGreyFreezeData(INFINITE))\r
 670         return;\r
 671 \r
 672     int e = iplGetErrStatus();\r
 673     ASSERT(e >= 0);\r
 674     // Retrieve the data\r
 675     for(int i = 0; i < VIEWS_COUNT; i++)\r
 676     {\r
 677         CStereoGRView* pView = GetView(i);\r
 678         if(pView)\r
 679             pView->UpdateData();\r
 680     }\r
 681     // Run algorithms on the data\r
 682     Process();\r
 683     PTGreyUnFreezeData();\r
 684 \r
 685     // Render the results\r
 686     for(i = 0; i < VIEWS_COUNT; i++)\r
 687     {\r
 688         CStereoGRView* pView = GetView(i);\r
 689         if(pView)\r
 690             pView->UpdateView();\r
 691     }\r
 692     ASSERT(iplGetErrStatus() >= 0);\r
 693 }\r
 694 \r
 695 IplImage* CStereoGRApp::GetImage(int dataType)\r
 696 {\r
 697     if(!m_views[dataType])\r
 698         return 0;\r
 699 \r
 700     return m_views[dataType]->GetImage();\r
 701 }\r
 702 \r
 703 /*void CStereoGRApp::SetImage(int dataType, IplImage *image, BOOL copy)\r
 704 {\r
 705     if(!m_views[dataType])\r
 706         return;\r
 707 \r
 708     m_views[dataType]->SetImage(image, copy);\r
 709 }*/\r
 710 \r
 711 void CStereoGRApp::OnRungestrec() \r
 712 {\r
 713     m_gestRec.DoModal();        \r
 714 }\r
 715 \r
 716 void CStereoGRApp::ValidateData(BOOL flag)\r
 717 {\r
 718     m_isNewData = flag;\r
 719 }\r
 720 \r
 721 BOOL CStereoGRApp::IsNewData()\r
 722 {\r
 723     return m_isNewData;\r
 724 }\r
 725 \r
 726 \r
 727 void CStereoGRApp::OnTrain() \r
 728 {       \r
 729     m_dgServer.TrainAllGestures();\r
 730 }\r
 731 \r
 732 \r
 733 void CStereoGRApp::OnSettings()\r
 734 {\r
 735     CPropertySheet sheet;\r
 736     sheet.AddPage(m_ptOptions);\r
 737     sheet.AddPage(m_grOptions);\r
 738     sheet.AddPage(m_hmmParams);\r
 739     sheet.AddPage(m_dgProp);\r
 740     sheet.AddPage(m_dgStat);\r
 741 \r
 742     // Load PointGrey options\r
 743     int rawres, stereores;\r
 744     PTGreyGetProperty("StereoResolution", &stereores);\r
 745     m_ptOptions->m_stereoRes = stereores;\r
 746     PTGreyGetProperty("RawResolution", &rawres);\r
 747     m_ptOptions->m_rawRes = rawres;\r
 748     PTGreyGetProperty("MinDisparity", &m_ptOptions->m_minDisp);\r
 749     PTGreyGetProperty("MaxDisparity", &m_ptOptions->m_maxDisp);\r
 750     PTGreyGetProperty("DisparityThreshold", &m_ptOptions->m_dispThresh);\r
 751     PTGreyGetProperty("DifferenceThreshold", &m_ptOptions->m_diffThresh);\r
 752     PTGreyGetProperty("DepthThreshold", &m_ptOptions->m_depthThresh);\r
 753     PTGreyGetProperty("ContourProcessing", &m_ptOptions->m_checkContours);\r
 754 \r
 755     // Load StereoGR options\r
 756     m_grOptions->m_maskImprove = m_findHand.m_maskImprovigFlag;\r
 757     m_grOptions->m_frameCount = m_findHand.m_trainFrameCount;\r
 758     m_grOptions->m_segThresh = m_findHand.m_segThresh;\r
 759 \r
 760     if(sheet.DoModal() == IDOK)\r
 761     {\r
 762         // Save PointGrey options\r
 763         PTGreyFreezeData(INFINITE);\r
 764         if(rawres != m_ptOptions->m_rawRes || stereores != m_ptOptions->m_stereoRes)\r
 765         {\r
 766             // The resolution has changed...\r
 767             WriteProfileInt("Settings\\PTGrey", "Raw resolution", m_ptOptions->m_rawRes);\r
 768             WriteProfileInt("Settings\\PTGrey", "Stereo resolution", m_ptOptions->m_stereoRes);\r
 769             AfxMessageBox("The resolution change will not take effect until application restart.");\r
 770         }\r
 771         PTGreySetProperty("MinDisparity", &m_ptOptions->m_minDisp);\r
 772         PTGreySetProperty("MaxDisparity", &m_ptOptions->m_maxDisp);\r
 773         PTGreySetProperty("DisparityThreshold", &m_ptOptions->m_dispThresh);\r
 774         PTGreySetProperty("DifferenceThreshold", &m_ptOptions->m_diffThresh);\r
 775         PTGreySetProperty("DepthThreshold", &m_ptOptions->m_depthThresh);\r
 776         PTGreySetProperty("ContourProcessing", &m_ptOptions->m_checkContours);\r
 777         PTGreyUnFreezeData();\r
 778 \r
 779         // Save StereoGR options\r
 780         m_findHand.m_maskImprovigFlag = m_grOptions->m_maskImprove;\r
 781         m_findHand.m_trainFrameCount = m_grOptions->m_frameCount;\r
 782         m_findHand.m_segThresh = m_grOptions->m_segThresh;\r
 783 \r
 784         //change HMM parameters of gestures\r
 785         \r
 786         m_dgServer.SetHMMParams( m_hmmParams->m_num_states, m_hmmParams->m_num_mix );\r
 787         \r
 788                 m_findHand.m_dGestureName = m_dgProp->GetGestureName();\r
 789                 m_findHand.m_dynamicGesture = m_dgProp->IsCollectGesture();\r
 790                 m_findHand.m_saveDynGest =  m_dgProp->IsSaveToFile();\r
 791                 m_findHand.m_path = m_dgProp->GetSavePath();\r
 792     }\r
 793 }\r
 794 \r
 795 \r
 796 void CStereoGRApp::OnSaveDynamicGestures() \r
 797 {\r
 798         int numgest = m_dgServer.GetNumGestures();\r
 799     for( int i = 0; i < numgest; i++ )\r
 800     {\r
 801         CDynGesture* gesture = m_dgServer.GetGesture( i );\r
 802         CString path = gesture->GetName();\r
 803         gesture->SaveParams( path );\r
 804     }\r
 805     // TODO: Add your command handler code here\r
 806 }\r
 807 \r
 808 CStereoGRApp::LoadSettings()\r
 809 {\r
 810         // Create property pages    \r
 811         CreatePropertyPages();\r
 812     // Load the PTGrey settings\r
 813     char * _settings[] = {\r
 814         "CameraBrightness",\r
 815         "CameraIris",\r
 816         "CameraExposure",\r
 817         "MinDisparity",\r
 818         "MaxDisparity",\r
 819         "DisparityThreshold",\r
 820         "DifferenceThreshold",\r
 821         "DepthThreshold"\r
 822     };\r
 823 \r
 824     for(int i = 0; i < sizeof(_settings)/sizeof(char*); i++)\r
 825     {\r
 826         int value;\r
 827         PTGreyGetProperty(_settings[i], &value);\r
 828         value = GetProfileInt("Settings\\PTGrey", _settings[i], value);\r
 829         PTGreySetProperty(_settings[i], &value);\r
 830     }\r
 831 \r
 832     // Load the StereoGR settings\r
 833     m_findHand.m_segThresh = GetProfileInt("Settings\\PTGrey", "Segmentation threshold", m_findHand.m_segThresh);\r
 834     m_findHand.m_trainFrameCount = GetProfileInt("Settings\\PTGrey", "Train framecount", \r
 835         m_findHand.m_trainFrameCount);\r
 836     m_findHand.m_maskImprovigFlag = GetProfileInt("Settings\\PTGrey", "Improve mask", \r
 837         m_findHand.m_maskImprovigFlag);\r
 838 \r
 839     // Load HMM settings\r
 840     m_hmmParams->m_num_states = GetProfileInt("Settings\\HMM", "Number of states", 5);\r
 841     m_hmmParams->m_num_mix = GetProfileInt("Settings\\HMM", "Number of mixtures", 3);\r
 842 \r
 843         // Load StereoGR parameters\r
 844 \r
 845         RECT mainView;\r
 846         mainView.left = GetProfileInt("Settings\\StereoGR", "left", 0);\r
 847         mainView.top = GetProfileInt("Settings\\StereoGR", "top", 0);\r
 848         mainView.right = mainView.left + GetProfileInt("Settings\\StereoGR", "width", 800);\r
 849         mainView.bottom = mainView.top + GetProfileInt("Settings\\StereoGR", "height", 600);\r
 850         AfxGetMainWnd()->MoveWindow(&mainView);\r
 851 \r
 852         for(i = 0; i < VIEWS_COUNT; i++)\r
 853         {\r
 854                 CString str;\r
 855                 str.Format("Settings\\StereoGR\\View%d", i);\r
 856                 POINT view;\r
 857 \r
 858                 view.x = GetProfileInt(LPCTSTR(str), "left", 0);\r
 859                 view.y = GetProfileInt(LPCTSTR(str), "top", 0);\r
 860 \r
 861                 m_TopLefts[i] = view;\r
 862         \r
 863                 if(i == PT_POINTCLOUD_IMAGE || i == GR_MAGICCUBE)\r
 864                 {\r
 865                         str.Format("Settings\\StereoGR\\View%d_3d", i);\r
 866                         POINT view;\r
 867 \r
 868                         view.x = GetProfileInt(LPCTSTR(str), "left", 0);\r
 869                         view.y = GetProfileInt(LPCTSTR(str), "top", 0);\r
 870 \r
 871                         m_TopLefts3D[i] = view;\r
 872                 }\r
 873         }\r
 874 \r
 875     m_dgProp->m_savePath = m_modulePath;\r
 876     return TRUE;\r
 877 }\r
 878 \r
 879 CStereoGRApp::SaveSettings()\r
 880 {\r
 881     // Load the PTGrey settings\r
 882     char * _settings[] = {\r
 883         "CameraBrightness",\r
 884         "CameraIris",\r
 885         "CameraExposure",\r
 886         "MinDisparity",\r
 887         "MaxDisparity",\r
 888         "DisparityThreshold",\r
 889         "DifferenceThreshold",\r
 890         "DepthThreshold"\r
 891     };\r
 892 \r
 893     for(int i = 0; i < sizeof(_settings)/sizeof(char*); i++)\r
 894     {\r
 895         int value;\r
 896         PTGreyGetProperty(_settings[i], &value);\r
 897         WriteProfileInt("Settings\\PTGrey", _settings[i], value);\r
 898     }\r
 899 \r
 900     // Load the StereoGR settings\r
 901     WriteProfileInt("Settings\\PTGrey", "Segmentation threshold", m_findHand.m_segThresh);\r
 902     WriteProfileInt("Settings\\PTGrey", "Train framecount", m_findHand.m_trainFrameCount);\r
 903     WriteProfileInt("Settings\\PTGrey", "Improve mask", m_findHand.m_maskImprovigFlag);\r
 904 \r
 905     // Load HMM settings\r
 906     WriteProfileInt( "Settings\\HMM", "Number of states", m_hmmParams->m_num_states );\r
 907     WriteProfileInt( "Settings\\HMM", "Number of mixtures", m_hmmParams->m_num_mix );\r
 908 \r
 909         // Saving the views positions\r
 910 \r
 911         RECT mainRect;\r
 912         AfxGetMainWnd()->GetWindowRect(&mainRect);\r
 913         WriteProfileInt("Settings\\StereoGR", "left", mainRect.left);\r
 914         WriteProfileInt("Settings\\StereoGR", "top", mainRect.top);\r
 915         WriteProfileInt("Settings\\StereoGR", "width", mainRect.right - mainRect.left);\r
 916         WriteProfileInt("Settings\\StereoGR", "height", mainRect.bottom - mainRect.top);\r
 917 \r
 918     \r
 919     return TRUE;\r
 920 }\r
 921 \r
 922 int CStereoGRApp::ExitInstance() \r
 923 {\r
 924 //    SaveSettings();   \r
 925         int ret = CWinApp::ExitInstance();\r
 926         PTGreyExitCamera(2);\r
 927         return ret;\r
 928 }\r
 929 \r
 930 \r
 931 void CStereoGRApp::OnLoadDynamicGestures() \r
 932 {\r
 933     int numgest = 6;\r
 934     char* names[6] = { "Rotate left", "Rotate right", "Move up", \r
 935                        "Move down", "Zoom out", "Zoom in" };\r
 936 \r
 937     for( int i = 0; i < numgest; i++ )\r
 938     {\r
 939         CDynGesture* gesture = new CDynGesture(m_hmmParams->m_num_states, m_hmmParams->m_num_mix );\r
 940         CString path = names[i];\r
 941         if ( gesture->LoadParams( path ) )\r
 942         {\r
 943              gesture->SetName( path );\r
 944              //add to dgServer\r
 945              m_dgServer.AddGesture( gesture );\r
 946         }\r
 947         else delete gesture;  \r
 948     }\r
 949 }\r
 950 \r
 951 void CStereoGRApp::OnSaveBase() \r
 952 {\r
 953     CFileDialog dlg( FALSE, 0, 0, /*OFN_ALLOWMULTISELECT | */OFN_ENABLESIZING |\r
 954                      OFN_EXPLORER,\r
 955                      "Dynamic Gesture base (*.txt) |*.txt|", 0 );\r
 956     \r
 957     if ( dlg.DoModal() == IDOK )\r
 958     {           \r
 959         m_dgServer.SaveGestureBase( dlg.GetFileName() );\r
 960     }\r
 961         // TODO: Add your command handler code here     \r
 962 }\r
 963 \r
 964 void CStereoGRApp::OnLoadBase() \r
 965 {\r
 966     CFileDialog dlg( TRUE, 0, 0, /*OFN_ALLOWMULTISELECT | */OFN_ENABLESIZING |\r
 967                      OFN_EXPLORER,\r
 968                      "Dynamic Gesture base (*.txt) |*.txt|", 0 );\r
 969     \r
 970     if ( dlg.DoModal() == IDOK )\r
 971     {\r
 972         m_dgServer.LoadGestureBase( dlg.GetFileName() );\r
 973     }\r
 974 }\r
 975 \r
 976 void CStereoGRApp::OnRecogFileDg() \r
 977 {\r
 978         // TODO: Add your command handler code here\r
 979     CFileDialog dlg( TRUE, 0, 0, /*OFN_ALLOWMULTISELECT | */OFN_ENABLESIZING |\r
 980                      OFN_EXPLORER | OFN_FILEMUSTEXIST,\r
 981                      "Dynamic Gesture observations (*.obs) |*.obs|", 0 );\r
 982 \r
 983     if ( dlg.DoModal()== IDOK )\r
 984     {\r
 985         float likelihood[10] = {-1, -1, -1, -1, -1, \r
 986                               -1, -1, -1, -1, -1 };\r
 987 \r
 988         CDynGesture gesture(m_hmmParams->m_num_states, m_hmmParams->m_num_mix );\r
 989         gesture.LoadSequence( dlg.GetFileName() );\r
 990         gesture.ExtractObservations();\r
 991 \r
 992         m_dgServer.TrainAllGestures();\r
 993 \r
 994         int rg = m_dgServer.RecognizeDynGesture( &gesture, likelihood );\r
 995 \r
 996         //write result to status bar\r
 997                 CMainFrame* frame = (CMainFrame*)AfxGetMainWnd();\r
 998             frame->GetStatusBar()->SetPaneText(2, "");\r
 999                 CString RecogResult;\r
1000                 RecogResult.Format("Recognized %s likelihood %f", \r
1001             m_dgServer.GetGesture( rg )->GetName(), likelihood[0] );                            \r
1002             frame->GetStatusBar()->SetPaneText(2, RecogResult); \r
1003     }\r
1004 }\r
1005 \r
1006 \r
1007 \r
1008 \r
1009 void CStereoGRApp::OnDeleteHmm() \r
1010 {\r
1011     m_dgServer.DeleteHMMInfo();\r
1012         // TODO: Add your command handler code here\r
1013         \r
1014 }\r
1015 \r
1016 void CStereoGRApp::OnRemoveAllDg() \r
1017 {\r
1018         m_dgServer.CleanAll();// TODO: Add your command handler code here\r
1019         \r
1020 }\r
1021 \r
1022 \r
1023 void CStereoGRApp::Zoom()\r
1024 {\r
1025         \r
1026 }\r
1027 \r
1028 \r
1029 void CStereoGRApp::CreatePropertyPages()\r
1030 {\r
1031     m_hmmParams = new CHMMParams;\r
1032     m_ptOptions = new CPTOptions;\r
1033     m_grOptions = new CGROptions;\r
1034     m_dgStat = new CDGStat;\r
1035         m_dgProp = new CDGProp;\r
1036 }\r
1037 \r
1038 void CStereoGRApp::OnUpdateRungestrec(CCmdUI* pCmdUI) \r
1039 {\r
1040         // This feature is disabled in the current release\r
1041         pCmdUI->Enable(FALSE);\r
1042 }\r