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Developed by Juan Roldan, ERASMUS exchange student from Cordoba, Spain	Ushakiran Soutapalli, MSc student at Sheffield Hallam worked on the graphical user-interface
Playing Reversi against the computer (available as Google-Video or 5.54 MByte DivX-video)

Camera-Projector System

Application

kmando is a human computer interface using a camera and a projector. It was developed by Juan Roldan (prototype), Ushakiran Soutapalli (user interface), Julien Faucher (calibration), Jan Wedekind (technical supervision), and Claudia Amico (artwork) at the Microsystem & Machine Vision Laboratory (MMVL) at Sheffield Hallam University, UK.

The software makes use of a Logitech Quickcam Pro 4000 webcam with a resolution of 640x480. The camera is calibrated against a standard projector screen and then used to determine the position of physical pointer (e.g. a pen) which is then used to virtually move the X11 pointer. Point-and-click functionality has also been implemented. The software now also supports IIDC/DCAM compatible firewire digital cameras such as the Unibrain Fire-i (see Damien Douxchamps list for cameras with IIDC=yes/1.30/1.31). Note that Video for Linux version 2 (V4L2) currently is not supported by kmando.

The required parts of the Mimas real-time computer vision toolkit are included in the package.

How it works

Detection

The detection is a simple colour-segmentation using a thresholded colour-histogram. Therefore you need to use a marker pen or some other object with a distinct colour. The colour should not appear on the screen itself. If the colour of the pen will change due to different illumination conditions, you need to capture these colours when taking the reference image.

Mouse clicks

The standard deviation of a few recent mouse-positions is used as a criterion, wether the mouse is stationary or moving. If the mouse is stationary, a mouse click is issued.

Design

UML-diagram of static structure

UML-diagram showing collaboration of classes

Changelog

2008-02-07 version 1.6

Added more confusing array operator methods to keep up with the GCC freaks.

2007-03-27 version 1.5

Adding support for firewire digital camera
image_v4linput.cc: Accepting YUV422 (assuming it is same as UYVY).
Wizard has new combo-box for selecting video mode (PAL/NTSC/SECAM/AUTO)
image_v4linput.cc: Not preferring RGB support of camera. Prefer UYVY or YUV420p instead.

2007-04-14 version 1.4

Added spin-box for selecting camera channel.
GUI now has sliders for adjusting brightness, contrast, and others.

2007-03-27 version 1.3

Added some explanation about capturing reference image.
Distorted e-mails because of spam.

2007-02-12 version 1.2

configure.ac: Configure script must not use Qt3-moc.

2007-02-11 version 1.1

Makefile.am: Added moc-, qrc-, and uic-files to clean-rule.
configure.ac: Call "make clean" to delete built sources.

2007-02-02 version 1.0

Applications seems to run stable now -> releasing version 1.0

2006-10-20 version 0.6

Minor fixes on configure-script

2006-10-20 version 0.5

Fixed the check for gfortran (using AC_PROG_FC now). Thanks to Steven G. Johnson!

# On the older Mandriva version you may have to configure using
./configure FLIBS="-lgfortran"

# On openSuSE 10.0 libgfortranbegin.a was compiled without "-fPIC". You need to configure using
./configure F77=gfortran FLIBS="-lgfortran"

2006-10-17 version 0.4

Added support for UYVY-cameras.

2006-10-16 version 0.3

Video display can be zoomed using the mouse-wheel.
Display error-messages when accessing camera fails.

2006-10-13 version 0.2

Removed dependency on ImageMagick.

Downloads

Download mando-1.6.tar.bz2 (366 kByte). For your convenience the required parts of Mimas are included in the package. To build and run the package do

tar xjf mando-1.6.tar.bz2
cd mando-1.6
./configure
make
./mando

TreviÃ±o TreviÃ±o supplied a Ubuntu package of mando-1.4 for Ubuntu Edgy at http://3v1n0.tuxfamily.org/dists/edgy/3v1n0/

Donnie Bhayangkara has built a package for openSuSE 10.3 which can be downloaded here http://software.opensuse.org/search?baseproject=openSUSE%3A10.3&p=1&q=mando

Gallery

Accessing the KDE-menu using the system (2.72 MByte video)	Artist's impression of the system	Interactive camera-projector system	Long demonstration of the prototype-system (11.4 MByte video)	Short interactive slides presentation with the system (6.3 MByte video)
Browsing the file-system and trying to play minigolf (14.4 MByte video)	Calibration of the screen using projected patterns	Prototype of early user-interface (13.7 MByte video)	Screenshot of the wizard for configuring the recognition algorithm	Playing Reversi against the computer (5.54 MByte video)