bbiwarg-original/bbiwarg/Recognition/TouchRecognition/TouchDetector.cs

using System;
using System.Collections.Generic;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using Emgu.CV;
using Emgu.CV.Structure;
using bbiwarg.Images;
using bbiwarg.Recognition.FingerRecognition;
using bbiwarg.Recognition.PalmRecognition;
using bbiwarg.Utility;
using bbiwarg.Graphics;

namespace bbiwarg.Recognition.TouchRecognition
{
    class TouchDetector
    {
        private DepthImage depthImage;
        private List<Finger> fingers;
        private List<Palm> palms;

        public List<TouchEvent> TouchEvents { get; private set; }

        public TouchDetector(DepthImage depthImage, List<Finger> fingers, List<Palm> palms)
        {
            this.depthImage = depthImage;
            this.fingers = fingers;
            this.palms = palms;
            TouchEvents = new List<TouchEvent>();

            if (palms.Count > 0)
                detectTouch();
        }

        private void detectTouch() {
            foreach (Finger finger in fingers)
            {
                Vector2D tipPoint = finger.TipPoint;
                Vector2D direction = finger.Direction;
                Vector2D directionInv = direction.getInverse();
                Vector2D tipPointInside = (tipPoint + Parameters.TouchTipInsideFactor * directionInv).moveInBound(direction);
                Vector2D tipPointOutside = (tipPoint + Parameters.TouchTipOutsideFactor * direction).moveInBound(directionInv);

                foreach (Palm palm in palms)
                {
                    if (palm.isInside(tipPointOutside))
                    {

                        Image<Gray, byte> touchMask = getTouchMask(tipPointInside);

                        int touchPixels = touchMask.CountNonzero()[0];
                        int numPixels = touchMask.Width * touchMask.Height;
                        float touchValue = touchPixels / (float)numPixels;

                        if (touchValue > Parameters.TouchMinTouchValue)
                        {
                            TouchEvent touchEvent = new TouchEvent(tipPointOutside, touchMask, finger, palm);
                            TouchEvents.Add(touchEvent);
                            finger.setTouchEvent(touchEvent);
                        }
                    }
                }
            }
        }

        private Image<Gray, byte> getTouchMask(Vector2D touchPoint)
        {

            int minX = Math.Max(touchPoint.IntX - 2 * Parameters.TouchAreaSize / 3, 0);
            int maxX = Math.Min(touchPoint.IntX + Parameters.TouchAreaSize / 3, Parameters.ImageWidth - 1);
            int minY = Math.Max(touchPoint.IntY - 2 * Parameters.TouchAreaSize / 3, 0);
            int maxY = Math.Min(touchPoint.IntY + Parameters.TouchAreaSize / 3, Parameters.ImageHeight - 1);

            Vector2D relTouchPoint = new Vector2D(touchPoint.IntX - minX, touchPoint.IntY - minY);
            Rectangle rect = new Rectangle(minX, minY, maxX - minX + 1, maxY - minY + 1);
            Image<Gray, byte> touchArea = depthImage.Image.Copy(rect);
            Image<Gray, byte> touchMask = new Image<Gray, byte>(rect.Width + 2, rect.Height + 2);

            MCvConnectedComp comp = new MCvConnectedComp();
            CvInvoke.cvFloodFill(touchArea, relTouchPoint, new MCvScalar(255), new MCvScalar(Parameters.TouchFloodfillDownDiff), new MCvScalar(Parameters.TouchFloodfillUpDiff), out comp, Emgu.CV.CvEnum.CONNECTIVITY.EIGHT_CONNECTED, Emgu.CV.CvEnum.FLOODFILL_FLAG.DEFAULT, touchMask);

            Rectangle cropRect = new Rectangle(1, 1, rect.Width, rect.Height);
            return touchMask.Copy(cropRect);
        }
    }
}