void MyGesture::removeRedundantEndPoints(vector<Vec4i> newDefects, MyInputImgStruct *m){
/***
* DOC:
*/
Vec4i Temp;
int startidx, endidx, faridx, startidx2, endidx2;
float Tolerance = bRect_Width/6;
for(int i=0; i<newDefects.size(); i++)
{
for(int j=i; j<newDefects.size(); j++)
{
startidx = newDefects[i][0];
Point ptStart(contours[cIdx][startidx]);
endidx = newDefects[i][1];
Point ptEnd(contours[cIdx][endidx]);
startidx2 = newDefects[j][0];
Point ptStart2(contours[cIdx][startidx2]);
endidx2 = newDefects[j][1];
Point ptEnd2(contours[cIdx][endidx2]);
if(distanceP2P(ptStart, ptEnd2) < Tolerance)
{
contours[cIdx][startidx] = ptEnd2;
break;
}
if(distanceP2P(ptEnd, ptStart2) < Tolerance)
{
contours[cIdx][startidx2] = ptEnd;
}
}
}
}//ENDOF Method: removeRedundantEndPoints(newDefects, *m)
double GraphMatching::PosDistOf2Subgraph(SubGraph& sub1, SubGraph& sub2){
sub1.reorganizeGraph();
sub2.reorganizeGraph();
int num1 = sub1._edges.size();
int num2 = sub2._edges.size();
double dist = 0;
vector<double> vec_sub1,vec_sub2;//记录中心node与adjacent nodes之间的方向vector cos thea
FacNode node1 = sub1._centerNode;
FacNode node2 = sub2._centerNode;
#if 0 //previous diatance measure
for(int i=0;i<sub1._edges.size();i++){
Point vec1 = sub1._edges[i]._node2._position - node1._position;
Point vec2 = sub2._edges[i]._node2._position - node1._position;
//夹角差
double thea1 = acos (calcAngleOf2Vec(vec1,Point(1,0)))/PI;
double thea2 = acos (calcAngleOf2Vec(vec2,Point(1,0)))/PI;
double posdist = distanceP2P(sub1._edges[i]._node2._position,sub2._edges[i]._node2._position)
/sqrt(pow(sub1._centerNode._srcImg.rows,2)+pow(sub1._centerNode._srcImg.cols,2));
dist += abs(thea1 - thea2) + posdist;
//bounding box
double thresh_neighbor = 0.4;
dist += thresh_neighbor*abs(sub1._edges[i]._node2._WslashH - sub2._edges[i]._node2._WslashH);
dist += thresh_neighbor*(abs(boundingRect(sub1._edges[i]._node2._contour).width - boundingRect(sub2._edges[i]._node2._contour).width)
+abs(boundingRect(sub1._edges[i]._node2._contour).height - boundingRect(sub2._edges[i]._node2._contour).height))/2;
}
//distance of 2 center node
dist += distanceP2P(sub1._centerNode._position,sub2._centerNode._position);
///sqrt(pow(sub1._centerNode._srcImg.rows,2)+pow(sub1._centerNode._srcImg.cols,2));
//distance of geometry W/H
dist += abs(sub1._centerNode._WslashH - sub2._centerNode._WslashH);
//distance of geometry width&height of boundingbox
dist += (abs(boundingRect(sub1._centerNode._contour).width - boundingRect(sub2._centerNode._contour).width)
+abs(boundingRect(sub1._centerNode._contour).height - boundingRect(sub2._centerNode._contour).height))/2;
#endif
#if 1
if(num1 != num2){
std::cout<<"PosDistOf2Subgraph(): 2 subgraph does not have same size"<<endl;
return INF;
}
for(int i=0;i<sub1._edges.size();i++){
dist += disOfTwoNodes(sub1._edges[i]._node2,sub2._edges[i]._node2);
}
dist += disOfTwoNodes(sub1._centerNode,sub2._centerNode);
#endif
return dist;
}
float MyGesture::getAngle(Point s, Point f, Point e){
/***
* DOC: takes 3 points and return the angle between them
**/
float LineFS = distanceP2P(f, s);
float LineFE = distanceP2P(f, e);
float delTheta = (s.x - f.x)*(e.x - f.x) + (s.y - f.y)*(e.y - f.y);
float theta = acos(delTheta / (LineFS * LineFE));
theta = theta*180/PI;
return theta;
} //ENDOF Method: getAngle()
vector<double> FacEdge::calcSpatialFeature(){
vector<double> feature;
feature.resize(5);
feature[0] = _node1._box.tl().x - _node2._box.tl().x;
feature[1] = _node1._box.br().x - _node2._box.br().x;
feature[2] = distanceP2P(_node1._position,_node2._position);
double unionNN = countUnion(_node1,_node2);
feature[3] = unionNN/contourArea(_node1._contour);
feature[4] = unionNN/contourArea(_node2._contour);
return feature;
}
void MyGesture::eleminateDefects(MyInputImgStruct *m){
/***
* @DOC: Takes all the defect points into vector d. Loops through d and
* measures the P2P distance between the Defect Points and decides whether
* the Point will be dismissed or kept based on l>0.4lbb and Theta>85'
**/
int tolerance = bRect_Height/5;
float angleTol = 95;
vector<Vec4i> newDefects;
int startidx, endidx, faridx;
vector<Vec4i>::iterator d = Defects[cIdx].begin();
while(d != Defects[cIdx].end())
{
Vec4i& v = (*d);
startidx = v[0];
Point ptStart(contours[cIdx][startidx]);
endidx = v[1];
Point ptEnd(contours[cIdx][endidx]);
faridx = v[2];
Point ptFar(contours[cIdx][faridx]);
if((distanceP2P(ptStart, ptFar) > tolerance) &&
(distanceP2P(ptEnd, ptFar) > tolerance) &&
(getAngle(ptStart, ptFar, ptEnd) < angleTol)){
if(ptEnd.y > (bRect.y + bRect.height - bRect.height/4)) {/*Do Nothing*/}
else if(ptStart.y > (bRect.y + bRect.height - bRect.height/4)) {/*Do Nothing*/}
else {
newDefects.push_back(v);
}
}
d++;
}//ENDOF While()
numOfDefects = newDefects.size();
Defects[cIdx].swap(newDefects);
removeRedundantEndPoints(Defects[cIdx], m);
} //ENDOF Method: eleminateDefects(MyInputImgStruct *m)
void MyGesture::removeRedundantFingerTips(){
/***
* DOC:
*/
vector<Point> newFingers;
for(int i=0; i<FingerTips.size(); i++)
{
for(int j=i; j<FingerTips.size(); j++)
{
if( (distanceP2P(FingerTips[i], FingerTips[j]) < 10) && (i != j) )
{ /*Do Nothing*/}
else
{
newFingers.push_back(FingerTips[i]);
break;
}
}
}
}//ENDOF Method: removeRedundentFingerTips()
double calcAngleOf2Vec(cv::Point& vec1,cv::Point& vec2){
double cos_theta = (vec1.x * vec2.x + vec1.y * vec2.y) / (distanceP2P(cv::Point(0,0),vec1) * distanceP2P(cv::Point(0,0),vec2));
return cos_theta;
}
int createDBC_s32(const IplImage* input_image)
{
//uint8_t t_depth_u8 = 0;
//uint8_t t_gest_name_u8 = 0;
uint8_t t_smp_idx_u8 = 1;
uint8_t t_depth_idx_u8 = 0;
uint8_t t_gest_idx_u8 = 1;
//char t_depth_c[2];
//char t_gest_c[2];
char ImgFileName_c[40] = ".\\training_data\\dxxx\\numx\\imgxx.png";
IplImage* t_imgSamp_pImg;
float t_dist_f = 0;
g_trnDBC_pfi = fopen(trDBC_FileName_c, "w");
//number zero database
fprintf(g_trnDBC_pfi, "%d;%d;%d;%d;%d;%d;%d;%d;%d;%d;%d;%d", 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0);
fprintf(g_trnDBC_pfi, "\n");
if(g_trnDBC_pfi == NULL)
{
return (-1); //Cannot open database file. May be there is incorrect the name of database file.
}
while(t_depth_idx_u8 < DEPTH_NUM)
{
/* Get file name */
/* Replace dxxx to folder name of depth image */
strncpy(ImgFileName_c + 16, fname[t_depth_idx_u8], 4);
while(t_gest_idx_u8 < GEST_NUM)
{
if(t_gest_idx_u8 < 10)
{
sprintf(&t_temp_c[0],"%d", t_gest_idx_u8);
strncpy(ImgFileName_c + 24, (const char*)&t_temp_c, 1);
}
else
{
sprintf(&t_temp_c[0],"%d", t_gest_idx_u8);
strncpy(ImgFileName_c + 23, (const char*)&t_temp_c, 2);
}
t_smp_idx_u8 = 1;
while (t_smp_idx_u8 <= SAMPLE_NUM_MAX)
{
memset(&trainingData_st, 0 , sizeof(TRAININGDATA_ST));
if(t_smp_idx_u8 < 10)
{
sprintf(t_temp_c,"%s%d","0", t_smp_idx_u8);
strncpy(ImgFileName_c + 29, (const char*)&t_temp_c, 2);
}
else //number of samples is greater than or equal to 10
{
sprintf(t_temp_c,"%d", t_smp_idx_u8);
strncpy(ImgFileName_c + 29, (const char*)&t_temp_c, 2);
}
/*open image sample */
t_imgSamp_pImg = cvLoadImage(ImgFileName_c, CV_LOAD_IMAGE_GRAYSCALE);
if(t_imgSamp_pImg != NULL)
{
/*extract feature */
HandGestureSt.dfdisthreshold = 5000/depth_u16[t_depth_idx_u8];
HandGestureSt.thr_image = t_imgSamp_pImg;
HandGestureSt.handDepth = depth_u16[t_depth_idx_u8];
handTrainingProcessing();
//sortFingers_V(HandGestureSt.fingers, FINGER_NUM);
//map to training data
trainingData_st.finger_num_u8 = HandGestureSt.num_fingers;
/*Write to training data*/
fprintf(g_trnDBC_pfi, "%d;", trainingData_st.finger_num_u8);
for (int idx = 0; idx < trainingData_st.finger_num_u8; idx++)
{
trainingData_st.angle_f[idx] = angleToCOG(HandGestureSt.fingers[idx], HandGestureSt.hand_center_mm, HandGestureSt.contourAxisAngle);
trainingData_st.dis_f[idx] = distanceP2P((const CvPoint*)&HandGestureSt.hand_center_mm, (const CvPoint*)&HandGestureSt.fingers[idx]) - HandGestureSt.hand_radius;
}
//sortArray_V((float* const)&trainingData_st.dis_f[0], (const uint8_t)FINGER_NUM);
//sortArray_V((float* const)&trainingData_st.angle_f[0], (const uint8_t)FINGER_NUM);
for (int idx = 0; idx < FINGER_NUM; idx++)
{
fprintf(g_trnDBC_pfi, "%0.3f;", trainingData_st.angle_f[idx]);
}
for (int idx = 0; idx < FINGER_NUM; idx++)
{
fprintf(g_trnDBC_pfi, "%0.3f;", trainingData_st.dis_f[idx]);
}
fprintf(g_trnDBC_pfi, "%d", t_gest_idx_u8);
fprintf(g_trnDBC_pfi, "\n");
t_smp_idx_u8++;
}
else
{
t_smp_idx_u8 = 1;
break;
}
}
t_gest_idx_u8++;
}
t_depth_idx_u8++;
}
if (fclose(g_trnDBC_pfi) == 0)
{
return 0;
}
else
{
return (-1);
}
}
