the renci multitouch framework

The Renci Multitouch Framework

Because touching things is just good fun.

Overview

• Camera Capture• Filtering• Touch Detection• Touch Camera to Stitching Transformation• Tracking• Stitching to Screen Transformation• Gesture Detection

General Structure

Touch Detection & Tracking• Camera Stack

– Filter Graph• Camera• Background• High Pass• Threshold

– Blob Detection– Camera to Stitching Transform

• Tracker– Tracking– Stitch to Screen Transform

Gesture Engine• Acquire New Touches• Test against In-Flight Gestures

& Cull• Cluster Remaining Touches• Compute

– Contraction / Dilation– Rotational Offset

• Clip to registered touch regions• Push To Clients or Emit Mouse

Events

Camera Capture

• Video for Windows• Prosilica• Point Grey• Sony PS3 Eye

Filtering

Blob Detection

• Sample Screen Space given minimum blob size• Utilize a flood-fill style approach to blob region

detection• Back-fill with black to avoid multiple

detections• Compute Centroid & Bounding Box• Projective Transform from Camera to Stitched

Coordinate System

Tracking

• KD-Tree Nearest Neighbor to track a blob frame to frame– Find set of nearest neighbors from KD-Tree– Search along line from previous blob’s gradient to

find nearest blob from given set– Transform from Stitched to Screen Coordinate

System

What Are All These Transforms?

• Math on all the Pixels Is Expensive– So save time by only doing the expensive mathy-

bits on the touches• Optimally we want One Thread per Camera

with Filter Graph & Blob Detection & Transform• Basically were mapping quadrilaterals to other

quadrilaterals: – Camera System to Stitched System– Stitched System to Screen System

So where do we get the Transformation Matrices?

• Calibration and More:– Camera Calibration to remove radial distortion– Stitching Calibration– Screen Calibration– Touch Calibration ( Determine Filter graph Values )

Camera Calibration: There is an App For That

Stitching Calibration: Yep, Another App

Stitching Results on Full Images

Even More Apps: Touch & Screen Calibration