void HandDetection::detectHands(Mat& depthImage, Mat& color) {
vector<Point> manoI, manoD;
vector<vector<Point> > contornos;
vector<Vec4i> hierarchy;
vector<int> phull1, phull2;
vector<CvConvexityDefect> fingerTips1, fingerTips2;
vector<Point> curva1, curva2;
Point ref(0, ROWS/2);
vector<Point> palm2;
int distancia1;// distancia2;
distancia1 = 2000;
// distancia2 = 2000;
cv::findContours(depthImage, contornos, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);
for(size_t i=0; i<contornos.size(); i++) {
double aux = contourArea(Mat(contornos[i]));
if(aux > 0 && aux >= 1000 && aux <= 35000) {//35000
// Comparar cada blob en base a la distancia con su punto de "tracking"
Rect r = boundingRect(Mat(contornos[i]));
Point punto = Utils::getRectCenter(r);
int d = (int)Utils::OXDistance(punto, ref);
int aux1 = (int)Utils::OXDistance(punto, m_left_hand->getEstimatedPoint());
// int aux2 = (int)Utils::OXDistance(punto, m_right_hand->getEstimatedPoint());
bool isleft = false;
if(d < COLS/2 ){//&& area > _leftHand->getArea()
manoI = contornos[i];
m_left_hand->setContour(manoI);
m_left_hand->setCenter(punto);
m_left_hand->setWhich(LEFT_HAND);
isleft = true;
distancia1 = aux1;
}
if(d >= COLS/2){
manoD = contornos[i];
m_right_hand->setContour(manoD);
m_right_hand->setCenter(punto);
m_right_hand->setWhich(RIGHT_HAND);
}
}
}
m_left_hand->trackObject(color);//tienes q ver que pasa si lefhand vale lo mismo q antes
// m_right_hand->trackObject(color);
Point p = m_right_hand->getCenter();
circle(color, p, 10, Scalar(200,200,200), 5, -1);
//Calculamos los poligonos de Hull (convex Hull)
if(manoD.size() > 0){
Rect r1 = boundingRect(Mat(manoD));
rectangle(color, r1, Scalar(0,0,255), 3);
Mat matriz1(manoD);
if(matriz1.rows > 0 && matriz1.cols > 0){
//Calculamos el poligono convexo que recubre la mano
//Simplificamos, primero, el contorno.
approxPolyDP(matriz1, curva1, APPROX_POLY_SIDES, true);//20
Mat curvi(curva1);
convexHull(curvi, phull1, CV_CLOCKWISE);
vector<Point> poly;
for(int i=0; i<(int)phull1.size(); i++){
poly.push_back(curva1[phull1[i]]);
}
//Ahora dibujamos los defectos de convexidad
vector<CvConvexityDefect> defects;
findConvexityDefects(curva1, phull1, defects);//pasar curva2 a int*
//De todos los start y end, te quedas con los que coincidan del poligono aproximado
findFingerTips(curva1, defects, fingerTips1);
int fingersCount = (int)fingerTips1.size();
m_right_hand->setFingers(fingersCount);
}
}
if(manoI.size() > 0){
Rect r2 = boundingRect(Mat(manoI));
rectangle(color, r2, Scalar(255,0,0), 3);
Mat matriz2(manoI);
if(matriz2.rows > 0 && matriz2.cols > 0){
//Calculamos el poligono convexo que recubre la mano
//Simplificamos, primero, el contorno.
approxPolyDP(matriz2, curva2, APPROX_POLY_SIDES, true);//20
Mat curvi(curva2);
convexHull(curvi, phull2, CV_CLOCKWISE);
vector<Point> poly;
for(int i=0; i<(int)phull2.size(); i++){
poly.push_back(curva2[phull2[i]]);
}
//Ahora dibujamos los defectos de convexidad
vector<CvConvexityDefect> defects;
findConvexityDefects(curva2, phull2, defects);//pasar curva2 a int*
//De todos los start y end, te quedas con los que coincidan del poligono aproximado
findFingerTips(curva2, defects, fingerTips2);
//Analizamos la informacion de los supuestos dedos
for(int i=0; i<(int)fingerTips2.size(); i++){
CvPoint cvp1 = *(fingerTips2.at(i).start);
CvPoint cvp2 = *(fingerTips2.at(i).end);
CvPoint cvdef = *(fingerTips2.at(i).depth_point);
Point p1(cvp1.x, cvp1.y);
Point p2(cvp2.x, cvp2.y);
Point p3(cvdef.x, cvdef.y);
line(color, p1, p3, Scalar(0, 255, 0), 1, CV_AA);
line(color, p2, p3, Scalar(0, 255, 0), 1, CV_AA);
cv::circle(color, p1, 10, Scalar(200,200,200), -1, CV_AA);
cv::circle(color, p3, 10, Scalar(0,0,0), 2, CV_AA);
palm2.push_back(p3);
}
//Obtenemos el centro de la palma
// if(palm2.size() > 0){
// minEnclosingCircle(Mat(palm2), center2, radius2);
// cv::circle(color, center2, radius2, Scalar(255,255,255), -1, CV_AA);
// }
int fingersCount = (int)fingerTips2.size();
m_left_hand->setFingers(fingersCount);
}
}
}
std::pair<vector<Point>, std::pair<Point,double>> Detect::operator() (Mat& frame, Mat& raw, int count)
{
vector<Point> tips;
// first find the curves in the image
vector<vector<Point>> polyCurves = getPolyCurves(frame);
//std::cout << polyCurves.size() << std::endl;
// Find max inscribed circle for the 0th polycurve and draw it.
std::pair<Point, double> maxCircle = findMaxInscribedCircle(polyCurves, raw);
circle(raw, maxCircle.first, maxCircle.second, cv::Scalar(220,75,20), 1, CV_AA);
// Good PolyCurve is with 3.5 * max inscribed radius
vector<vector<Point>> goodPolyCurves;
getRegionOfInterest(goodPolyCurves, polyCurves, maxCircle);
// draw good poly curve
drawContours(raw,goodPolyCurves, -1 , cv::Scalar(0,255,0), 2);
// Find min enclosing circle on goodPolyCurve and draw it
std::pair<Point2f, double> minCircle = findMinEnclosingCircle(goodPolyCurves);
circle(raw, minCircle.first, minCircle.second, cv::Scalar(220,75,20), 1, CV_AA);
// now find the convex hull for each polyCurve
if (goodPolyCurves.size() < 1) {
return std::pair<vector<Point>, std::pair<Point, double>>(tips, maxCircle);
}
// Get convex hulls
vector<vector<int>> hullIndices = getConvexHulls(goodPolyCurves);
vector<vector<Point>> hullPoints;
for(int i = 0; i < goodPolyCurves.size(); i++) {
if (goodPolyCurves[i].size() > 0) {
vector<Point> hullPoint;
convexHull(goodPolyCurves[i], hullPoint);
hullPoints.push_back(hullPoint);
}
}
// Draw the convex hulls
drawContours(raw, hullPoints, -1, cv::Scalar(255, 0, 0), 2);
for (int i = 0; i < 1; ++i)
{
vector<Vec4i> defects;
// find convexity defects for each poly curve and draw them
convexityDefects(goodPolyCurves[i], hullIndices[i], defects);
defects = filterDefects(defects);
vector<Point> defectEnds;
for (int j = 0; j < defects.size(); ++j) {
Vec4i& defect = defects[j];
int startIdx = defect[0];
int endIdx = defect[1];
int farIdx = defect[2];
Point start = goodPolyCurves[i][startIdx];
Point end = goodPolyCurves[i][endIdx];
Point far = goodPolyCurves[i][farIdx];
if(euclideanDist(far, start) > maxCircle.second) {
defectEnds.push_back(start);
defectEnds.push_back(end);
}
}
tips = findFingerTips(defectEnds, maxCircle, raw);
}
flip(raw, raw, 1);
imshow("hand", raw);
// movie code (we should return the frame to HandMade and put movie code there with the others.)
if(makeMoviesD) {
char buffer[30];
sprintf(buffer, "detected/detected_%03d.jpg", count++);
imwrite(buffer, raw);
}
return std::pair<vector<Point>, std::pair<Point, double>>(tips, maxCircle);
}
