Added conversion from absolute to relative touch event positions.

bbiwarg/Images/PalmImage.cs

@@ -10,6 +10,7 @@ using System.Drawing;
 
 using bbiwarg.Detectors.Fingers;
 using bbiwarg.Utility;
+using bbiwarg.Detectors.Touch;
 
 namespace bbiwarg.Images
 {
@@ -18,6 +19,8 @@ namespace bbiwarg.Images
         DepthImage depthImage;
         EdgeImage edgeImage;
 
+        TouchDetector touchDetector;
+
         private Image<Gray, Byte> handImage;
         private Image<Gray, Byte> pointingHandMask;
         private Image<Gray, Byte> outputImage;
@@ -32,11 +35,13 @@ namespace bbiwarg.Images
 
         private int width, height;
         
-        public PalmImage(DepthImage depthImage, EdgeImage edgeImage, FingerDetector fingerDetector)
+        public PalmImage(DepthImage depthImage, EdgeImage edgeImage, FingerDetector fingerDetector, TouchDetector touchDetector)
         {
             this.depthImage = depthImage;
             this.edgeImage = edgeImage;
 
+            this.touchDetector = touchDetector;
+
             handImage = depthImage.getImage().Convert<Byte>(delegate(short s) { return (s == depthImage.getMaxDepth()) ? (byte) 0 : (byte) 1; });
             width = depthImage.getWidth();
             height = depthImage.getHeight();
@@ -261,6 +266,23 @@ namespace bbiwarg.Images
             for (int i = 0; i < 4; ++i)
                 outputImage.Draw(new LineSegment2DF(vertices[i], vertices[(i + 1) % 4]), new Gray(1), 1);
 
+            Vector2D origin = new Vector2D(vertices[1]);
+            
+            Matrix<float> tmp = new Matrix<float>(new float[,] {{vertices[0].X - origin.X, vertices[2].X - origin.X}, {vertices[0].Y - origin.Y, vertices[2].Y - origin.Y}});
+            Matrix<float> T = new Matrix<float>(2, 2);
+            CvInvoke.cvInvert(tmp.Ptr, T.Ptr, Emgu.CV.CvEnum.SOLVE_METHOD.CV_LU);
+
+            foreach (TouchEvent e in touchDetector.getTouchEvents())
+            {
+                Vector2D point = new Vector2D(e.getX(), e.getY());
+                Matrix<float> res = T.Mul(new Matrix<float>(new float[,] { { point.X - origin.X }, { point.Y - origin.Y } }));
+                Vector2D resVector = new Vector2D(res.Data[0, 0], res.Data[1, 0]);
+
+                Console.WriteLine("touch at " + resVector);
+                outputImage.Draw(new Cross2DF(point, 3, 3), new Gray(1), 1);
+            }
+            Console.WriteLine();
+
             outputImage.Draw(wristLine, new Gray(1), 1);
             outputImage.Draw(thumbLine, new Gray(1), 1);
         }

bbiwarg/Utility/Vector2D.cs

@@ -64,6 +64,11 @@ namespace bbiwarg.Utility
             return new Vector2D(X / Length, Y / Length);
         }
 
+        public override string ToString()
+        {
+            return "(" + X + ", " + Y + ")";
+        }
+
         public static Vector2D operator *(float scalar, Vector2D vector)
         {
             return new Vector2D(scalar * vector.X, scalar * vector.Y);

bbiwarg/VideoHandle.cs

@@ -148,7 +148,7 @@ namespace bbiwarg
             touchDetector = new TouchDetector(fingerTracker.getFingers(), depthImage, touchImage);
             touchTracker.setDetectedTouchEventsThisFrame(touchDetector.getTouchEvents(), touchImage);
 
-            palmImage = new PalmImage(depthImage, edgeImage, fingerDetector);
+            palmImage = new PalmImage(depthImage, edgeImage, fingerDetector, touchDetector);
         }
     }
 }