improved palmDetection

bbiwarg/Detectors/Palm/PalmDetector.cs

@@ -30,7 +30,6 @@ namespace bbiwarg.Detectors.Palm
 
         private Contour<Point> palmContour;
         private List<MCvConvexityDefect> convexityDefects;
-        private LineSegment2DF wristLine, thumbLine;
         private Quadrangle palmQuad;
 
         private bool valid = false;
@@ -48,7 +47,7 @@ namespace bbiwarg.Detectors.Palm
             this.palmImage = palmImage;
 
             handImage = depthImage.getImage().Convert<Byte>(delegate(short s) { return (s == depthImage.getMaxDepth()) ? (byte)0 : (byte)1; });
-            
+
             fingers = getFingersWithoutThumb(detectedFingers);
             buildPointingHandMask();
             handImage = handImage.And(pointingHandMask);
@@ -63,9 +62,6 @@ namespace bbiwarg.Detectors.Palm
 
                 if (valid)
                 {
-                    removePointsFromContour(wristLine, 1);
-                    removePointsFromContour(thumbLine, 1);
-
                     draw();
                 }
             }
@@ -133,7 +129,7 @@ namespace bbiwarg.Detectors.Palm
                 return new Point(0, 0);
             Vector2D direction = (finger.Hand - finger.Tip).normalize();
             Vector2D pos = finger.Hand + 20 * direction;
-            return new Point(HelperFunctions.thresholdRange<int>(0, width - 1, (int) pos.X), HelperFunctions.thresholdRange<int>(0, height - 1, (int) pos.Y));
+            return new Point(HelperFunctions.thresholdRange<int>(0, width - 1, (int)pos.X), HelperFunctions.thresholdRange<int>(0, height - 1, (int)pos.Y));
         }
 
         private void buildPointingHandMask()
@@ -200,56 +196,52 @@ namespace bbiwarg.Detectors.Palm
             convexityDefects = newDefects;
         }
 
-        private void findHandPoints() {
+        private void findHandPoints()
+        {
             if (convexityDefects.Count > 0)
             {
                 MCvConvexityDefect thumbDefect = convexityDefects[0];
                 Vector2D thumb = new Vector2D(thumbDefect.DepthPoint);
                 Vector2D thumbDefectStart = new Vector2D(thumbDefect.StartPoint);
+                Vector2D thumbDefectEnd = new Vector2D(thumbDefect.EndPoint);
 
-                Vector2D handLength = thumbDefectStart - thumb;
-                Vector2D handWidth = 0.8f * new Vector2D(handLength.Y, -handLength.X);
-
-                topLeft = thumbDefectStart;
-                bottomLeft = thumb - 0.3f * handLength;
-                bottomRight = bottomLeft + handWidth;
-                topRight = bottomRight + 1.5f * handLength;
-
-                wristLine = new LineSegment2DF(bottomLeft - 1000 * handWidth, bottomRight + 1000 * handWidth);
-                thumbLine = new LineSegment2DF(topLeft + 1000 * handLength, bottomLeft - 1000 * handLength);
+                Vector2D handLength, handWidth;
+                if (thumb.getDistanceTo(thumbDefectStart) > thumb.getDistanceTo(thumbDefectEnd))
+                {
+                    //right hand
+                    handLength = thumbDefectStart - thumb;
+                    handWidth = 0.8f * new Vector2D(-handLength.Y, handLength.X);
+                    topLeft = thumbDefectStart;
+                    bottomLeft = thumb - 0.4f * handLength;
+                    bottomRight = bottomLeft + handWidth;
+                    topRight = bottomRight + 1.2f * handLength - 0.3f * handWidth;
+                }
+                else
+                {
+                    //left hand
+                    handLength = thumbDefectEnd - thumb;
+                    handWidth = 0.8f * new Vector2D(handLength.Y, -handLength.X);
+                    topRight = thumbDefectEnd;
+                    bottomRight = thumb - 0.4f * handLength;
+                    bottomLeft = bottomRight + handWidth;
+                    topLeft = bottomLeft + 1.2f * handLength - 0.3f * handWidth;
+                }
 
-                palmQuad = new Quadrangle(new Vector2D[] {bottomLeft, topLeft, topRight, bottomRight});
+                palmQuad = new Quadrangle(new Vector2D[] { bottomLeft, topLeft, topRight, bottomRight });
 
                 valid = true;
             }
-            else {
+            else
+            {
                 palmQuad = null;
                 valid = false;
             }
         }
 
-        private void removePointsFromContour(LineSegment2DF line, int sideToRemove)
-        {
-            Contour<Point> newContour = new Contour<Point>(new MemStorage());
-            int index = 0;
-            foreach (Point p in palmContour)
-            {
-                if (line.Side(p) != sideToRemove)
-                {
-                    newContour.Insert(index, p);
-                    ++index;
-                }
-            }
-            palmContour = newContour;
-        }
-
         private void draw()
         {
             palmImage.drawContour(palmContour);
 
-            palmImage.drawLine(wristLine, PalmImageState.wristLine);
-            palmImage.drawLine(thumbLine, PalmImageState.thumbLine);
-
             if (palmQuad != null)
             {
                 Vector2D[] vertices = palmQuad.Vertices;

bbiwarg/MainBBWIWARG.cs

@@ -12,7 +12,7 @@ namespace bbiwarg
     {
         static void Main(string[] args)
         {
-            IInputProvider inputProvider = new IisuInputProvider("..\\..\\videos\\touch\\4.skv");
+            IInputProvider inputProvider = new IisuInputProvider();//"..\\..\\videos\\touch\\4.skv");
             VideoHandle videoHandle = new VideoHandle(inputProvider);
             videoHandle.start();
 

bbiwarg/VideoHandle.cs

@@ -154,7 +154,8 @@ namespace bbiwarg
 
             //detect+track touchEvents
             touchDetector = new TouchDetector(fingerTracker.getFingers(), depthImage, touchImage);
-            palmTouchDetector = new PalmTouchDetector(touchDetector.getTouchEvents(), palmDetector.getPalmQuad());
+            if(palmDetector.getPalmQuad() != null)
+                palmTouchDetector = new PalmTouchDetector(touchDetector.getTouchEvents(), palmDetector.getPalmQuad());
             touchTracker.setDetectedTouchEventsThisFrame(touchDetector.getTouchEvents(), touchImage);
         }
     }