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FreeTouch.cpp
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/********************************
* *
* FreeTouch *
* Val(ZhenWenJin) *
* ver 1.0 2016.03.11 *
* In HuaRuan *
* *
********************************/
#include "opencv2/opencv.hpp"
#include <iostream>
#include <stdio.h>
#include <ctime>
#define FreeTouch_Cr_Max 173
#define FreeTouch_Cr_Min 133
#define FreeTouch_Cb_Max 127
#define FreeTouch_Cb_Min 77
#define U8_White 255
#define U8_Black 0
using namespace std;
using namespace cv;
struct FreeTouch_Convexity_Defect{
Point start;
Point end;
Point depth_point;
float depth;
};
string FreeTouch_Cascade_File_Path = "./FreeTouchCascade/FreeTouchCascade1.0.xml";
CascadeClassifier FreeTouch_Cascade;
//To check the hand first.
vector<Rect> FreeTouch_Hand_Rect;
//Get the hand's place.
int FreeToucn_Tmp_Int;
//Use to loop times.
Point FreeTouch_Haar_Hand_Center;
int FreeTouch_Hand_In_Contour;
//Save hand is in whitch contor.
vector<vector<Point> > FreeTouch_Contours;
//Save some Contours.
vector<Vec4i> FreeTouch_Hierarchy;
//Save next Contours.
void FreeTouch_Fill_Hole(const Mat srcBw, Mat &dstBw);
//Fill some hole (This code is refer from internet.)
void FreeTouch_Find_Convexity_Defects(vector<Point>& contour, vector<int>& hull, vector<FreeTouch_Convexity_Defect>& convexDefects);
//(This code is refer from internet.)
double FreeTouch_Start_Time , FreeTouch_End_Time;
//Count the loop time.
int main( int argc, const char** argv ){
VideoCapture FreeTouch_Capture(0);
//Select the camera.
Mat FreeTouch_Frame;
//To Save camera frame.
if(!FreeTouch_Cascade.load(FreeTouch_Cascade_File_Path)){
printf("FreeTouch load cascade file fail.\n");
return -1;
}
for(;;){
FreeTouch_Capture >> FreeTouch_Frame;
//Get frame frome camera.
FreeTouch_Start_Time = clock();
Mat FreeTouch_Frame_YCrCb;
Mat FreeTouch_Frame_YCrCb_Cr;
Mat FreeTouch_Frame_YCrCb_Cb;
vector<Mat> FreeTouch_YCrCb_Channels;
//To save YCrCb channels.
cvtColor(FreeTouch_Frame,FreeTouch_Frame_YCrCb,CV_BGR2YCrCb);
split(FreeTouch_Frame_YCrCb,FreeTouch_YCrCb_Channels);
FreeTouch_Frame_YCrCb_Cr = FreeTouch_YCrCb_Channels.at(1);
FreeTouch_Frame_YCrCb_Cb = FreeTouch_YCrCb_Channels.at(2);
//BGR to YCrBr and split channel.
int FreeTouch_Blur_Times = 6;
while(FreeTouch_Blur_Times--){
GaussianBlur(FreeTouch_Frame_YCrCb_Cr,FreeTouch_Frame_YCrCb_Cr,Size(5,5),0,0);
GaussianBlur(FreeTouch_Frame_YCrCb_Cb,FreeTouch_Frame_YCrCb_Cb,Size(5,5),0,0);
}
for(int y = 0;y < FreeTouch_Frame.rows;y++){
uchar* FreeTouch_Frame_YCrCb_Cr_Data = FreeTouch_Frame_YCrCb_Cr.ptr<uchar>(y);
uchar* FreeTouch_Frame_YCrCb_Cb_Data = FreeTouch_Frame_YCrCb_Cb.ptr<uchar>(y);
//Get row first data place.
for(int x = 0 ; x < FreeTouch_Frame.cols ; x++){
if((FreeTouch_Frame_YCrCb_Cr_Data[x]>=FreeTouch_Cr_Min&&FreeTouch_Frame_YCrCb_Cr_Data[x]<= FreeTouch_Cr_Max)
&&(FreeTouch_Frame_YCrCb_Cb_Data[x]>=FreeTouch_Cb_Min&&FreeTouch_Frame_YCrCb_Cb_Data[x]<=FreeTouch_Cb_Max)
){
FreeTouch_Frame_YCrCb_Cr_Data[x]=U8_White;
}
else{
FreeTouch_Frame_YCrCb_Cr_Data[x]=U8_Black;
}
}
}
Mat FreeTouch_Frame_1B = FreeTouch_Frame_YCrCb_Cr.clone();
//To 2 value.
Mat FreeTouch_Element = getStructuringElement(MORPH_ELLIPSE,Size(3,3));
erode(FreeTouch_Frame_1B,FreeTouch_Frame_1B,FreeTouch_Element);
erode(FreeTouch_Frame_1B,FreeTouch_Frame_1B,FreeTouch_Element);
FreeTouch_Fill_Hole(FreeTouch_Frame_1B,FreeTouch_Frame_1B);
medianBlur(FreeTouch_Frame_1B,FreeTouch_Frame_1B, 5);
FreeTouch_Cascade.detectMultiScale(FreeTouch_Frame_1B,FreeTouch_Hand_Rect,1.1,2,0|CV_HAAR_SCALE_IMAGE,cvSize(20,20));
if(FreeTouch_Hand_Rect.size()>0){
FreeTouch_Haar_Hand_Center = Point( FreeTouch_Hand_Rect[0].x + FreeTouch_Hand_Rect[0].width*0.4, FreeTouch_Hand_Rect[0].y + FreeTouch_Hand_Rect[0].height*0.6 );
Point FreeTouch_Haar_Hand_Center_1( FreeTouch_Hand_Rect[0].x + FreeTouch_Hand_Rect[0].width*0.4+20, FreeTouch_Hand_Rect[0].y + FreeTouch_Hand_Rect[0].height*0.6 );
Point FreeTouch_Haar_Hand_Center_2( FreeTouch_Hand_Rect[0].x + FreeTouch_Hand_Rect[0].width*0.4-20, FreeTouch_Hand_Rect[0].y + FreeTouch_Hand_Rect[0].height*0.6 );
Point FreeTouch_Haar_Hand_Center_3( FreeTouch_Hand_Rect[0].x + FreeTouch_Hand_Rect[0].width*0.4, FreeTouch_Hand_Rect[0].y + FreeTouch_Hand_Rect[0].height*0.6+20 );
Point FreeTouch_Haar_Hand_Center_4( FreeTouch_Hand_Rect[0].x + FreeTouch_Hand_Rect[0].width*0.4, FreeTouch_Hand_Rect[0].y + FreeTouch_Hand_Rect[0].height*0.6-20 );
findContours(FreeTouch_Frame_1B,FreeTouch_Contours,FreeTouch_Hierarchy,RETR_EXTERNAL,CHAIN_APPROX_NONE);
FreeTouch_Hand_In_Contour = -1;
int FreeTouch_Contours_Index = 0;
for(;FreeTouch_Contours_Index>=0;FreeTouch_Contours_Index = FreeTouch_Hierarchy[FreeTouch_Contours_Index][0]){
if( pointPolygonTest(FreeTouch_Contours[FreeTouch_Contours_Index],FreeTouch_Haar_Hand_Center ,true)>=0 ||
pointPolygonTest(FreeTouch_Contours[FreeTouch_Contours_Index],FreeTouch_Haar_Hand_Center_1,true)>=0 ||
pointPolygonTest(FreeTouch_Contours[FreeTouch_Contours_Index],FreeTouch_Haar_Hand_Center_2,true)>=0 ||
pointPolygonTest(FreeTouch_Contours[FreeTouch_Contours_Index],FreeTouch_Haar_Hand_Center_3,true)>=0 ||
pointPolygonTest(FreeTouch_Contours[FreeTouch_Contours_Index],FreeTouch_Haar_Hand_Center_4,true)>=0
){
FreeTouch_Hand_In_Contour = FreeTouch_Contours_Index;
vector<Point> approxCurve;
approxPolyDP(FreeTouch_Contours[FreeTouch_Hand_In_Contour], FreeTouch_Contours[FreeTouch_Hand_In_Contour], 30, true);
//Get this aim contours.
break;
}
}
}
FreeTouch_Frame_1B.setTo(Scalar(U8_Black));
vector<vector<Point> > FreeTouch_Hull(FreeTouch_Contours.size());
vector<vector<int> > FreeTouch_Hull_Int(FreeTouch_Contours.size());
if(FreeTouch_Hand_In_Contour>0){
convexHull(FreeTouch_Contours[FreeTouch_Hand_In_Contour],FreeTouch_Hull[FreeTouch_Hand_In_Contour]);
convexHull(FreeTouch_Contours[FreeTouch_Hand_In_Contour],FreeTouch_Hull_Int[FreeTouch_Hand_In_Contour]);
Moments FreeTouch_Hull_Mu = moments(FreeTouch_Hull[FreeTouch_Hand_In_Contour],false);
Moments FreeTouch_Con_Mu = moments(FreeTouch_Contours[FreeTouch_Hand_In_Contour],false);
Point2f FreeTouch_Hull_Mc = Point2f( FreeTouch_Hull_Mu.m10/FreeTouch_Hull_Mu.m00 , FreeTouch_Hull_Mu.m01/FreeTouch_Hull_Mu.m00 );
Point2f FreeTouch_Con_Mc = Point2f( FreeTouch_Con_Mu.m10/FreeTouch_Con_Mu.m00 , FreeTouch_Con_Mu.m01/FreeTouch_Con_Mu.m00 );
vector<FreeTouch_Convexity_Defect> FreeTouch_Convex_Defects;
FreeTouch_Find_Convexity_Defects(FreeTouch_Contours[FreeTouch_Hand_In_Contour],FreeTouch_Hull_Int[FreeTouch_Hand_In_Contour],FreeTouch_Convex_Defects);
//printf("%ld\n",FreeTouch_Hull_Int[FreeTouch_Hand_In_Contour].size());
ellipse( FreeTouch_Frame, FreeTouch_Haar_Hand_Center, Size( FreeTouch_Hand_Rect[0].width*0.5, FreeTouch_Hand_Rect[0].height*0.5), 0, 0, 360, Scalar( 0, 255, 0 ), 4, 8, 0 );
ellipse( FreeTouch_Frame, FreeTouch_Con_Mc, Size(4,4), 0, 0, 360, Scalar( 0, 0 ,255 ), 5, 0, 0 );
ellipse( FreeTouch_Frame_1B, FreeTouch_Hull_Mc, Size(4,4), 0, 0, 360,U8_White, 5, 0, 0 );
drawContours(FreeTouch_Frame,FreeTouch_Contours,FreeTouch_Hand_In_Contour,Scalar(255,0,0),1,8,FreeTouch_Hierarchy);
drawContours(FreeTouch_Frame_1B,FreeTouch_Contours,FreeTouch_Hand_In_Contour,U8_White,1,8,FreeTouch_Hierarchy);
drawContours(FreeTouch_Frame_1B,FreeTouch_Hull,FreeTouch_Hand_In_Contour,U8_White,1,8,vector<Vec4i>());
for(FreeToucn_Tmp_Int = 0; FreeToucn_Tmp_Int < FreeTouch_Hull_Int[FreeTouch_Hand_In_Contour].size(); FreeToucn_Tmp_Int++){
int FreeTouch_Hull_Index = FreeTouch_Hull_Int[FreeTouch_Hand_In_Contour][FreeToucn_Tmp_Int];
circle(FreeTouch_Frame, FreeTouch_Contours[FreeTouch_Hand_In_Contour][FreeTouch_Hull_Index], 3, Scalar(0,0,255), 2);
}
for(FreeToucn_Tmp_Int = 0; FreeToucn_Tmp_Int < FreeTouch_Convex_Defects.size(); FreeToucn_Tmp_Int++){
circle(FreeTouch_Frame, FreeTouch_Convex_Defects[FreeToucn_Tmp_Int].depth_point, 3, Scalar(255,0,0), 2);
}
}
FreeTouch_End_Time = clock();
stringstream ss;
ss<<(1.0/((FreeTouch_End_Time-FreeTouch_Start_Time)/CLOCKS_PER_SEC));
string s1 = ss.str()+"FPS";
putText(FreeTouch_Frame,s1,Point(20,40),CV_FONT_HERSHEY_COMPLEX, 1, Scalar(0, 255, 0) );
putText(FreeTouch_Frame_1B,s1,Point(20,40),CV_FONT_HERSHEY_COMPLEX, 1, U8_White );
imshow("FreeTouch_Frame",FreeTouch_Frame);
imshow("FreeTouch_Frame_1B",FreeTouch_Frame_1B);
char InputKey = waitKey(1);
if(InputKey == 'c' || InputKey == 'C'){
break;
}
}
return 0;
//Should never get hever.
}
void FreeTouch_Fill_Hole(const Mat srcBw, Mat &dstBw){
Size m_Size = srcBw.size();
Mat Temp = Mat::zeros(m_Size.height+2,m_Size.width+2,srcBw.type());
srcBw.copyTo(Temp(Range(1, m_Size.height + 1), Range(1, m_Size.width + 1)));
floodFill(Temp, Point(0, 0), Scalar(255));
Mat cutImg;
Temp(Range(1, m_Size.height + 1), Range(1, m_Size.width + 1)).copyTo(cutImg);
dstBw = srcBw | (~cutImg);
}
void FreeTouch_Find_Convexity_Defects(vector<Point>& contour, vector<int>& hull, vector<FreeTouch_Convexity_Defect>& convexDefects){
if(hull.size() > 0 && contour.size() > 0){
CvSeq* contourPoints;
CvSeq* defects;
CvMemStorage* storage;
CvMemStorage* strDefects;
CvMemStorage* contourStr;
CvConvexityDefect *defectArray = 0;
strDefects = cvCreateMemStorage();
defects = cvCreateSeq( CV_SEQ_KIND_GENERIC|CV_32SC2, sizeof(CvSeq),sizeof(CvPoint), strDefects );
//We transform our vector<Point> into a CvSeq* object of CvPoint.
contourStr = cvCreateMemStorage();
contourPoints = cvCreateSeq(CV_SEQ_KIND_GENERIC|CV_32SC2, sizeof(CvSeq), sizeof(CvPoint), contourStr);
for(int i = 0; i < (int)contour.size(); i++) {
CvPoint cp = Point(contour[i].x, contour[i].y);
cvSeqPush(contourPoints, &cp);
}
//Now, we do the same thing with the hull index
int count = (int) hull.size();
//int hullK[count];
int* hullK = (int*) malloc(count*sizeof(int));
for(int i = 0; i < count; i++) { hullK[i] = hull.at(i); }
CvMat hullMat = cvMat(1, count, CV_32SC1, hullK);
// calculate convexity defects
storage = cvCreateMemStorage(0);
defects = cvConvexityDefects(contourPoints, &hullMat, storage);
defectArray = (CvConvexityDefect*)malloc(sizeof(CvConvexityDefect)*defects->total);
cvCvtSeqToArray(defects, defectArray, CV_WHOLE_SEQ);
for(int i = 0; i<defects->total; i++){
FreeTouch_Convexity_Defect def;
def.start = Point(defectArray[i].start->x, defectArray[i].start->y);
def.end = Point(defectArray[i].end->x, defectArray[i].end->y);
def.depth_point = Point(defectArray[i].depth_point->x, defectArray[i].depth_point->y);
def.depth = defectArray[i].depth;
convexDefects.push_back(def);
}
// release memory
cvReleaseMemStorage(&contourStr);
cvReleaseMemStorage(&strDefects);
cvReleaseMemStorage(&storage);
}
}