/// <summary>
/// minus two point
/// </summary>
/// <param name="point1"></param>
/// <param name="point2"></param>
/// <returns></returns>
public static Point2D operator -(Point2D point1, Point2D point2)
{
Point2D ret = new Point2D();
ret.X = point1.X - point2.X;
ret.Y = point1.Y - point2.Y;
return ret;
}
/// <summary>
/// A point multipy with a double value
/// </summary>
/// <param name="point1"></param>
/// <param name="value"></param>
/// <returns></returns>
public static Point2D operator *(Point2D point1, double value)
{
Point2D ret = new Point2D();
ret.X = (int)(point1.X * value);
ret.Y = (int)(point1.Y * value);
return ret;
}
public void FingerDetect(int dalitionErosionMask = 1)
{
validMatrix = generateValidMatrix(this.pixelDepth3D, this.kinectPalmDetph, dalitionErosionMask);
/** Get interiorPixels and contourPixels **/
contourMatrix = new bool[validMatrix.Length][];
for (int i = 0; i < validMatrix.Length; i++)
{
contourMatrix[i] = new bool[validMatrix[i].Length];
}
for (int i = 0; i < validMatrix.Length; i++)
{
for (int j = 0; j < validMatrix[i].Length; j++)
{
if (validMatrix[i][j])
{
if (4 == adjacentValidPixelCount(validMatrix, i, j))
{
interiorPixels.Add(new Point2D(i, j));
}
else
{
contourMatrix[i][j] = true;
contourPixels.Add(new Point2D(i, j));
}
}
}
}
if (contourPixels.Count != 0)
{
contour = TurtleSearch(validMatrix, contourPixels.First());
}
if (null != contour)
{
palm = findPalmCenter(interiorPixels, contour);
fingerTips = findFingerTips(contour, palm);
}
}
public PointDepth3D(Point2D point, short depth)
{
this.X = point.X;
this.Y = point.Y;
this.Depth = depth;
}
public Point2D(Point2D point)
{
this.X = point.X;
this.Y = point.Y;
}
/// <summary>
/// get angle between two vectors
/// </summary>
/// <param name="point1"></param>
/// <param name="point2"></param>
/// <returns>radian discription for the return angle</returns>
public static float Angle(Point2D point1, Point2D point2)
{
return (float)Math.Acos((point1.X * point2.X + point1.Y * point2.Y) / (Length(point1) * Length(point2)));
}
/// <summary>
/// Get the vector length from point1 to point(0,0)
/// </summary>
/// <param name="point1"></param>
/// <returns></returns>
public static float Length(Point2D point1)
{
return (float)(Math.Sqrt(point1.X * point1.X + point1.Y * point1.Y));
}
/// <summary>
/// Get the Euclidean Distance between two point in 2D space
/// </summary>
/// <param name="point1"></param>
/// <param name="point2"></param>
/// <returns></returns>
public static float EuclideanDistance(Point2D point1,Point2D point2)
{
return (float)Math.Sqrt((point1.X - point2.X) * (point1.X - point2.X)
+ (point1.Y - point2.Y) * (point1.Y - point2.Y));
}
/// <summary>
/// Map Point2D to PointDepth3D
/// </summary>
/// <param name="point"></param>
/// <returns></returns>
private PointDepth3D Point2DMapToDepth3D(Point2D point)
{
return pixelDepth3D[point.Y * rectWidth + point.X];
}
/// <summary>
/// find fingertips by K_curvature Algorithm
/// </summary>
/// <param name="contour"></param>
/// <param name="palm"></param>
/// <returns></returns>
private List<Point2D> findFingerTips(List<Point2D> contour, Point2D palm)
{
List<Point2D> fingerTips = new List<Point2D>();
Point2D p1, p2, p3, pMid, v1, v2;
double angle;
int size = contour.Count;
int fingerJump = 2;
float fingerJumpPec = 0.1f;
int k = 22;
//Debug i < size ---> i < size - k
//ignore the last k candinate points
for (int i = 0; i < size - k; i += fingerJump)
{
if (i - k + size < 0) //Need to modify
break;
p1 = contour[(i - k + size) % size];
p2 = contour[i];
p3 = contour[(i + k + size) % size];
v1 = p1 - p2;
v2 = p3 - p2;
angle = Point2D.Angle(v1, v2);
if (angle > 0 && angle < 40 * (Math.PI / 180))
{
pMid = (p1 + p3) * 0.5;
if (Point2D.EuclideanDistance(pMid, palm) > Point2D.EuclideanDistance(contour[i], palm))
continue;
else
{
fingerTips.Add(new Point2D(contour[i]));
i += (int)(fingerJumpPec * size);
}
}
}
//Console.WriteLine(fingerTips.Count);
return fingerTips;
}
/// <summary>
/// find Palm Center using data in two List: handPixels[] and contourPixels[]
/// Discription: Traveral every point in handPixels list,
/// caculate the Mininal Euclidean Distance between every point in contourPixels list
/// find the maximize distance in the mininal distances set
/// </summary>
/// <param name="handPixels"></param>
/// <param name="contourPixels"></param>
/// <returns>Point2D palm</returns>
private Point2D findPalmCenter(List<Point2D> interiorPixels, List<Point2D> contourPixels)
{
Point2D palm = new Point2D();
float min, minMax, distance = 0.0f;
minMax = float.MinValue;
for (int i = 0; i < interiorPixels.Count; i += 8)
{
min = float.MaxValue;
for (int j = 0; j < contourPixels.Count; j += 2)
{
distance = Point2D.EuclideanDistance(interiorPixels[i], contourPixels[j]);
if (distance < min)
{
min = distance;
}
if (min < minMax) break;
}
if (min > minMax && min != float.MinValue)
{
minMax = min;
palm = interiorPixels[i];
}
}
return palm;
}
/// <summary>
/// Turtle Search Algorithm, generate contour list in order
/// </summary>
/// <param name="valid">validMatrix[][]</param>
/// <param name="start">start from any Point2D in contour List</param>
/// <returns>contour pixels in order</returns>
private List<Point2D> TurtleSearch(bool[][] valid, Point2D start)
{
List<Point2D> orderContour = new List<Point2D>();
Point2D pre = new Point2D(-1, -1);
Point2D curr = new Point2D(start);
int dir = 0;
do
{
if (valid[curr.X][curr.Y])
{
dir = (dir + 1) % 4;
if (curr != pre)
{
orderContour.Add(new Point2D(curr));
pre = new Point2D(curr);
}
}
else
{
dir = (dir + 4 - 1) % 4;
}
switch (dir)
{
case 0: curr.X += 1; break; //Down
case 1: curr.Y += 1; break; //Right
case 2: curr.X -= 1; break; //Up
case 3: curr.Y -= 1; break; //Left
}
} while (curr != start);
return orderContour;
}