/// <summary>
/// Subtracts two points.
/// </summary>
/// <param name="point1">Minuend point.</param>
/// <param name="point2">Subtrahend point.</param>
/// <returns>Returns the difference .</returns>
public static PointsFingers subtract(PointsFingers point1, PointsFingers point2)
{
PointsFingers sol = new PointsFingers();
sol.X = point1.X - point2.X;
sol.Y = point1.Y - point2.Y;
return(sol);
}
/// <summary>
/// Subtracts a scalar to all the coordinates of the source point.
/// </summary>
/// <param name="point1">Source point.</param>
/// <param name="value">The scalar to substract.</param>
/// <returns>Returs the difference.</returns>
public static PointsFingers subtract(PointsFingers point1, int value)
{
PointsFingers sol = new PointsFingers();
sol.X = point1.X - value;
sol.Y = point1.Y - value;
return(sol);
}
/// <summary>
/// Multiplies two points.
/// </summary>
/// <param name="point1">Source point.</param>
/// <param name="point2">Source point.</param>
/// <returns>Returns the product.</returns>
public static PointsFingers multiply(PointsFingers point1, PointsFingers point2)
{
PointsFingers sol = new PointsFingers();
sol.X = point1.X * point2.X;
sol.Y = point1.Y * point2.Y;
return(sol);
}
/// <summary>
/// Divides the source point by an scalar.
/// </summary>
/// <param name="point1">Source point.</param>
/// <param name="value">The divisor.</param>
/// <returns>Returns the division.</returns>
public static PointsFingers operator /(PointsFingers point1, int value)
{
PointsFingers sol = new PointsFingers();
sol.X = point1.X / value;
sol.Y = point1.Y / value;
return(sol);
}
/// <summary>
/// Multiplies the source point by a scalar.
/// </summary>
/// <param name="point1">Source point.</param>
/// <param name="value">The factor.</param>
/// <returns>Returns the product.</returns>
public static PointsFingers multiply(PointsFingers point1, int value)
{
PointsFingers sol = new PointsFingers();
sol.X = point1.X * value;
sol.Y = point1.Y * value;
return(sol);
}
/// <summary>
/// Divides two points.
/// </summary>
/// <param name="point1">The dividend.</param>
/// <param name="point2">The divisor.</param>
/// <returns>Returns the division.</returns>
public static PointsFingers operator /(PointsFingers point1, PointsFingers point2)
{
PointsFingers sol = new PointsFingers();
sol.X = point1.X / point2.X;
sol.Y = point1.Y / point2.Y;
return(sol);
}
/// <summary>
/// Adds a scalar to all the coordinates of the source point.
/// </summary>
/// <param name="point1">Source point.</param>
/// <param name="value">The scalar to add.</param>
/// <returns>Returs the sum.</returns>
public static PointsFingers add(PointsFingers point1, int value)
{
PointsFingers sol = new PointsFingers();
sol.X = point1.X + value;
sol.Y = point1.Y + value;
return(sol);
}
/// <summary>
/// Adds two points.
/// </summary>
/// <param name="point1">Source point.</param>
/// <param name="point2">Source point.</param>
/// <returns>Returns the sum.</returns>
public static PointsFingers add(PointsFingers point1, PointsFingers point2)
{
PointsFingers sol = new PointsFingers();
sol.X = point1.X + point2.X;
sol.Y = point1.Y + point2.Y;
return(sol);
}
// Normalize in the interval [-1, 1] the given 3D point.
// The Z value is in the inverval [-1, 0], being 0 the closest distance.
private Coordinates3D transformTo3DCoord(PointsFingers p, int width, int height, int distance)
{
Coordinates3D v = new Coordinates3D();
v.X = p.Y / (width * 1.0f) * 2 - 1;
v.Y = (1 - p.X / (height * 1.0f)) * 2 - 1;
v.Z = (distance - 400) / -7600.0f;
return(v);
}
// Check if a point is inside the hand countour box
public bool isPointInsideContainerBox(PointsFingers p) // Takes a point as an arg and returns if point is inside the hand contour box or not.
{
if (p.X < rightDownCorner.X && p.X > leftUpperCorner.X &&
p.Y > leftUpperCorner.Y && p.Y < rightDownCorner.Y) // Note that the origin is on the upper-left corner of the box.
{
return(true);
}
else
{
return(false);
}
}
// Constructor of Hand Class. When Hand class is instantiated, it is automatically called and the default properties are set for various attributes.
public HandDetection()
{
palm = new PointsFingers(-1, -1); // Set to impossible coordinates before capturing data.
fingertips = new List<PointsFingers>(5); // List to the 5 fingertips to be tracked.
fingertips3D = new List<Coordinates3D>(5); // Basically is used to track the X,Y,Z coordinates of all the 5 fingertips. List has five elements each of which have 3 properites each.
contour = new List<PointsFingers>(2000);
inside = new List<PointsFingers>(6000);
leftUpperCorner = new PointsFingers(int.MaxValue, int.MaxValue);
rightDownCorner = new PointsFingers(int.MinValue, int.MinValue);
}
/// <summary>
/// Checks if two points are equals.
/// </summary>
/// <param name="obj">The point to compare with.</param>
/// <returns>Returns true if the points are equals, or false otherwise.</returns>
public override bool Equals(object obj)
{
PointsFingers other = (PointsFingers)obj;
if (this.X == other.X && this.Y == other.Y)
{
return(true);
}
else
{
return(false);
}
}
public HandDetection() // Constructor of Hand Class. When Hand class is instantiated, it is automatically called and the default properties are set for various attributes.
{
palm = new PointsFingers(-1, -1); // Set to impossible coordinates before capturing data.
fingertips = new List <PointsFingers>(5); // List to the 5 fingertips to be tracked.
fingertips3D = new List <Coordinates3D>(5); // Basically is used to track the X,Y,Z coordinates of all the 5 fingertips. List has five elements each of which have 3 properites each.
contour = new List <PointsFingers>(2000);
inside = new List <PointsFingers>(6000);
leftUpperCorner = new PointsFingers(int.MaxValue, int.MaxValue);
rightDownCorner = new PointsFingers(int.MinValue, int.MinValue);
}
// Obtain the 3D normalized point and add it to the list of fingertips
public void calculate3DPoints(int width, int height, int[] distance)
{
if (palm.X != -1 && palm.Y != -1)
{
palm3D = transformTo3DCoord(palm, width, height, distance[palm.X * width + palm.Y]); // Calculate 3-D position of palm
}
fingertips3D.Clear(); // Empty any unwanted data.
for (int i = 0; i < fingertips.Count; ++i)
{
PointsFingers f = fingertips[i]; // Store the value of each element in f use it as parameter in transformTo3DCoord
if (palm.X - fingertips[i].X < 20) //reduces the noise, limits fingertips to 20 pixel distance from center.
{
fingertips3D.Add(transformTo3DCoord(f, width, height, distance[f.X * width + f.Y])); // Append the modified elements. The useful set of points are actually in fingertips3D
}
}
}
public bool isCircleInsideContainerBox(PointsFingers p, float r)
{
if (leftUpperCorner.X > p.X - r)
{
return(false);
}
if (rightDownCorner.X < p.X + r)
{
return(false);
}
if (leftUpperCorner.Y > p.Y - r)
{
return(false);
}
if (rightDownCorner.Y < p.Y + r)
{
return(false);
}
return(true);
}
// Calculate the contour box of the hand if it possible
public bool calculateContainerBox(float reduction = 0)
{
if (contour != null && contour.Count > 0)
{
for (int j = 0; j < contour.Count; ++j)
{
if (leftUpperCorner.X > contour[j].X)
{
leftUpperCorner.X = contour[j].X;
}
if (rightDownCorner.X < contour[j].X)
{
rightDownCorner.X = contour[j].X;
}
if (leftUpperCorner.Y > contour[j].Y)
{
leftUpperCorner.Y = contour[j].Y;
}
if (rightDownCorner.Y < contour[j].Y)
{
rightDownCorner.Y = contour[j].Y;
}
}
int incX = (int)((rightDownCorner.X - leftUpperCorner.X) * (reduction / 2));
int incY = (int)((rightDownCorner.Y - leftUpperCorner.Y) * (reduction / 2));
PointsFingers inc = new PointsFingers(incX, incY);
leftUpperCorner = leftUpperCorner + inc;
rightDownCorner = rightDownCorner + inc;
return(true);
}
else
{
return(false);
}
}
/*
* This function calcute the border of a closed figure starting in one of the contour points.
* The turtle algorithm is used.
*/
private List <PointsFingers> CalculateFrontier(ref bool[][] valid, PointsFingers start, ref bool[][] contour)
{
List <PointsFingers> list = new List <PointsFingers>();
PointsFingers last = new PointsFingers(-1, -1);
PointsFingers current = new PointsFingers(start);
int dir = 0;
do
{
if (valid[current.X][current.Y])
{
dir = (dir + 1) % 4;
if (current != last)
{
list.Add(new PointsFingers(current.X, current.Y));
last = new PointsFingers(current);
contour[current.X][current.Y] = false;
}
}
else
{
dir = (dir + 4 - 1) % 4;
}
switch (dir)
{
case 0: current.X += 1; break; // Down
case 1: current.Y += 1; break; // Right
case 2: current.X -= 1; break; // Up
case 3: current.Y -= 1; break; // Left
}
} while (current != start);
return(list);
}
/// <summary>
/// Calculates the Euclidean distance between two points.
/// </summary>
/// <param name="point1">Source point.</param>
/// <param name="point2">Source point.</param>
/// <returns>Returns the distance between the points squared.</returns>
public static float distanceEuclideanSquared(PointsFingers point1, PointsFingers point2)
{
return((point1.X - point2.X) * (point1.X - point2.X) + (point1.Y - point2.Y) * (point1.Y - point2.Y));
}
/// <summary>
/// Calculates the dot product of two points. Returns a floating point value between -1 and 1.
/// </summary>
/// <param name="point1">Source point.</param>
/// <param name="point2">Source point.</param>
/// <returns>Returns the dot product of the source points.</returns>
public static float dot(PointsFingers point1, PointsFingers point2)
{
return((point1.X * point2.X + point1.Y * point2.Y) / (length(point1) * length(point2)));
}
/// <summary>
/// Multiplies two points.
/// </summary>
/// <param name="point1">Source point.</param>
/// <param name="point2">Source point.</param>
/// <returns>Returns the product.</returns>
public static PointsFingers multiply(PointsFingers point1, PointsFingers point2)
{
PointsFingers sol = new PointsFingers();
sol.X = point1.X * point2.X;
sol.Y = point1.Y * point2.Y;
return sol;
}
/// <summary>
/// Calculates the Euclidean distance between two points.
/// </summary>
/// <param name="point1">Source point.</param>
/// <param name="point2">Source point.</param>
/// <returns>Returns the distance between the points.</returns>
public static float distanceEuclidean(PointsFingers point1, PointsFingers point2)
{
return((float)Math.Sqrt((point1.X - point2.X) * (point1.X - point2.X) + (point1.Y - point2.Y) * (point1.Y - point2.Y)));
}
/// <summary>
/// Copy and create a new instance of PointFT.
/// </summary>
/// <param name="other">The PointFT to copy.</param>
public PointsFingers(PointsFingers other)
{
this.X = other.X;
this.Y = other.Y;
}
/// <summary>
/// Multiplies the source point by a scalar.
/// </summary>
/// <param name="point1">Source point.</param>
/// <param name="value">The factor.</param>
/// <returns>Returns the product.</returns>
public static PointsFingers operator *(PointsFingers point1, int value)
{
PointsFingers sol = new PointsFingers();
sol.X = point1.X * value;
sol.Y = point1.Y * value;
return sol;
}
/// <summary>
/// Divides two points.
/// </summary>
/// <param name="point1">The dividend.</param>
/// <param name="point2">The divisor.</param>
/// <returns>Returns the division.</returns>
public static PointsFingers divide(PointsFingers point1, PointsFingers point2)
{
PointsFingers sol = new PointsFingers();
sol.X = point1.X / point2.X;
sol.Y = point1.Y / point2.Y;
return sol;
}
/// <summary>
/// Calculates the smaller angle between two points.
/// </summary>
/// <param name="point1">Source point.</param>
/// <param name="point2">Source point.</param>
/// <returns>Returns the angle in radians.</returns>
public static float angle(PointsFingers point1, PointsFingers point2)
{
return (float)Math.Acos((point1.X * point2.X + point1.Y * point2.Y) / (length(point1) * length(point2)));
}
// Takes a point as an arg and returns if point is inside the hand contour box or not.
// Check if a point is inside the hand countour box
public bool isPointInsideContainerBox(PointsFingers p)
{
if (p.X < rightDownCorner.X && p.X > leftUpperCorner.X
&& p.Y > leftUpperCorner.Y && p.Y < rightDownCorner.Y) // Note that the origin is on the upper-left corner of the box.
{
return true;
}
else
{
return false;
}
}
/// <summary>
/// Divides the source point by an scalar.
/// </summary>
/// <param name="point1">Source point.</param>
/// <param name="value">The divisor.</param>
/// <returns>Returns the division.</returns>
public static PointsFingers divide(PointsFingers point1, int value)
{
PointsFingers sol = new PointsFingers();
sol.X = point1.X / value;
sol.Y = point1.Y / value;
return sol;
}
/// <summary>
/// Calculates the dot product of two points. Returns a floating point value between -1 and 1.
/// </summary>
/// <param name="point1">Source point.</param>
/// <param name="point2">Source point.</param>
/// <returns>Returns the dot product of the source points.</returns>
public static float dot(PointsFingers point1, PointsFingers point2)
{
return (point1.X * point2.X + point1.Y * point2.Y) / (length(point1) * length(point2));
}
public void depthFrameReady(object sender, DepthImageFrameReadyEventArgs e)
// public void depthFrameReady(int img_count, DepthImageFrameReadyEventArgs e)//,int img_count)
{
// Get the depth frame from Kinect
using (DepthImageFrame frame = e.OpenDepthImageFrame())
{
// Check that the frame is not null
if (frame == null)
{
return;
}
// Calculate the real distance for every pixel in the depth image
int[] distances = generateDistances(frame);
// Return a 0 or 1 matrix, which contains wich pixels are near enough
bool[][] near = generateValidMatrix(frame, distances);
// Return the tracked hands based on the near pixels
hands = localizeHands(near);
byte[] pixels = new byte[frame.PixelDataLength * 4];
// Free last depth Matrix
Marshal.FreeHGlobal(depthPtr);
depthPtr = Marshal.AllocHGlobal(pixels.Length);
Marshal.Copy(pixels, 0, depthPtr, pixels.Length);
// Create the bitmap
int height = near.Length;
int width = 0;
if (near.Length > 0)
{
width = near[0].Length;
}
int stride = width * 4;
depthImage = new Bitmap(
width,
height,
stride,
PixelFormat.Format32bppRgb,
depthPtr);
// Calculate 3D points for the hands
for (int i = 0; i < hands.Count; ++i)
{
hands[i].calculate3DPoints(settings.screenWidth, settings.screenHeight, distances);
}
// Call the rest of the functions
afterDepthReady();
// Draw fingertips and palm center
Graphics gBmp = Graphics.FromImage(depthImage);
Brush greenBrush = new SolidBrush(Color.Green);
Brush yellowBrush = new SolidBrush(Color.Yellow);
for (int i = 0; i < hands.Count; ++i)
{
// Yellow point which is the center of the palm
gBmp.FillEllipse(yellowBrush, hands[i].palm.Y - 5, hands[i].palm.X - 5, 10, 10);
// Draw inside points
//for (int j = 0; j < hands[i].inside.Length; ++j)
//{
// Point p = hands[i].inside.Get(j);
// depthImage.SetPixel(p.Y, p.X, Color.Blue);
//}
// Draw the contour of the hands
for (int j = 0; j < hands[i].contour.Count; ++j)
{
PointsFingers p = hands[i].contour[j];
depthImage.SetPixel(p.Y, p.X, Color.Snow);
}
// Blue points which represent the fingertips
for (int j = 0; j < hands[i].fingertips.Count; ++j)
{
if (hands[i].fingertips[j].X != -1)
{
gBmp.FillEllipse(greenBrush, hands[i].fingertips[j].Y - 5,
hands[i].fingertips[j].X - 5, 10, 10);
}
}
}
greenBrush.Dispose();
yellowBrush.Dispose();
gBmp.Dispose();
}
}
/// <summary>
/// Copy and create a new instance of PointFT.
/// </summary>
/// <param name="other">The PointFT to copy.</param>
public PointsFingers(PointsFingers other)
{
this.X = other.X;
this.Y = other.Y;
}
/// <summary>
/// Calculates the smaller angle between two points.
/// </summary>
/// <param name="point1">Source point.</param>
/// <param name="point2">Source point.</param>
/// <returns>Returns the angle in radians.</returns>
public static float angle(PointsFingers point1, PointsFingers point2)
{
return((float)Math.Acos((point1.X * point2.X + point1.Y * point2.Y) / (length(point1) * length(point2))));
}
/// <summary>
/// Calculates the Euclidean distance between two points.
/// </summary>
/// <param name="point1">Source point.</param>
/// <param name="point2">Source point.</param>
/// <returns>Returns the distance between the points squared.</returns>
public static float distanceEuclideanSquared(PointsFingers point1, PointsFingers point2)
{
return (point1.X - point2.X) * (point1.X - point2.X) + (point1.Y - point2.Y) * (point1.Y - point2.Y);
}
/// <summary>
/// Calculate the number of points you have to cross to go from one point to another.
/// </summary>
/// <param name="point1">Source point.</param>
/// <param name="point2">Source point.</param>
/// <returns>Returns the distance between the points.</returns>
public static int distance(PointsFingers point1, PointsFingers point2)
{
return Math.Abs(point1.X - point2.X) + Math.Abs(point1.Y - point2.Y);
}
/// <summary>
/// Calculates the Euclidean distance between two points.
/// </summary>
/// <param name="point1">Source point.</param>
/// <param name="point2">Source point.</param>
/// <returns>Returns the distance between the points.</returns>
public static float distanceEuclidean(PointsFingers point1, PointsFingers point2)
{
return (float)Math.Sqrt((point1.X - point2.X) * (point1.X - point2.X) + (point1.Y - point2.Y) * (point1.Y - point2.Y));
}
/// <summary>
/// Adds a scalar to all the coordinates of the source point.
/// </summary>
/// <param name="point1">Source point.</param>
/// <param name="value">The scalar to add.</param>
/// <returns>Returs the sum.</returns>
public static PointsFingers add(PointsFingers point1, int value)
{
PointsFingers sol = new PointsFingers();
sol.X = point1.X + value;
sol.Y = point1.Y + value;
return sol;
}
/// <summary>
/// Returns the length of the source point.
/// </summary>
/// <returns>The length of the point.</returns>
public static float length(PointsFingers point1)
{
return((float)Math.Sqrt(point1.X * point1.X + point1.Y * point1.Y));
}
/// <summary>
/// Adds two points.
/// </summary>
/// <param name="point1">Source point.</param>
/// <param name="point2">Source point.</param>
/// <returns>Returns the sum.</returns>
public static PointsFingers add(PointsFingers point1, PointsFingers point2)
{
PointsFingers sol = new PointsFingers();
sol.X = point1.X + point2.X;
sol.Y = point1.Y + point2.Y;
return sol;
}
/// <summary>
/// Calculate the number of points you have to cross to go from one point to another.
/// </summary>
/// <param name="point1">Source point.</param>
/// <param name="point2">Source point.</param>
/// <returns>Returns the distance between the points.</returns>
public static int distance(PointsFingers point1, PointsFingers point2)
{
return(Math.Abs(point1.X - point2.X) + Math.Abs(point1.Y - point2.Y));
}
/// <summary>
/// Multiplies the source point by a scalar.
/// </summary>
/// <param name="point1">Source point.</param>
/// <param name="value">The factor.</param>
/// <returns>Returns the product.</returns>
public static PointsFingers multiply(PointsFingers point1,int value)
{
PointsFingers sol = new PointsFingers();
sol.X = point1.X * value;
sol.Y = point1.Y * value;
return sol;
}
/// <summary>
/// Returns the length of the source point.
/// </summary>
/// <returns>The length of the point.</returns>
public static float length(PointsFingers point1)
{
return (float)Math.Sqrt(point1.X * point1.X + point1.Y * point1.Y);
}
private List <HandDetection> localizeHands(bool[][] valid)
{
int i, j, k;
List <HandDetection> hands = new List <HandDetection>();
List <PointsFingers> insidePoints = new List <PointsFingers>();
List <PointsFingers> contourPoints = new List <PointsFingers>();
bool[][] contour = new bool[valid.Length][];
for (i = 0; i < valid.Length; ++i)
{
contour[i] = new bool[valid[0].Length];
}
// Divide points in contour and inside points
int count = 0;
for (i = 1; i < valid.Length - 1; ++i)
{
for (j = 1; j < valid[i].Length - 1; ++j)
{
if (valid[i][j])
{
// Count the number of valid adjacent points
count = this.numValidPixelAdjacent(ref i, ref j, ref valid);
if (count == 4) // Inside
{
insidePoints.Add(new PointsFingers(i, j));
}
else // Contour
{
contour[i][j] = true;
contourPoints.Add(new PointsFingers(i, j));
}
}
}
}
// Create the sorted contour list, using the turtle algorithm
for (i = 0; i < contourPoints.Count; ++i)
{
HandDetection hand = new HandDetection();
// If it is a possible start point
if (contour[contourPoints[i].X][contourPoints[i].Y])
{
// Calculate the contour
hand.contour = CalculateFrontier(ref valid, contourPoints[i], ref contour);
// Check if the contour is big enough to be a hand
if (hand.contour.Count / (contourPoints.Count * 1.0f) > 0.20f &&
hand.contour.Count > settings.k)
{
// Calculate the container box
hand.calculateContainerBox(settings.containerBoxReduction);
// Add the hand to the list
hands.Add(hand);
}
// Don't look for more hands, if we reach the limit
if (hands.Count >= settings.maxTrackedHands)
{
break;
}
}
}
// Allocate the inside points to the correct hand using its container box
//List<int> belongingHands = new List<int>();
for (i = 0; i < insidePoints.Count; ++i)
{
for (j = 0; j < hands.Count; ++j)
{
if (hands[j].isPointInsideContainerBox(insidePoints[i]))
{
hands[j].inside.Add(insidePoints[i]);
//belongingHands.Add(j);
}
}
// A point can only belong to one hand, if not we don't take that point into account
/*if (belongingHands.Count == 1)
* {
* hands[belongingHands.ElementAt(0)].inside.Add(insidePoints[i]);
* }
* belongingHands.Clear();*/
}
// Find the center of the palm
float min, max, distance = 0;
for (i = 0; i < hands.Count; ++i)
{
max = float.MinValue;
for (j = 0; j < hands[i].inside.Count; j += settings.findCenterInsideJump)
{
min = float.MaxValue;
for (k = 0; k < hands[i].contour.Count; k += settings.findCenterInsideJump)
{
distance = PointsFingers.distanceEuclidean(hands[i].inside[j], hands[i].contour[k]);
if (!hands[i].isCircleInsideContainerBox(hands[i].inside[j], distance))
{
continue;
}
if (distance < min)
{
min = distance;
}
if (min < max)
{
break;
}
}
if (max < min && min != float.MaxValue)
{
max = min;
hands[i].palm = hands[i].inside[j];
}
}
}
// Find the fingertips
PointsFingers p1, p2, p3, pAux, r1, r2;
int size;
double angle;
int jump;
for (i = 0; i < hands.Count; ++i)
{
// Check if there is a point at the beginning to avoid checking the last ones of the list
max = hands[i].contour.Count;
size = hands[i].contour.Count;
jump = (int)(size * settings.fingertipFindJumpPerc);
for (j = 0; j < settings.k; j += 1)
{
p1 = hands[i].contour[(j - settings.k + size) % size];
p2 = hands[i].contour[j];
p3 = hands[i].contour[(j + settings.k) % size];
r1 = p1 - p2;
r2 = p3 - p2;
angle = PointsFingers.angle(r1, r2);
if (angle > 0 && angle < settings.theta)
{
pAux = p3 + ((p1 - p3) / 2);
if (PointsFingers.distanceEuclideanSquared(pAux, hands[i].palm) >
PointsFingers.distanceEuclideanSquared(hands[i].contour[j], hands[i].palm))
{
continue;
}
hands[i].fingertips.Add(hands[i].contour[j]);
max = hands[i].contour.Count + j - jump;
max = Math.Min(max, hands[i].contour.Count);
j += jump;
break;
}
}
// Continue with the rest of the points
for ( ; j < max; j += settings.findFingertipsJump)
{
p1 = hands[i].contour[(j - settings.k + size) % size];
p2 = hands[i].contour[j];
p3 = hands[i].contour[(j + settings.k) % size];
r1 = p1 - p2;
r2 = p3 - p2;
angle = PointsFingers.angle(r1, r2);
if (angle > 0 && angle < settings.theta)
{
pAux = p3 + ((p1 - p3) / 2);
if (PointsFingers.distanceEuclideanSquared(pAux, hands[i].palm) >
PointsFingers.distanceEuclideanSquared(hands[i].contour[j], hands[i].palm))
{
continue;
}
hands[i].fingertips.Add(hands[i].contour[j]);
j += jump;
}
}
}
return(hands);
}
/// <summary>
/// Subtracts two points.
/// </summary>
/// <param name="point1">Minuend point.</param>
/// <param name="point2">Subtrahend point.</param>
/// <returns>Returns the difference .</returns>
public static PointsFingers subtract(PointsFingers point1, PointsFingers point2)
{
PointsFingers sol = new PointsFingers();
sol.X = point1.X - point2.X;
sol.Y = point1.Y - point2.Y;
return sol;
}
public bool isCircleInsideContainerBox(PointsFingers p, float r)
{
if (leftUpperCorner.X > p.X - r)
{
return false;
}
if (rightDownCorner.X < p.X + r)
{
return false;
}
if (leftUpperCorner.Y > p.Y - r)
{
return false;
}
if (rightDownCorner.Y < p.Y + r)
{
return false;
}
return true;
}
/// <summary>
/// Subtracts a scalar to all the coordinates of the source point.
/// </summary>
/// <param name="point1">Source point.</param>
/// <param name="value">The scalar to substract.</param>
/// <returns>Returs the difference.</returns>
public static PointsFingers subtract(PointsFingers point1, int value)
{
PointsFingers sol = new PointsFingers();
sol.X = point1.X - value;
sol.Y = point1.Y - value;
return sol;
}
// Normalize in the interval [-1, 1] the given 3D point.
// The Z value is in the inverval [-1, 0], being 0 the closest distance.
private Coordinates3D transformTo3DCoord(PointsFingers p, int width, int height, int distance)
{
Coordinates3D v = new Coordinates3D();
v.X = p.Y / (width * 1.0f) * 2 - 1;
v.Y = (1 - p.X / (height * 1.0f)) * 2 - 1;
v.Z = (distance - 400) / -7600.0f;
return v;
}
/// <summary>
/// Multiplies two points.
/// </summary>
/// <param name="point1">Source point.</param>
/// <param name="point2">Source point.</param>
/// <returns>Returns the product.</returns>
public static PointsFingers operator *(PointsFingers point1, PointsFingers point2)
{
PointsFingers sol = new PointsFingers();
sol.X = point1.X * point2.X;
sol.Y = point1.Y * point2.Y;
return sol;
}
// Calculate the contour box of the hand if it possible
public bool calculateContainerBox(float reduction = 0)
{
if (contour != null && contour.Count > 0)
{
for (int j = 0; j < contour.Count; ++j)
{
if (leftUpperCorner.X > contour[j].X)
leftUpperCorner.X = contour[j].X;
if (rightDownCorner.X < contour[j].X)
rightDownCorner.X = contour[j].X;
if (leftUpperCorner.Y > contour[j].Y)
leftUpperCorner.Y = contour[j].Y;
if (rightDownCorner.Y < contour[j].Y)
rightDownCorner.Y = contour[j].Y;
}
int incX = (int)((rightDownCorner.X - leftUpperCorner.X) * (reduction / 2));
int incY = (int)((rightDownCorner.Y - leftUpperCorner.Y) * (reduction / 2));
PointsFingers inc = new PointsFingers(incX, incY);
leftUpperCorner = leftUpperCorner + inc;
rightDownCorner = rightDownCorner + inc;
return true;
}
else
{
return false;
}
}
/*
* This function calcute the border of a closed figure starting in one of the contour points.
* The turtle algorithm is used.
*/
private List<PointsFingers> CalculateFrontier(ref bool[][] valid, PointsFingers start, ref bool[][] contour)
{
List<PointsFingers> list = new List<PointsFingers>();
PointsFingers last = new PointsFingers(-1, -1);
PointsFingers current = new PointsFingers(start);
int dir = 0;
do
{
if (valid[current.X][current.Y])
{
dir = (dir + 1) % 4;
if (current != last)
{
list.Add(new PointsFingers(current.X, current.Y));
last = new PointsFingers(current);
contour[current.X][current.Y] = false;
}
}
else
{
dir = (dir + 4 - 1) % 4;
}
switch (dir)
{
case 0: current.X += 1; break; // Down
case 1: current.Y += 1; break; // Right
case 2: current.X -= 1; break; // Up
case 3: current.Y -= 1; break; // Left
}
} while (current != start);
return list;
}