bbiwarg-original/bbiwarg/Recognition/HandRecognition/Hand.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.Recognition.FingerRecognition;
using bbiwarg.Utility;
using bbiwarg.Recognition.Tracking;
using bbiwarg.Recognition.PalmRecognition;

namespace bbiwarg.Recognition.HandRecognition
{
    public enum HandSide
    {
        Undefined = 0,
        Right = 1,
        Left = 2
    }

    class Hand : TrackableObject
    {
        public List<ConvexityDefect> ConvexityDefects { get; private set; }
        public int ZIndex { get; private set; }
        public Vector2D Centroid { get; private set; }
        public Vector2D CentroidInHand { get; private set; }
        public Image<Gray, byte> Mask { get; private set; }
        public List<Finger> Fingers { get; private set; }
        public ConvexityDefect ThumbDefect { get; private set; }
        public Palm Palm { get; private set; }
        public HandSide Side { get; private set; }

        public Hand(Image<Gray, byte> mask, Finger finger)
        {
            Mask = mask;
            Fingers = new List<Finger>();

            addFinger(finger);
            findCentroids();
        }

        public bool isInside(Vector2D point)
        {
            return (Mask.Data[point.IntY, point.IntX, 0] != 0);
        }

        public void addFinger(Finger finger)
        {
            Fingers.Add(finger);
        }

        public void setZIndex(int zIndex)
        {
            ZIndex = zIndex;
        }

        public void mergeWith(Hand mergeHand)
        {
            extendMask(mergeHand.Mask);
            Fingers.AddRange(mergeHand.Fingers);
            foreach (Finger finger in Fingers)
            {
                finger.setHand(this);
            }
            findCentroids();
        }

        public void extendMask(Image<Gray, byte> extendMask)
        {
            Mask = Mask.Or(extendMask);
            findCentroids();
        }

        public void fillOverlappingFingers(List<Finger> otherFingers)
        {
            foreach (Finger finger in otherFingers)
            {
                FingerSliceTrail trail = null;
                foreach (FingerSlice slice in finger.SliceTrail.Slices)
                {
                    Vector2D out1 = slice.OutStart;
                    Vector2D out2 = slice.OutEnd;

                    if (isInside(out1) && isInside(out2))
                    {
                        if (trail == null)
                            trail = new FingerSliceTrail(slice);
                        else
                            trail.addSlice(slice);
                    }
                }

                if (trail != null)
                    Mask.FillConvexPoly(trail.OuterContour.ToArray(), new Gray(1));

                Mask = Mask.Dilate(1);
            }
        }

        public void findThumbDefect()
        {
            if (isThumbOnly())
            {
                findConvexityDefects();
                filterThumbDefect();
            }
            determineHandSide();
        }

        public void setPalm(Palm palm)
        {
            Palm = palm;
        }

        private bool isThumbOnly()
        {
            return (Fingers.Count == 1);
        }

        private void findConvexityDefects()
        {
            Contour<Point> contour = Mask.FindContours(Emgu.CV.CvEnum.CHAIN_APPROX_METHOD.CV_CHAIN_APPROX_SIMPLE, Emgu.CV.CvEnum.RETR_TYPE.CV_RETR_EXTERNAL);
            List<MCvConvexityDefect> mcvConvexityDefects = new List<MCvConvexityDefect>(contour.GetConvexityDefacts(new MemStorage(), Emgu.CV.CvEnum.ORIENTATION.CV_CLOCKWISE));

            ConvexityDefects = new List<ConvexityDefect>();
            foreach (MCvConvexityDefect defect in mcvConvexityDefects)
                ConvexityDefects.Add(new ConvexityDefect(defect));
        }

        private void filterThumbDefect()
        {
            if (ConvexityDefects.Count > 0)
            {
                ConvexityDefects.Sort((cd1, cd2) => (cd2.Depth.CompareTo(cd1.Depth)));

                Finger thumb = Fingers[0];

                foreach (ConvexityDefect defect in ConvexityDefects)
                {
                    if (defect.isPossibleThumbDefect(thumb))
                    {
                        ThumbDefect = defect;
                        break;
                    }
                }
            }
        }

        private void determineHandSide()
        {
            if (ThumbDefect != null)
            {
                if (ThumbDefect.VectorShort.crossProduct(ThumbDefect.VectorLong) > 0)
                    Side = HandSide.Left;
                else
                    Side = HandSide.Right;
            }
            else
                Side = HandSide.Undefined;
        }

        private void findCentroids()
        {
            //find centroid
            MCvPoint2D64f gravityCenter = Mask.GetMoments(true).GravityCenter;
            Centroid = new Vector2D((float)gravityCenter.x, (float)gravityCenter.y);

            //find centroid in hand
            if (isInside(Centroid))
                CentroidInHand = Centroid;
            else
            {
                Finger finger = Fingers[0];
                Vector2D direction = (finger.HandPoint - Centroid).normalize();
                CentroidInHand = Centroid;
                while (!isInside(CentroidInHand))
                    CentroidInHand += direction;
            }
        }

    }
}