/// <summary>
/// Tracks the filtered object.
/// </summary>
/// <param name="theColorObject">The color object.</param>
/// <param name="threshold">Threshold.</param>
/// <param name="HSV">HS.</param>
/// <param name="cameraFeed">Camera feed.</param>
void trackFilteredObject(ColorObject theColorObject, Mat threshold, Mat HSV, Mat cameraFeed)
{
List <ColorObject> colorObjects = new List <ColorObject> ();
Mat temp = new Mat();
threshold.copyTo(temp);
//these two vectors needed for output of findContours
List <MatOfPoint> contours = new List <MatOfPoint> ();
Mat hierarchy = new Mat();
//find contours of filtered image using openCV findContours function
Imgproc.findContours(temp, contours, hierarchy, Imgproc.RETR_CCOMP, Imgproc.CHAIN_APPROX_SIMPLE);
//use moments method to find our filtered object
bool colorObjectFound = false;
if (hierarchy.rows() > 0)
{
int numObjects = hierarchy.rows();
// Debug.Log("hierarchy " + hierarchy.ToString());
//if number of objects greater than MAX_NUM_OBJECTS we have a noisy filter
if (numObjects < MAX_NUM_OBJECTS)
{
for (int index = 0; index >= 0; index = (int)hierarchy.get(0, index)[0])
{
Moments moment = Imgproc.moments(contours [index]);
double area = moment.get_m00();
//if the area is less than 20 px by 20px then it is probably just noise
//if the area is the same as the 3/2 of the image size, probably just a bad filter
//we only want the object with the largest area so we safe a reference area each
//iteration and compare it to the area in the next iteration.
if (area > MIN_OBJECT_AREA)
{
ColorObject colorObject = new ColorObject();
colorObject.setXPos((int)(moment.get_m10() / area));
colorObject.setYPos((int)(moment.get_m01() / area));
colorObject.setType(theColorObject.getType());
colorObject.setColor(theColorObject.getColor());
colorObjects.Add(colorObject);
colorObjectFound = true;
}
else
{
colorObjectFound = false;
}
}
//let user know you found an object
if (colorObjectFound == true)
{
//draw object location on screen
drawObject(colorObjects, cameraFeed, temp, contours, hierarchy);
}
}
else
{
Core.putText(cameraFeed, "TOO MUCH NOISE!", new Point(5, cameraFeed.rows() - 10), Core.FONT_HERSHEY_SIMPLEX, 1.0, new Scalar(255, 255, 255, 255), 2, Core.LINE_AA, false);
}
}
}
/// <summary>
/// Tracks the filtered object.
/// </summary>
/// <param name="theColorObject">The color object.</param>
/// <param name="threshold">Threshold.</param>
/// <param name="HSV">HS.</param>
/// <param name="cameraFeed">Camera feed.</param>
void trackFilteredObject (ColorObject theColorObject, Mat threshold, Mat HSV, Mat cameraFeed)
{
List<ColorObject> colorObjects = new List<ColorObject> ();
Mat temp = new Mat ();
threshold.copyTo (temp);
//these two vectors needed for output of findContours
List<MatOfPoint> contours = new List<MatOfPoint> ();
Mat hierarchy = new Mat ();
//find contours of filtered image using openCV findContours function
Imgproc.findContours (temp, contours, hierarchy, Imgproc.RETR_CCOMP, Imgproc.CHAIN_APPROX_SIMPLE);
//use moments method to find our filtered object
double refArea = 0;
bool colorObjectFound = false;
if (hierarchy.rows () > 0) {
int numObjects = hierarchy.rows ();
// Debug.Log("hierarchy " + hierarchy.ToString());
//if number of objects greater than MAX_NUM_OBJECTS we have a noisy filter
if (numObjects < MAX_NUM_OBJECTS) {
for (int index = 0; index >= 0; index = (int)hierarchy.get(0, index)[0]) {
Moments moment = Imgproc.moments (contours [index]);
double area = moment.get_m00 ();
//if the area is less than 20 px by 20px then it is probably just noise
//if the area is the same as the 3/2 of the image size, probably just a bad filter
//we only want the object with the largest area so we safe a reference area each
//iteration and compare it to the area in the next iteration.
if (area > MIN_OBJECT_AREA) {
ColorObject colorObject = new ColorObject ();
colorObject.setXPos ((int)(moment.get_m10 () / area));
colorObject.setYPos ((int)(moment.get_m01 () / area));
colorObject.setType (theColorObject.getType ());
colorObject.setColor (theColorObject.getColor ());
colorObjects.Add (colorObject);
colorObjectFound = true;
} else {
colorObjectFound = false;
}
}
//let user know you found an object
if (colorObjectFound == true) {
//draw object location on screen
drawObject (colorObjects, cameraFeed, temp, contours, hierarchy);
}
} else {
Core.putText (cameraFeed, "TOO MUCH NOISE!", new Point (5, cameraFeed.rows () - 10), Core.FONT_HERSHEY_SIMPLEX, 1.0, new Scalar (255, 255, 255, 255), 2, Core.LINE_AA, false);
}
}
}
