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##FILL ME IN
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## for a custom note with links:
## descriptive title for the entry
## title = Customizable Buttons
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## multi-line description to be displayed in search 
## description =  Using a white piece of paper and a black pen, you can draw your own array of buttons that are touch-activated
## submitter =  Garratt Gallagher
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## keywords = buttons, sound board, customizable
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== Video ==
 <<Youtube(7yuqMQWYVnM)>>

 <<Youtube(GH-LONKeSeA)>>
== How to Reproduce Your Entry ==

=== Physical Setup ===
The interface is pretty simple.  White paper, black thick pen. 

There are several assumptions that this program uses:
 * The normal of the drawing surface is pointing in the positive z direction
 * The drawing surface is pretty much white (I threshold at r,g,b > 240)
 * the kinect is stationary
 * the pen color is very dark (I threshold at r+g+b < 100)
 * all the buttons are visible unless your hand is over at least one button

The buttons can track up to 1cm/frame.  If they go any faster, or are blocked for about a second, they will re-associate.



=== Code to Checkout ===
 1. First you have to check out and compile the mit-ros-pkg repository.  Please follow the [[mit-ros-pkg/KinectDemos#General_Installation| MIT Kinect Demos General Installation]] instructions.
 1. You can then continue on that page to follow the instructions for installing the ''''Customizable Buttons'''' Demo, which have been copied here for your convenience: 

 {{{
rosmake impromptu_buttons --rosdep-install
}}}

=== Running the Code ===
This demo uses the openni kinect driver.  To launch it run:
{{{
roslaunch openni_camera openni_kinect.launch
}}}

The one step you will have to do manually is provide a static transform from '''/world''' to '''/openni_camera''' which will make the normal of the drawing surface point in the positive z direction.  In the video above, I ran the following:
{{{
rosrun tf static_transform_publisher 0 0 1.2 0 .33 0 /world /openni_camera 10
}}}

Finally, to launch this demo, run:
{{{
rosrun impromptu_buttons buttons
}}}


=== Dependencies ===
==== External ====
This package depends on the [[http://www.sfml-dev.org/|Simple Fast Media Library]] to play sounds.  
you can install the dependencies using rosdep:
{{{
rosdep install impromptu_buttons
}}}

==== ROS Packages ====
 * ni
 * pcl
 * pcl_ros





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