public void InitializeFingers(HandPoint h)
{
for (int i = 0; i < fingers.Length; i++)
{
fingers[i] = new FingerPoint(h);
}
}
private static bool ParticleGradient(HandFrame handFrame, HandPoint handObj)
{
int radius = DetectionParameters.radiusFromHandPixel;
int imageWidth = handFrame.width;
int imageHeight = handFrame.height;
int templateWidth = DetectionParameters.dxTemplate.GetLength(1);
int templateHeight = DetectionParameters.dxTemplate.GetLength(0);
short x = 0;
short y = 0;
short dx = 6;
short dy = (short)(Math.Sqrt(3) * dx / 2);
int distanceBetweenParticles = (int)(templateWidth * (0.4)); // Half the width of a "finger"
// TO DO: center the particles
int numParticles = (imageWidth / dx) * (imageHeight / dy);
particle[] particles = new particle[numParticles];
// Initialize particles
for (int i = 0; i < particles.Length; i++)
{
// Set initial x and y
//short x = (short)((i * distanceBetweenParticles) % imageWidth);
//short y = (short)(distanceBetweenParticles * ((i * distanceBetweenParticles) / imageWidth));
// If the particle is within the depth range, initialize it.
if (((handFrame.abs[y, x] > (handObj.Depth - 100)) && (handFrame.abs[y, x] < (handObj.Depth + 100))) && (Math.Sqrt((x - radius) * (x - radius) + (y - radius) * (y - radius)) < (radius - 1)))
{
particles[i] = new particle((short)(x), (short)(y));
}
x += dx;
if (x >= imageWidth)
{
x = 0;
y += dy;
if (y % 2 == 1)
{
x += (short)(dx / 2);
}
}
}
// run for cycles up to the template width.
int iterations = (int)(templateWidth / 2);
for (int t = 0; t < iterations; t++)
{
particle.runTrace(particles, DetectionParameters.dxTemplate, DetectionParameters.dyTemplate, handFrame);
}
DetectFingers.Detect(particles, handObj, handFrame);
return(true);
}
public FingerPoint(HandPoint h)
{
_containging_hand = h;
}
public static void Detect(particle[] particles, HandPoint h, HandFrame hf)
{
int radius = hf.radius;
// Initialize an array of particles matching fingers
particle[] f = new particle[5];
for (int i = 0; i < f.Length; i++)
{
f[i] = new particle((short)(radius - 1), (short)(radius - 1));
}
if (particles != null)
{
// for each finger
for (int i = 0; i < f.Length; i++)
{
//h.fingers[i].position_Pixels += 0.1 * h.fingers[i].elapsedMillis * h.fingers[i].velocity_Pixels;
//double a = .25;
// get the best value
for (int j = 0; j < particles.Length; j++)
{
if (particles[j] != null && particles[j].match_coefficient > f[i].match_coefficient)
{
f[i].x = particles[j].x;
f[i].y = particles[j].y;
f[i].z = hf.abs[particles[j].y, particles[j].x];
f[i].match_coefficient = particles[j].match_coefficient;
//f[i].matchCoefficient /= (hf.abs[f[i].y, f[i].x] - h.Depth + 100);
//f[i].matchCoefficient /= ((1 - a) + a * DetectionParameters.gaussian(Math.Sqrt(
// (particles[j].x - (h.fingers[i].X - h.X + radius))
// * (particles[j].x - (h.fingers[i].X - h.X + radius))
// + (particles[j].y - (h.fingers[i].Y - h.Y + radius))
// * (particles[j].y - (h.fingers[i].Y - h.Y + radius))), 10));
}
}
// remove all particles within the finger area
for (int j = 0; j < particles.Length; j++)
{
// Remove particles within the radius of a finger
if (particles[j] != null &&
Math.Sqrt(
(particles[j].x - f[i].x) * (particles[j].x - f[i].x) +
(particles[j].y - f[i].y) * (particles[j].y - f[i].y)) <= SIZE_OF_FINGER_PIXELS)
//if (particles[j] != null && particles[j].x == f[i].x && particles[j].y == f[i].y)
{
particles[j] = null;
}
}
// Calculate rotations for the finger
SetFingerRotations(f[i], hf.abs[f[i].y, f[i].x], h.angle_from_elbow_degrees, radius);
}
}
Array.Sort(f, Compare); // Sort the 5 fingers clockwise around the hand
for (int i = 0; i < h.fingers.Length; i++)
{
h.fingers[i].updateKalman(new Point3D {
X = f[i].x - radius, Y = f[i].y - radius, Z = hf.abs[f[i].y, f[i].x] - h.position_pixels_absolute.Z
});
h.fingers[i].angle_from_hand_degrees.X = f[i].angle_from_hand_degrees.X;
}
}