void MyGesture::getFingerTips(MyInputImgStruct *m){
/***
*@DOC: Gets which of the remaining Defect points are the finger tips
* and returns it into the vector FingerTips
**/
FingerTips.clear();
int i = 0;
vector<Vec4i>::iterator d = Defects[cIdx].begin();
while(d != Defects[cIdx].end())
{
Vec4i& v = (*d);
int startidx = v[0];
Point ptStart(contours[cIdx][startidx]);
int endidx = v[1];
Point ptEnd(contours[cIdx][endidx]);
int faridx = v[2];
Point ptFar(contours[cIdx][faridx]);
if(i==0){
FingerTips.push_back(ptStart);
i++;
}
FingerTips.push_back(ptEnd);
d++;
i++;
}//ENDOF while()
if(FingerTips.size() == 0)
{
checkForOneFinger(m);
}
} //ENDOF Method: getFingerTips(MyInputImgStruct *m)
void condefects(vector<Vec4i>convexityDefectsSet, vector<Point> mycontour, Mat& drawing){
for (int cDefIt = 0; cDefIt < convexityDefectsSet.size(); cDefIt++)
{
int startIdx = convexityDefectsSet[cDefIt].val[0]; Point ptStart(mycontour[startIdx]);
int endIdx = convexityDefectsSet[cDefIt].val[1]; Point ptEnd(mycontour[endIdx]);
int defectPtIdx = convexityDefectsSet[cDefIt].val[2]; Point ptFar(mycontour[defectPtIdx]);
double depth = (double)convexityDefectsSet[cDefIt].val[3] / 256.0f; // see documentation link below why this
circle(drawing, ptStart, 5, CV_RGB(255, 0, 0), 2, 8);
circle(drawing, ptEnd, 5, CV_RGB(255, 0, 0), 2, 8);
circle(drawing, ptFar, 5, CV_RGB(255, 0, 0), 2, 8);
// do something with *contour[defectPtIdx]*.. This is e.g. the defect point.
}
}
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 HandDetector::FindConvexityDefects(vector<Vec4i> ConvexityDefectSet, vector<Point> HandContour, Mat& LiveFrame, Point2f COM, int TiltAngle)
{
vector<Point> FingerTips;
Point2f HandCenter;
float radius;
int fingers=0;
//minEnclosingCircle(HandContour,HandCenter,radius);
//Rect contourRect = boundingRect(HandContour);
//circle(LiveFrame,HandCenter,10,CV_RGB(0,0,255),2,8);
//rectangle(LiveFrame, contourRect, Scalar(0,0,255), 3);
//vector<Point> palmCircle;
for (int i = 0; i < ConvexityDefectSet.size(); i++)
{
int startId = ConvexityDefectSet[i].val[0];
Point ptStart(HandContour[startId]);
int endId = ConvexityDefectSet[i].val[1];
Point ptEnd(HandContour[endId]);
int farId = ConvexityDefectSet[i].val[2];
Point ptFar(HandContour[farId]);
double depth = (double)((ConvexityDefectSet[i].val[3]) / 256); //for getting real pixel values
//cout << "depth" << depth << endl;
//display start points
//circle(original,ptStart,5,CV_RGB(255,0,0),2,8);
//display all end points
//circle(original, ptEnd, 5, CV_RGB(255, 255, 0), 2, 8);
//display all far points
//circle(LiveFrame,ptFar,5,CV_RGB(255,255,0),2,8);
//circle(LiveFrame, HandCenter, radius, cv::Scalar(0,255,255),2);
if (depth > 10 && ptStart.y < COM.y)//
{
circle(LiveFrame,ptStart,5,CV_RGB(255,0,0),2,8);
//circle(LiveFrame, ptStart, 4, CV_RGB(255, 0,0), 4);
FingerTips.push_back(ptStart);
fingers++;
//palmCircle.push_back(ptStart);
}
}
if(mMouseControl)
{
InitMouseControl(LiveFrame,FingerTips,COM,TiltAngle);
}
if(mSwipeON)
{
Point tempCOM;
tempCOM.x = COM.x;
tempCOM.y = COM.y;
mSwipeGesture.SwipeInit(tempCOM, LiveFrame);
}
//cout<<"Fingers = "<<fingers<<endl;
}
Mat CameraInteraction::Testmm(Mat frame){
vector<vector<Point> > contours;
//Update the current background model and get the foreground
if(backgroundFrame>0)
{bg.operator ()(frame,fore);backgroundFrame--;}
else
{bg.operator()(frame,fore,0);}
//Get background image to display it
bg.getBackgroundImage(back);
//Enhance edges in the foreground by applying erosion and dilation
erode(fore,fore,Mat());
dilate(fore,fore,Mat());
//Find the contours in the foreground
findContours(fore,contours,CV_RETR_EXTERNAL,CV_CHAIN_APPROX_NONE);
for(int i=0;i<contours.size();i++)
//Ignore all small insignificant areas
if(contourArea(contours[i])>=5000)
{
//Draw contour
vector<vector<Point> > tcontours;
tcontours.push_back(contours[i]);
drawContours(frame,tcontours,-1,cv::Scalar(0,0,255),2);
//Detect Hull in current contour
vector<vector<Point> > hulls(1);
vector<vector<int> > hullsI(1);
convexHull(Mat(tcontours[0]),hulls[0],false);
convexHull(Mat(tcontours[0]),hullsI[0],false);
drawContours(frame,hulls,-1,cv::Scalar(0,255,0),2);
//Find minimum area rectangle to enclose hand
RotatedRect rect=minAreaRect(Mat(tcontours[0]));
//Find Convex Defects
vector<Vec4i> defects;
if(hullsI[0].size()>0)
{
Point2f rect_points[4]; rect.points( rect_points );
for( int j = 0; j < 4; j++ )
line( frame, rect_points[j], rect_points[(j+1)%4], Scalar(255,0,0), 1, 8 );
Point rough_palm_center;
convexityDefects(tcontours[0], hullsI[0], defects);
if(defects.size()>=3)
{
vector<Point> palm_points;
for(int j=0;j<defects.size();j++)
{
int startidx=defects[j][0]; Point ptStart( tcontours[0][startidx] );
int endidx=defects[j][1]; Point ptEnd( tcontours[0][endidx] );
int faridx=defects[j][2]; Point ptFar( tcontours[0][faridx] );
//Sum up all the hull and defect points to compute average
rough_palm_center+=ptFar+ptStart+ptEnd;
palm_points.push_back(ptFar);
palm_points.push_back(ptStart);
palm_points.push_back(ptEnd);
}
//Get palm center by 1st getting the average of all defect points, this is the rough palm center,
//Then U chose the closest 3 points ang get the circle radius and center formed from them which is the palm center.
rough_palm_center.x/=defects.size()*3;
rough_palm_center.y/=defects.size()*3;
Point closest_pt=palm_points[0];
vector<pair<double,int> > distvec;
for(int i=0;i<palm_points.size();i++)
distvec.push_back(make_pair(dist(rough_palm_center,palm_points[i]),i));
sort(distvec.begin(),distvec.end());
//Keep choosing 3 points till you find a circle with a valid radius
//As there is a high chance that the closes points might be in a linear line or too close that it forms a very large circle
pair<Point,double> soln_circle;
for(int i=0;i+2<distvec.size();i++)
{
Point p1=palm_points[distvec[i+0].second];
Point p2=palm_points[distvec[i+1].second];
Point p3=palm_points[distvec[i+2].second];
soln_circle=circleFromPoints(p1,p2,p3);//Final palm center,radius
if(soln_circle.second!=0)
break;
}
//Find avg palm centers for the last few frames to stabilize its centers, also find the avg radius
palm_centers.push_back(soln_circle);
if(palm_centers.size()>10)
palm_centers.erase(palm_centers.begin());
Point palm_center;
double radius=0;
for(int i=0;i<palm_centers.size();i++)
{
palm_center+=palm_centers[i].first;
radius+=palm_centers[i].second;
}
palm_center.x/=palm_centers.size();
palm_center.y/=palm_centers.size();
radius/=palm_centers.size();
//Draw the palm center and the palm circle
//The size of the palm gives the depth of the hand
circle(frame,palm_center,5,Scalar(144,144,255),3);
circle(frame,palm_center,radius,Scalar(144,144,255),2);
//Detect fingers by finding points that form an almost isosceles triangle with certain thesholds
int no_of_fingers=0;
for(int j=0;j<defects.size();j++)
{
int startidx=defects[j][0]; Point ptStart( tcontours[0][startidx] );
int endidx=defects[j][1]; Point ptEnd( tcontours[0][endidx] );
int faridx=defects[j][2]; Point ptFar( tcontours[0][faridx] );
//X o--------------------------o Y
double Xdist=sqrt(dist(palm_center,ptFar));
double Ydist=sqrt(dist(palm_center,ptStart));
double length=sqrt(dist(ptFar,ptStart));
double retLength=sqrt(dist(ptEnd,ptFar));
//Play with these thresholds to improve performance
if(length<=3*radius&&Ydist>=0.4*radius&&length>=10&&retLength>=10&&max(length,retLength)/min(length,retLength)>=0.8)
if(min(Xdist,Ydist)/max(Xdist,Ydist)<=0.8)
{
if((Xdist>=0.1*radius&&Xdist<=1.3*radius&&Xdist<Ydist)||(Ydist>=0.1*radius&&Ydist<=1.3*radius&&Xdist>Ydist))
line( frame, ptEnd, ptFar, Scalar(0,255,0), 1 ),no_of_fingers++;
}
}
no_of_fingers=min(5,no_of_fingers);
qDebug()<<"NO OF FINGERS: "<<no_of_fingers;
//mouseTo(palm_center.x,palm_center.y);//Move the cursor corresponding to the palm
if(no_of_fingers<4)//If no of fingers is <4 , click , else release
// mouseClick();
qDebug()<<"Test";
else
// mouseRelease();
qDebug()<<"Hola";
}
}
}
if(backgroundFrame>0)
putText(frame, "Recording Background", cvPoint(30,30), FONT_HERSHEY_COMPLEX_SMALL, 0.8, cvScalar(200,200,250), 1, CV_AA);
// imshow("Framekj",frame);
// imshow("Background",back);
return frame;
}
