手势指尖检测算法c++实现

#include <iostream> #include <opencv2/core/core.hpp> #include <opencv2/highgui/highgui.hpp> #include <opencv2/imgproc/imgproc.hpp> int minH = 0, maxH = 20, minS = 30, maxS = 150, minV = 60, maxV = 255; cv::Mat frame; int count = 0; float innerAngle(float px1, float py1, float px2, float py2, float cx1, float cy1) { float dist1 = std::sqrt( (px1-cx1)*(px1-cx1) + (py1-cy1)*(py1-cy1) ); float dist2 = std::sqrt( (px2-cx1)*(px2-cx1) + (py2-cy1)*(py2-cy1) ); float Ax, Ay; float Bx, By; float Cx, Cy; //find closest point to C //printf("dist = %lf %lf\n", dist1, dist2); Cx = cx1; Cy = cy1; if(dist1 < dist2) { Bx = px1; By = py1; Ax = px2; Ay = py2; }else{ Bx = px2; By = py2; Ax = px1; Ay = py1; } float Q1 = Cx - Ax; float Q2 = Cy - Ay; float P1 = Bx - Ax; float P2 = By - Ay; float A = std::acos( (P1*Q1 + P2*Q2) / ( std::sqrt(P1*P1+P2*P2) * std::sqrt(Q1*Q1+Q2*Q2) ) ); A = A*180/CV_PI; return A; } void CallbackFunc(int event, int x, int y, int flags, void* userdata) { cv::Mat RGB = frame(cv::Rect(x, y, 1, 1)); cv::Mat HSV; cv::cvtColor(RGB, HSV, CV_BGR2HSV); cv::Vec3b pixel = HSV.at<cv::Vec3b>(0, 0); if (event == cv::EVENT_LBUTTONDBLCLK) // on double left clcik { std::cout << "Click" << std::endl; int h = pixel.val[0]; int s = pixel.val[1]; int v = pixel.val[2]; if (count == 0) { minH = h; maxH = h; minS = s; maxS = s; minV = v; maxV = v; } else { if (h < minH) { minH = h; } else if (h > maxH) { maxH = h; } if (s < minS) { minS = s; } else if (s > maxS) { maxS = s; } if (v < minV) { minV = v; } else if (v > maxV) { maxV = v; } } count++; } std::cout << pixel << std::endl; } int main() { cv::VideoCapture cap(0); const char* windowName = "Fingertip detection"; cv::namedWindow(windowName); cv::setMouseCallback(windowName, CallbackFunc, NULL); int inAngleMin = 200, inAngleMax = 300, angleMin = 180, angleMax = 359, lengthMin = 10, lengthMax = 80; cv::createTrackbar("Inner angle min", windowName, &inAngleMin, 360); cv::createTrackbar("Inner angle max", windowName, &inAngleMax, 360); cv::createTrackbar("Angle min", windowName, &angleMin, 360); cv::createTrackbar("Angle max", windowName, &angleMax, 360); cv::createTrackbar("Length min", windowName, &lengthMin, 100); cv::createTrackbar("Length max", windowName, &lengthMax, 100); while (1) { cap >> frame; cv::Mat hsv; cv::cvtColor(frame, hsv, CV_BGR2HSV); cv::inRange(hsv, cv::Scalar(minH, minS, minV), cv::Scalar(maxH, maxS, maxV), hsv); // Pre processing int blurSize = 5; int elementSize = 5; cv::medianBlur(hsv, hsv, blurSize); cv::Mat element = cv::getStructuringElement(cv::MORPH_ELLIPSE, cv::Size(2 * elementSize + 1, 2 * elementSize + 1), cv::Point(elementSize, elementSize)); cv::dilate(hsv, hsv, element); // Contour detection std::vector<std::vector<cv::Point> > contours; std::vector<cv::Vec4i> hierarchy; cv::findContours(hsv, contours, hierarchy, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_SIMPLE, cv::Point(0, 0)); size_t largestContour = 0; for (size_t i = 1; i < contours.size(); i++) { if (cv::contourArea(contours[i]) > cv::contourArea(contours[largestContour])) largestContour = i; } cv::drawContours(frame, contours, largestContour, cv::Scalar(0, 0, 255), 1); // Convex hull if (!contours.empty()) { std::vector<std::vector<cv::Point> > hull(1); cv::convexHull(cv::Mat(contours[largestContour]), hull[0], false); cv::drawContours(frame, hull, 0, cv::Scalar(0, 255, 0), 3); if (hull[0].size() > 2) { std::vector<int> hullIndexes; cv::convexHull(cv::Mat(contours[largestContour]), hullIndexes, true); std::vector<cv::Vec4i> convexityDefects; cv::convexityDefects(cv::Mat(contours[largestContour]), hullIndexes, convexityDefects); cv::Rect boundingBox = cv::boundingRect(hull[0]); cv::rectangle(frame, boundingBox, cv::Scalar(255, 0, 0)); cv::Point center = cv::Point(boundingBox.x + boundingBox.width / 2, boundingBox.y + boundingBox.height / 2); std::vector<cv::Point> validPoints; for (size_t i = 0; i < convexityDefects.size(); i++) { cv::Point p1 = contours[largestContour][convexityDefects[i][0]]; cv::Point p2 = contours[largestContour][convexityDefects[i][1]]; cv::Point p3 = contours[largestContour][convexityDefects[i][2]]; double angle = std::atan2((double)center.y - p1.y, (double)center.x - p1.x) * 180 / CV_PI; double inAngle = innerAngle(p1.x, p1.y, p2.x, p2.y, p3.x, p3.y); double length = std::sqrt(std::pow((double)p1.x - p3.x, 2) + std::pow((double)p1.y - p3.y, 2)); if (angle > angleMin - 180 && angle < angleMax - 180 && inAngle > inAngleMin - 180 && inAngle < inAngleMax - 180 && length > lengthMin / 100.0 * boundingBox.height && length < lengthMax / 100.0 * boundingBox.height) { validPoints.push_back(p1); } } for (size_t i = 0; i < validPoints.size(); i++) { cv::circle(frame, validPoints[i], 9, cv::Scalar(0, 255, 0), 2); } } } cv::imshow(windowName, frame); if (cv::waitKey(30) >= 0) break; } return 0; }