bbiwarg-original/bbiwarg/Recognition/HandRecognition/HandDetector.cs

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



namespace bbiwarg.Recognition.HandRecognition
{
    class HandDetector
    {
        private DepthImage depthImage;
        private EdgeImage edgeImage;
        private Image<Gray, byte> modifiedHandDepthImage;
        private List<Finger> fingers;

        public List<Hand> Hands { get; private set; }
        public Image<Gray, byte> HandMask { get; private set; }

        public HandDetector(DepthImage depthImage, EdgeImage edgeImage, List<Finger> fingers)
        {
            this.depthImage = depthImage;
            this.edgeImage = edgeImage;
            this.fingers = fingers;

            createModifiedHandEdgeImage();
            findHands();
            setZIndexes();
            createHandMask();
            findThumbDefects();
        }

        private void createModifiedHandEdgeImage()
        {
            modifiedHandDepthImage = depthImage.Image.Copy();

            foreach (Finger finger in fingers)
            {
                Point[] contour = finger.InnerContour.ToArray();
                modifiedHandDepthImage.DrawPolyline(contour, false, new Gray(0), 2);
            }
        }

        private void findHands()
        {
            int width = edgeImage.Width;
            int height = edgeImage.Height;
            int maxArea = width * height;
            Hands = new List<Hand>();

            foreach (Finger finger in fingers)
            {
                bool newHand = true;
                foreach (Hand hand in Hands)
                {
                    if (hand.isInside(finger.HandPoint))
                    {
                        hand.addFinger(finger);
                        finger.setHand(hand);
                        newHand = false;
                        break;
                    }
                }

                if (newHand)
                {
                    Image<Gray, byte> mask = new Image<Gray, byte>(width + 2, height + 2);
                    MCvConnectedComp comp = new MCvConnectedComp();
                    CvInvoke.cvFloodFill(modifiedHandDepthImage, finger.HandPoint, new MCvScalar(255), new MCvScalar(Constants.HandFloodFillDownDiff), new MCvScalar(Constants.HandFloodFillUpDiff), out comp, Emgu.CV.CvEnum.CONNECTIVITY.EIGHT_CONNECTED, Emgu.CV.CvEnum.FLOODFILL_FLAG.DEFAULT, mask);
                    if (comp.area < maxArea * Constants.HandMaxSize)
                    {
                        Image<Gray, byte> cropedMask = mask.Copy(new Rectangle(1, 1, width, height));
                        Hand hand = new Hand(cropedMask, finger);
                        Hands.Add(hand);
                        finger.setHand(hand);
                    }
                }
            }
        }

        private void setZIndexes()
        {
            //sort depending on depth of centroid (far->near)
            Hands.Sort((h1, h2) => depthImage.getDepthAt(h2.CentroidInHand).CompareTo(depthImage.getDepthAt(h1.CentroidInHand)));

            for (int i = 0; i < Hands.Count; i++)
                Hands[i].setZIndex(i);
        }

        private void createHandMask()
        {
            HandMask = new Image<Gray, byte>(depthImage.Width, depthImage.Height);
            foreach (Hand hand in Hands)
                HandMask = HandMask.Or(hand.Mask);
        }

        private void findThumbDefects()
        {
            foreach (Hand hand in Hands)
                hand.findThumbDefect();
        }
    }
}