HandDescriptor.h

//------------------------------------------------------------------------------
//-- HandDescriptor
//------------------------------------------------------------------------------
//--
//-- Finds the main characteristics of the hand from a binary image containing
//-- a hand silouette.
//--
//------------------------------------------------------------------------------
//--
//-- This file belongs to the "Gecko - Gesture Recognition" project
//-- (https://github.com/David-Estevez/gecko)
//--
//------------------------------------------------------------------------------
//-- Authors: David Estevez Fernandez
//--          Irene Sanz Nieto
//--
//-- Released under the GPL license (more info on LICENSE.txt file)
//------------------------------------------------------------------------------

#ifndef HAND_DESCRIPTOR
#define HAND_DESCRIPTOR

#include <opencv2/opencv.hpp>
#include "handUtils.h"
#include "mouse.h"

//-- Constants for the gesture recognition
//-----------------------------------------------------------------------
static const unsigned int GECKO_GESTURE_NONE = 0;
static const unsigned int GECKO_GESTURE_OPEN_PALM = 1;
static const unsigned int GECKO_GESTURE_CLOSED_FIST = 2;
static const unsigned int GECKO_GESTURE_VICTORY = 3;
static const unsigned int GECKO_GESTURE_GUN = 4;


class HandDescriptor
{

public:
    //-- Constructor
    //-----------------------------------------------------------------------
    HandDescriptor();


    //-- Refresh the detected hand characteristics
    //-----------------------------------------------------------------------
    void operator ()(const cv::Mat& skinMask );

    void update(const cv::Mat& skinMask );


    //-- Get the characteristics of the hand:
    //-----------------------------------------------------------------------
    bool handFound();

    double getHandAngle();
    double getHandAnglePredicted();
    double getHandAngleEstimated();

    cv::Point getCenterHand();
    cv::Point getCenterHandPredicted();
    cv::Point getCenterHandEstimated();

    std::vector< std::vector<cv::Point> > getContours();

    cv::Rect getBoundingBox();

    int getGesture();

    int getNumFingers();


    //-- Plot characteristics on some image:
    //--------------------------------------------------------------------------
    void plotBoundingRectangle(const cv::Mat& src, cv::Mat& dst, bool rotated = true);

    void plotContours(const cv::Mat& src, cv::Mat& dst );

    void plotCenter( const cv::Mat& src, cv::Mat& dst, bool show_corrected = true,  bool show_actual = true, bool show_predicted = true );

    void angleControl( bool show_corrected = true,  bool show_actual = true, bool show_predicted = true );

    void plotMaxInscribedCircle( cv::Mat& src, cv::Mat& dst, bool show_center = true, cv::Scalar color = cv::Scalar(0, 255, 0), int thickness = 1 );

    void plotMinEnclosingCircle(cv::Mat& src, cv::Mat& dst, bool show_center = true, cv::Scalar color = cv::Scalar(255,0,255), int thickness = 1);

    void plotComplexHull(cv::Mat& src, cv::Mat& dst, bool show_points = false, cv::Scalar color = cv::Scalar( 0, 255, 255), int thickness = 1);

    void plotConvexityDefects(cv::Mat& src, cv::Mat& dst, bool draw_points = true);

    void plotFingertips( cv::Mat& src, cv::Mat& dst, bool draw_lines = true, cv::Scalar color = cv::Scalar( 255, 0, 0) , int thickness = 2);

    void plotHandInterface( cv::Mat& src, cv::Mat& dst );

private:
    //-- Functions that extract characteristics:
    //--------------------------------------------------------------------------
    void contourExtraction(const cv::Mat& skinMask);

    void boundingBoxExtraction();

    void handPalmExtraction();

    void ROIExtraction( const cv::Mat& src);

    void defectsExtraction();

    void fingerExtraction();

    void angleExtraction();

    void centerExtraction();

    void gestureExtraction();


    //-- Parameters that describe the hand:
    //--------------------------------------------------------------------------
    bool _hand_found;


    double _hand_angle;

    double _hand_angle_prediction;

    double _hand_angle_estimation;


    cv::Point _hand_center;

    cv::Point _hand_center_prediction;

    cv::Point _hand_center_estimation;


    std::vector< std::vector<cv::Point> > _hand_contour;


    cv::RotatedRect _hand_rotated_bounding_box;

    cv::Rect _hand_bounding_box;


    int _hand_gesture;



    int _hand_num_fingers;

    std::vector< cv::Point > _hand_fingertips;

    std::vector< cv::Point > _hand_finger_line_origin;


    //-- Describe hand palm:
    //-------------------------------------------------------------------------
    double _max_circle_inscribed_radius;

    cv::Point _max_circle_incribed_center;

    float _min_enclosing_circle_radius;

    cv::Point2f _min_enclosing_circle_center;


    std::vector< cv::Point > _hand_hull;

    std::vector< ConvexityDefect > _hand_convexity_defects;


    cv::Mat _hand_ROI;


    //-- Kalman filters for smoothing:
    //---------------------------------------------------------------------
    cv::KalmanFilter kalmanFilterAngle;

    cv::KalmanFilter kalmanFilterCenter;


};


#endif // HAND_DESCRIPTOR