private Mat histMasking(Mat cameraMat)
{
Mat hsvMat = new Mat();
Mat dstMat = new Mat();
Cv2.CvtColor(cameraMat, hsvMat, ColorConversionCodes.BGR2HSV);
Cv2.CalcBackProject(new[] { hsvMat }, new[] { 0, 1 }, handHist, dstMat, new[] { new Rangef(0, 180), new Rangef(0, 255) });
if (filter2D)
{
Mat filter2DMat = Cv2.GetStructuringElement(filter2DShape, (new Size(filter2DSize.x, filter2DSize.y)));
Cv2.Filter2D(dstMat, dstMat, -1, filter2DMat);
}
if (thresholdFilter)
{
Cv2.Threshold(dstMat, dstMat, thresholdLow, thresholdHigh, ThresholdTypes.Binary);
}
if (morphologyTransformation)
{
Mat morphologyTransformationMat =
Cv2.GetStructuringElement(morphologyTransformationShape, (new Size(morphologyTransformationSize.x, morphologyTransformationSize.y)));
Cv2.MorphologyEx(dstMat, dstMat, morphologyTransformationType, morphologyTransformationMat, null, morphologyTransformationIterations);
}
if (dilatateFilter)
{
Mat dilatateShapeMat = Cv2.GetStructuringElement(this.dilatateShape, (new Size(dilatateSize.x, dilatateSize.y)));
Cv2.Dilate(dstMat, dstMat, dilatateShapeMat, null, dilatateIterations);
}
if (erodeFilter)
{
Mat erodeShapeMat = Cv2.GetStructuringElement(this.erodeShape, (new Size(erodeSize.x, erodeSize.y)));
Cv2.Erode(dstMat, dstMat, erodeShapeMat, null, erodeIterations);
}
handMask = dstMat;
if (bitwiseFilter)
{
// Cv2.BitwiseAnd(cameraMat, dstMat, dstMat); //TODO: we need it to mask our hand, in this form it return exception
}
return(dstMat);
}
public Mat histMaking()
{
Mat hsv = new Mat();
Mat dst = new Mat();
Mat disc = new Mat();
Mat thresh = new Mat();
Mat merge_thresh = new Mat();
Mat result = new Mat();
Cv2.CvtColor(frame, hsv, ColorConversionCodes.BGR2HSV);
Cv2.CalcBackProject(new Mat[] { hsv }, new int[] { 0, 1 }, handHist, dst, new Rangef[] { new Rangef(0, 180), new Rangef(0, 256) });
disc = Cv2.GetStructuringElement(MorphShapes.Ellipse, new Size(31, 31));
Cv2.Filter2D(dst, dst, -1, disc);
Cv2.Threshold(dst, thresh, 150, 255, ThresholdTypes.Binary);
Cv2.Merge(new Mat[] { thresh, thresh, thresh }, merge_thresh);
Cv2.BitwiseAnd(frame, merge_thresh, result);
return(result);
}
static int VoteForSizeAndOrientation(KeyPoint[] modelKeyPoints, KeyPoint[] observedKeyPoints, DMatch[][] matches, Mat mask, float scaleIncrement, int rotationBins)
{
int idx = 0;
int nonZeroCount = 0;
byte[] maskMat = new byte[mask.Rows];
GCHandle maskHandle = GCHandle.Alloc(maskMat, GCHandleType.Pinned);
using (Mat m = new Mat(mask.Rows, 1, MatType.CV_8U, maskHandle.AddrOfPinnedObject()))
{
mask.CopyTo(m);
List <float> logScale = new List <float>();
List <float> rotations = new List <float>();
double s, maxS, minS, r;
maxS = -1.0e-10f; minS = 1.0e10f;
//if you get an exception here, it's because you're passing in the model and observed keypoints backwards. Just switch the order.
for (int i = 0; i < maskMat.Length; i++)
{
if (maskMat[i] > 0)
{
KeyPoint observedKeyPoint = observedKeyPoints[i];
KeyPoint modelKeyPoint = modelKeyPoints[matches[i][0].TrainIdx];
s = Math.Log10(observedKeyPoint.Size / modelKeyPoint.Size);
logScale.Add((float)s);
maxS = s > maxS ? s : maxS;
minS = s < minS ? s : minS;
r = observedKeyPoint.Angle - modelKeyPoint.Angle;
r = r < 0.0f ? r + 360.0f : r;
rotations.Add((float)r);
}
}
int scaleBinSize = (int)Math.Ceiling((maxS - minS) / Math.Log10(scaleIncrement));
if (scaleBinSize < 2)
{
scaleBinSize = 2;
}
float[] scaleRanges = { (float)minS, (float)(minS + scaleBinSize + Math.Log10(scaleIncrement)) };
using (var scalesMat = new Mat <float>(rows: logScale.Count, cols: 1, data: logScale.ToArray()))
using (var rotationsMat = new Mat <float>(rows: rotations.Count, cols: 1, data: rotations.ToArray()))
using (var flagsMat = new Mat <float>(logScale.Count, 1))
using (Mat hist = new Mat())
{
flagsMat.SetTo(new Scalar(0.0f));
float[] flagsMatFloat1 = flagsMat.ToArray();
int[] histSize = { scaleBinSize, rotationBins };
float[] rotationRanges = { 0.0f, 360.0f };
int[] channels = { 0, 1 };
// with infrared left and right, rotation max = min and calchist fails. Adding 1 to max enables all this to work!
if (rotations.Count > 0)
{
Rangef[] ranges = { new Rangef(scaleRanges[0], scaleRanges[1]), new Rangef(rotations.Min(), rotations.Max() + 1) };
double minVal, maxVal;
Mat[] arrs = { scalesMat, rotationsMat };
Cv2.CalcHist(arrs, channels, null, hist, 2, histSize, ranges);
Cv2.MinMaxLoc(hist, out minVal, out maxVal);
Cv2.Threshold(hist, hist, maxVal * 0.5, 0, ThresholdTypes.Tozero);
Cv2.CalcBackProject(arrs, channels, hist, flagsMat, ranges);
MatIndexer <float> flagsMatIndexer = flagsMat.GetIndexer();
for (int i = 0; i < maskMat.Length; i++)
{
if (maskMat[i] > 0)
{
if (flagsMatIndexer[idx++] != 0.0f)
{
nonZeroCount++;
}
else
{
maskMat[i] = 0;
}
}
}
m.CopyTo(mask);
}
}
}
maskHandle.Free();
return(nonZeroCount);
}